#

tqs

2022-11-29 09755df72e88dc1a4f9bfe693aea309a84427beb

#

 src/main/java/com/zy/asrs/entity/BasRgvOpt.java

New file
@@ -0,0 +1,234 @@
package com.zy.asrs.entity;

import com.core.common.Cools;import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.enums.IdType;
import com.baomidou.mybatisplus.annotations.TableField;
import java.text.SimpleDateFormat;
import java.util.Date;
import org.springframework.format.annotation.DateTimeFormat;
import java.text.SimpleDateFormat;
import java.util.Date;
import com.core.common.SpringUtils;
import com.zy.system.service.UserService;
import com.zy.system.entity.User;

import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import com.baomidou.mybatisplus.annotations.TableName;
import java.io.Serializable;

@Data
@TableName("asr_bas_rgv_opt")
public class BasRgvOpt implements Serializable {

    private static final long serialVersionUID = 1L;

    /**
     * ID
     */
    @ApiModelProperty(value= "ID")
    @TableId(value = "id", type = IdType.INPUT)
    private Long id;

    /**
     * 任务号1
     */
    @ApiModelProperty(value= "任务号1")
    @TableField("wrk_no1")
    private Integer wrkNo1;

    /**
     * 任务号2
     */
    @ApiModelProperty(value= "任务号2")
    @TableField("wrk_no2")
    private Integer wrkNo2;

    /**
     * 穿梭车
     */
    @ApiModelProperty(value= "穿梭车")
    @TableField("rgv_no")
    private Integer rgvNo;

    /**
     * 下发时间
     */
    @ApiModelProperty(value= "下发时间")
    @TableField("send_time")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date sendTime;

    /**
     * 作业
     */
    @ApiModelProperty(value= "作业")
    private String mode;

    /**
     * 源排
     */
    @ApiModelProperty(value= "源排")
    @TableField("source_row")
    private Integer sourceRow;

    /**
     * 源列
     */
    @ApiModelProperty(value= "源列")
    @TableField("source_bay")
    private Integer sourceBay;

    /**
     * 源层
     */
    @ApiModelProperty(value= "源层")
    @TableField("source_lev")
    private Integer sourceLev;

    /**
     * 源站
     */
    @ApiModelProperty(value= "源站")
    @TableField("source_sta")
    private Integer sourceSta;

    /**
     * 目标排
     */
    @ApiModelProperty(value= "目标排")
    @TableField("pos_row")
    private Integer posRow;

    /**
     * 目标列
     */
    @ApiModelProperty(value= "目标列")
    @TableField("pos_bay")
    private Integer posBay;

    /**
     * 目标层
     */
    @ApiModelProperty(value= "目标层")
    @TableField("pos_lev")
    private Integer posLev;

    /**
     * 目标站
     */
    @ApiModelProperty(value= "目标站")
    @TableField("pos_sta")
    private Integer posSta;

    /**
     * 响应结果 1: 正常  0: 失败  
     */
    @ApiModelProperty(value= "响应结果 1: 正常  0: 失败  ")
    private Integer response;

    /**
     * 修改时间
     */
    @ApiModelProperty(value= "修改时间")
    @TableField("update_time")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date updateTime;

    /**
     * 修改人员
     */
    @ApiModelProperty(value= "修改人员")
    @TableField("update_by")
    private Long updateBy;

    /**
     * 备注
     */
    @ApiModelProperty(value= "备注")
    private String memo;

    public BasRgvOpt() {}

    public BasRgvOpt(Integer wrkNo1,Integer wrkNo2,Integer rgvNo,Date sendTime,String mode,Integer sourceRow,Integer sourceBay,Integer sourceLev,Integer sourceSta,Integer posRow,Integer posBay,Integer posLev,Integer posSta,Integer response,Date updateTime,Long updateBy,String memo) {
        this.wrkNo1 = wrkNo1;
        this.wrkNo2 = wrkNo2;
        this.rgvNo = rgvNo;
        this.sendTime = sendTime;
        this.mode = mode;
        this.sourceRow = sourceRow;
        this.sourceBay = sourceBay;
        this.sourceLev = sourceLev;
        this.sourceSta = sourceSta;
        this.posRow = posRow;
        this.posBay = posBay;
        this.posLev = posLev;
        this.posSta = posSta;
        this.response = response;
        this.updateTime = updateTime;
        this.updateBy = updateBy;
        this.memo = memo;
    }

