#

lsh

2024-01-21 0e32b14a61afca8f7dbbe9851f47b57158abfdc1

#

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

@@ -1171,247 +1171,6 @@
    }

    /**
     * 入出库  ===>>  RGV入出库作业下发
     */
    public synchronized void rgvIoExecute() {
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            RgvSlave rgvSlave=null;
            if (rgv.getId()==1){
                rgvSlave = slaveProperties.getRgv().get(1);
            }else {
                rgvSlave = slaveProperties.getRgv().get(0);
            }

            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }

            RgvThread rgvThreadSlave = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocolSlave = rgvThreadSlave.getRgvProtocol();
            BasRgv basRgvSlave = null;
            if (rgvProtocolSlave == null) {
                rgvSlave=null;
            }else {
                basRgvSlave = basRgvService.selectById(rgv.getId());
                if (basRgvSlave == null) {
                    rgvSlave=null;
                }
            }

            BasRgv basRgv = basRgvService.selectById(rgv.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！", rgv.getId());
                continue;
            }

            boolean signSlave=false;//此处判断RgvSlave是否已经规避
            boolean signSlaveState=false;//此处判断RgvSlave是否空闲
            Integer staSlave = 0;//此处记录RgvSlave当前位置

            // 只有当RGV空闲、自动,
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
//                    && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
//                    && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getLoaded2() == 0
                    ) {

                //查找是否存在入出库工作中等待RGV搬运的任务
                List<WrkMast> wrkMasts = wrkMastMapper.selectIoRgvNo(rgv.getId());
                for (WrkMast wrkMast : wrkMasts) {
                    if (wrkMast.getWrkSts() == 2) {//2.设备上走1 => 3.RGV取货中
                        if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
                            continue;
                        }

                        //判断行走路径是否被占用
                        Integer staNo = wrkMast.getSourceStaNo();
                        BasDevp basDevp = basDevpService.selectById(staNo);
                        if (basDevp == null) {
                            continue;//目标站不存在
                        }
                        //起始路径
                        int startPath = rgvProtocol.getRgvPos().intValue();
                        //目标路径值
                        int endPath = basDevp.getLocType3().intValue();
//                        boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
                        boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
                        if (pathUsed) {
                            //行走路径被占用，禁止下发命令
                            continue;
                        }
                        //行走路径空闲，锁定路径
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                        rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
                        rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式:  取货
                        rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue());   //工位1目标站点
                        rgvCommand.setCommand((short) 1);   //工位1任务确认
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
                            //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 2.设备上走1 => 3.RGV取货中
                            Date now = new Date();
                            wrkMast.setWrkSts(3L);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 2.设备上走1 => 3.RGV取货中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        }
                    } else if (wrkMast.getWrkSts() == 14) {//4.RGV取货完成 => 5.RGV放货中   14出库完成
                        if (rgvProtocol.getTaskNo1() == 0 || !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致
                            continue;
                        }
                        if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物
                            continue;
                        }

                        //判断行走路径是否被占用
                        Integer staNo = wrkMast.getStaNo();
                        BasDevp basDevp = basDevpService.selectById(staNo);
                        if (basDevp == null) {
                            continue;//目标站不存在
                        }
                        //起始路径
                        int startPath = rgvProtocol.getRgvPos().intValue();
                        //目标路径