    public BasRgvOpt(Integer wrkNo1,Integer wrkNo2,Integer rgvNo,Date sendTime,String mode,Integer sourceSta,Integer posSta,Integer sourceRow,Integer posRow,Integer response,Date updateTime,Long updateBy) {
        this.wrkNo1 = wrkNo1;
        this.wrkNo2 = wrkNo2;
        this.rgvNo = rgvNo;
        this.sendTime = sendTime;
        this.mode = mode;
        this.sourceSta = sourceSta;
        this.posSta = posSta;
        this.sourceRow = sourceRow;
        this.posRow = posRow;
        this.response = response;
        this.updateTime = updateTime;
        this.updateBy = updateBy;
    }

//    BasRgvOpt basRgvOpt = new BasRgvOpt(
//            null,    // ID[非空]
//            null,    // 任务号
//            null,    // 穿梭车
//            null,    // 下发时间
//            null,    // 作业
//            null,    // 源排
//            null,    // 源列
//            null,    // 源层
//            null,    // 源站
//            null,    // 目标排
//            null,    // 目标列
//            null,    // 目标层
//            null,    // 目标站
//            null,    // 响应结果
//            null,    // 修改时间
//            null,    // 修改人员
//            null    // 备注
//    );

    public String getSendTime$(){
        if (Cools.isEmpty(this.sendTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.sendTime);
    }

    public String getResponse$(){
        if (null == this.response){ return null; }
        switch (this.response){
            case 1:
                return "正常";
            case 0:
                return "失败";
            default:
                return String.valueOf(this.response);
        }
    }

    public String getUpdateTime$(){
        if (Cools.isEmpty(this.updateTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.updateTime);
    }

}

 src/main/java/com/zy/asrs/mapper/BasRgvOptMapper.java

New file
@@ -0,0 +1,12 @@
package com.zy.asrs.mapper;

import com.zy.asrs.entity.BasRgvOpt;
import com.baomidou.mybatisplus.mapper.BaseMapper;
import org.apache.ibatis.annotations.Mapper;
import org.springframework.stereotype.Repository;

@Mapper
@Repository
public interface BasRgvOptMapper extends BaseMapper<BasRgvOpt> {

}

 src/main/java/com/zy/asrs/service/BasRgvOptService.java

New file
@@ -0,0 +1,8 @@
package com.zy.asrs.service;

import com.zy.asrs.entity.BasRgvOpt;
import com.baomidou.mybatisplus.service.IService;

public interface BasRgvOptService extends IService<BasRgvOpt> {

}

 src/main/java/com/zy/asrs/service/impl/BasRgvOptServiceImpl.java

New file
@@ -0,0 +1,12 @@
package com.zy.asrs.service.impl;

import com.zy.asrs.mapper.BasRgvOptMapper;
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasRgvOptService;
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import org.springframework.stereotype.Service;

@Service("basRgvOptService")
public class BasRgvOptServiceImpl extends ServiceImpl<BasRgvOptMapper, BasRgvOpt> implements BasRgvOptService {

}

 src/main/java/com/zy/common/CodeBuilder.java

@@ -20,7 +20,7 @@
        generator.url="localhost:1433;databasename=xjhsasrs";
        generator.username="sa";
        generator.password="sa@123";
        generator.table="asr_bas_rgv";
        generator.table="asr_bas_rgv_opt";
        generator.packagePath="com.zy.asrs";

        generator.controller = false;

 src/main/java/com/zy/core/ServerBootstrap.java

@@ -6,6 +6,7 @@
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.LedSlave;
import com.zy.core.model.RgvSlave;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.*;
import lombok.extern.slf4j.Slf4j;
@@ -51,6 +52,10 @@
        for (Slave crn : slaveProperties.getCrn()) {
            MessageQueue.init(SlaveType.Crn, crn);
        }
        // 初始化堆垛机mq
        for (Slave rgv : slaveProperties.getRgv()) {
            MessageQueue.init(SlaveType.Rgv, rgv);
        }
        // 初始化输送线mq
        for (Slave devp : slaveProperties.getDevp()) {
            MessageQueue.init(SlaveType.Devp, devp);
@@ -67,10 +72,10 @@
        for (Slave scale : slaveProperties.getScale()) {
            MessageQueue.init(SlaveType.Scale, scale);
        }
        // 初始化台车mq
        for (Slave car : slaveProperties.getCar()) {
            MessageQueue.init(SlaveType.Car, car);
        }
//        // 初始化台车mq
//        for (Slave car : slaveProperties.getCar()) {
//            MessageQueue.init(SlaveType.Car, car);
//        }
    }

    private void initThread(){
@@ -81,6 +86,13 @@
            new Thread((Runnable) crnThread).start();
            SlaveConnection.put(SlaveType.Crn, crn.getId(), crnThread);
        }
        // 初始化穿梭车线程
        log.info("初始化RGV线程...................................................");
        for (RgvSlave rgv : slaveProperties.getRgv()) {
//            RgvThread rgvThread = new RgvThread(rgv);
//            new Thread((Runnable) rgvThread).start();
//            SlaveConnection.put(SlaveType.Rgv, rgv.getId(), crnThread);
        }
        // 初始化输送线线程
        log.info("初始化输送线线程...................................................");
        for (DevpSlave devp : slaveProperties.getDevp()) {
@@ -88,6 +100,7 @@
            new Thread((Runnable) devpThread).start();
            SlaveConnection.put(SlaveType.Devp, devp.getId(), devpThread);
        }

        // 初始化条码扫描仪线程
        log.info("初始化条码扫描仪线程...................................................");
        for (Slave barcode : slaveProperties.getBarcode()) {

 src/main/java/com/zy/core/cache/MessageQueue.java

@@ -17,6 +17,8 @@

    // 堆垛机mq交换机
    private static final Map<Integer, LinkedBlockingQueue<Task>> CRN_EXCHANGE = new ConcurrentHashMap<>();
    // RGV mq交换机
    private static final Map<Integer, LinkedBlockingQueue<Task>> RGV_EXCHANGE = new ConcurrentHashMap<>();
    // 输送线mq交换机
    private static final Map<Integer, ConcurrentLinkedQueue<Task>> DEVP_EXCHANGE = new ConcurrentHashMap<>();
    // 条码扫描仪mq交换机
@@ -35,6 +37,9 @@
        switch (type) {
            case Crn:
                CRN_EXCHANGE.put(slave.getId(), new LinkedBlockingQueue<>(1));
                break;
            case Rgv:
                RGV_EXCHANGE.put(slave.getId(), new LinkedBlockingQueue<>(1));
                break;
            case Devp:
                DEVP_EXCHANGE.put(slave.getId(), new ConcurrentLinkedQueue<>());
@@ -64,6 +69,8 @@
        switch (type) {
            case Crn:
                return CRN_EXCHANGE.get(id).offer(task);
            case Rgv:
                return RGV_EXCHANGE.get(id).offer(task);
            case Devp:
                return DEVP_EXCHANGE.get(id).offer(task);
            case Barcode:
@@ -87,6 +94,8 @@
        switch (type) {
            case Crn:
                return CRN_EXCHANGE.get(id).poll();
            case Rgv:
                return RGV_EXCHANGE.get(id).poll();
            case Devp:
                return DEVP_EXCHANGE.get(id).poll();
            case Barcode:
@@ -109,6 +118,8 @@
        switch (type) {
            case Crn:
                return CRN_EXCHANGE.get(id).peek();
            case Rgv:
                return RGV_EXCHANGE.get(id).peek();
            case Devp:
                return DEVP_EXCHANGE.get(id).peek();
            case Barcode:
@@ -127,9 +138,11 @@
    public static void clear(SlaveType type, Integer id){
        switch (type) {
            case Crn:
                
                CRN_EXCHANGE.get(id).clear();
                break;
            case Rgv:
                RGV_EXCHANGE.get(id).clear();
                break;
            case Devp:
                DEVP_EXCHANGE.get(id).clear();
                break;

 src/main/java/com/zy/core/cache/OutputQueue.java

@@ -15,4 +15,6 @@
    public static ArrayBlockingQueue<String> DEVP = new ArrayBlockingQueue<>(32);
    // 条码器输出日志
    public static ArrayBlockingQueue<JSONObject> BARCODE = new ArrayBlockingQueue<>(32);
    // rgv输出日志
    public static ArrayBlockingQueue<String> RGV = new ArrayBlockingQueue<>(32);
}

 src/main/java/com/zy/core/enums/SlaveType.java

@@ -8,6 +8,7 @@
    Led,
    Scale,
    Car,
    Rgv
    ;

    public static SlaveType findInstance(String s){

 src/main/java/com/zy/core/model/protocol/RgvProtocol.java

@@ -102,6 +102,11 @@
     */
    public Short alarm;

    /**
     * 心跳指令 1-2每秒切换一次
     */
    public Short heart;

    private Short temp1;

    private Short temp2;
@@ -110,6 +115,8 @@

    private Short temp4;

    private Short temp5;

    /**
     * X行走行速度m/min
     */

 src/main/java/com/zy/core/properties/SlaveProperties.java

@@ -4,6 +4,7 @@
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.LedSlave;
import com.zy.core.model.RgvSlave;
import lombok.Data;
import org.springframework.boot.context.properties.ConfigurationProperties;
import org.springframework.context.annotation.Configuration;
@@ -32,6 +33,8 @@

    private List<CrnSlave> crn = new ArrayList<>();

    private List<RgvSlave> rgv = new ArrayList<>();

    private List<DevpSlave> devp = new ArrayList<>();

    private List<Slave> barcode = new ArrayList<>();

 src/main/java/com/zy/core/thread/RgvThread.java

New file
@@ -0,0 +1,433 @@
package com.zy.core.thread;

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.Date;

/**
 * RGV线程
 * Created by vincent on 2022/11/29
 */
@Data
@Slf4j
public class RgvThread implements Runnable, ThreadHandler {

    private SiemensS7Net siemensNet;
    private RgvSlave slave;
    private RgvProtocol rgvProtocol;
    /**
     * 工位1复位信号
     */
    private boolean resetFlag1 = false;
    /**
     * 工位2复位信号
     */
    private boolean resetFlag2 = false;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
    }

    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId());
                if (task != null) {
                    step = task.getStep();
                }
                switch (step) {
                    // 读数据
                    case 1:
                        readStatus();
                        break;
                    // 写入数据
                    case 2:
                        write((RgvCommand) task.getData());
                        break;
                    // 复位
                    case 3:
                        RgvCommand command = (RgvCommand) task.getData();
                        if (null == command) {
                            command = new RgvCommand();
                        }
                        command.setRgvNo(slave.getId()); // RGV编号
                        command.setTaskNo1((short) 0); // 工作号
                        command.setAckFinish1((short) 1);  // 任务完成确认位
                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo1((short)0);     // 源站
                        command.setDestinationStaNo1((short)0);     // 目标站
                        command.setTaskNo2((short) 0); // 工作号
                        command.setAckFinish2((short) 1);  // 任务完成确认位
                        command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo2((short)0);     // 源站
                        command.setDestinationStaNo2((short)0);     // 目标站
                        command.setCommand((short)0);
                        write(command);
                        break;
                    default:
                        break;
                }
                Thread.sleep(500);
            } catch (Exception e) {
//                e.printStackTrace();
            }

        }
    }

    /**
     * 初始化RGV状态
     */
    private void initRgv() {
        if (null == rgvProtocol) {
            rgvProtocol = new RgvProtocol();
        }
        rgvProtocol.setMode((short) -1);
        rgvProtocol.setStatus((short)-1);
        rgvProtocol.setTaskNo1((short)0);
        rgvProtocol.setStatus1((short)-1);
        rgvProtocol.setLoaded1((short)0);
        rgvProtocol.setWalkPos((short)0);
        rgvProtocol.setRgvPos((short)0);
        rgvProtocol.setTaskNo2((short)0);
        rgvProtocol.setStatus2((short)-1);
        rgvProtocol.setLoaded2((short)0);
        rgvProtocol.setAlarm((short)0);
        rgvProtocol.setxSpeed((short) 0);
        rgvProtocol.setxDistance((short) 0);
        rgvProtocol.setxDuration((short) 0);
    }

    @Override
    public boolean connect() {
        boolean result = false;
        siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
        siemensNet.setRack(slave.getRack().byteValue());
        siemensNet.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensNet.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.RGV.offer(MessageFormat.format( "【{0}】RGV plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.info("RGV plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】RGV plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            initRgv();
        }
//        siemensNet.ConnectClose();
        return result;
    }

    /**
     * 读取状态
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 34);
            if (result.IsSuccess) {
                if (null == rgvProtocol) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
                rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
                rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 18));
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
                rgvProtocol.setHeart(siemensNet.getByteTransform().TransInt16(result.Content, 22));
                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
                rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));
                rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));
                rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));
//                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
//                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
//                rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));

                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

                // 工位1复位信号
                if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)) {
                    if (resetFlag1) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish1((short)1);
                        if (write(rgvCommand)) {
                            resetFlag1 = false;
                        }
                    }
                }

                // 工位2复位信号
                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)) {
                    if (resetFlag2) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish2((short)1);
                        if (write(rgvCommand)) {
                            resetFlag2 = false;
                        }
                    }
                }

                try {
                    // 根据实时信息更新数据库
                    BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
                    BasRgv basRgv = new BasRgv();
                    basRgv.setRgvNo(slave.getId());
                    basRgv.setRgvSts((int)rgvProtocol.getMode());
                    if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
                        log.error("RGV plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                    }
                } catch (Exception ignore){}

            } else {
                initRgv();
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
                log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initRgv();
        }
    }

    /**
     * 工位1、2同时写入数据
     */
    private boolean write(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }
//        convertRow(command);
        command.setRgvNo(slave.getId());
        short[] array = new short[11];
        array[0] = command.getAckFinish1();
        array[1] = command.getTaskNo1();
        array[2] = command.getTaskMode1();
        array[3] = command.getSourceStaNo1();
        array[4] = command.getDestinationStaNo1();
        array[5] = command.getAckFinish2();
        array[6] = command.getTaskNo2();
        array[7] = command.getTaskMode2();
        array[8] = command.getSourceStaNo2();
        array[9] = command.getDestinationStaNo2();
        array[10] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", array);

        if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
            short commandFinish = 3;  //工位1、2任务同时写入
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.20", commandFinish);
        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1().intValue(),
                    command.getTaskNo2().intValue(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskModeType1().toString(),
                    command.getSourceStaNo1().intValue(),
                    command.getDestinationStaNo1().intValue(),
                    command.getSourceStaNo2().intValue(),
                    command.getDestinationStaNo2().intValue(),
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    /**
     * 工位1写入数据
     */
    private boolean write1(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

        siemensNet.Write("DB100.20", command.getCommand());

        command.setRgvNo(slave.getId());
        short[] array = new short[5];
        array[0] = command.getAckFinish1();
        array[1] = command.getTaskNo1();
        array[2] = command.getTaskMode1();
        array[3] = command.getSourceStaNo1();
        array[4] = command.getDestinationStaNo1();

        OperateResult result = siemensNet.Write("DB100.0", array);

        if (command.getAckFinish1() == 0) {
            short commandFinish = 1;  //工位1任务写入
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.20", commandFinish);
        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1().intValue(),
                    command.getTaskNo2().intValue(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskModeType1().toString(),
                    command.getSourceStaNo1().intValue(),
                    command.getDestinationStaNo1().intValue(),
                    command.getSourceStaNo2().intValue(),
                    command.getDestinationStaNo2().intValue(),
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位1数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位1数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    /**
     * 工位2写入数据
     */
    private boolean write2(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

        siemensNet.Write("DB100.20", command.getCommand());

        command.setRgvNo(slave.getId());
        short[] array = new short[5];
        array[0] = command.getAckFinish2();
        array[1] = command.getTaskNo2();
        array[2] = command.getTaskMode2();
        array[3] = command.getSourceStaNo2();
        array[4] = command.getDestinationStaNo2();

        OperateResult result = siemensNet.Write("DB100.10", array);

        if (command.getAckFinish2() == 0) {
            short commandFinish = 2;  //工位2任务写入
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.20", commandFinish);
        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1().intValue(),
                    command.getTaskNo2().intValue(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskModeType1().toString(),
                    command.getSourceStaNo1().intValue(),
                    command.getDestinationStaNo1().intValue(),
                    command.getSourceStaNo2().intValue(),
                    command.getDestinationStaNo2().intValue(),
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位2命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位2命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位2数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位2数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    @Override
    public void close() {
        siemensNet.ConnectClose();
    }

    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/
    /*****************************************************************************************/
    public static void main(String[] args) throws InterruptedException {
        RgvSlave slave = new RgvSlave();
        slave.setId(1);
        slave.setIp("192.168.6.9");
        slave.setRack(0);
        slave.setSlot(0);
        RgvThread rgvThread = new RgvThread(slave);
        rgvThread.connect();
        rgvThread.readStatus();
        System.out.println(JSON.toJSONString(rgvThread.rgvProtocol));
        Thread.sleep(3000L);

    }

}

 src/main/resources/application.yml

@@ -140,6 +140,22 @@
      row: 14
      bay: 1
      lev: 1

  # RGV穿梭车1
  rgv[0]:
    id: 1
    ip: 10.10.10.40
    port: 502
    rack: 0
    slot: 0
  # RGV穿梭车2
  rgv[1]:
    id: 2
    ip: 10.10.10.41
    port: 502
    rack: 0
    slot: 0

  # 输送线
  devp[0]:
    id: 1

 src/main/resources/mapper/BasRgvOptMapper.xml

New file
@@ -0,0 +1,27 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="com.zy.asrs.mapper.BasRgvOptMapper">

    <!-- 通用查询映射结果 -->
    <resultMap id="BaseResultMap" type="com.zy.asrs.entity.BasRgvOpt">
        <result column="id" property="id" />
        <result column="wrk_no" property="wrkNo" />
        <result column="rgv_no" property="rgvNo" />
        <result column="send_time" property="sendTime" />
        <result column="mode" property="mode" />
        <result column="source_row" property="sourceRow" />
        <result column="source_bay" property="sourceBay" />
        <result column="source_lev" property="sourceLev" />
        <result column="source_sta" property="sourceSta" />
        <result column="pos_row" property="posRow" />
        <result column="pos_bay" property="posBay" />
        <result column="pos_lev" property="posLev" />
        <result column="pos_sta" property="posSta" />
        <result column="response" property="response" />
        <result column="update_time" property="updateTime" />
        <result column="update_by" property="updateBy" />
        <result column="memo" property="memo" />

    </resultMap>

</mapper>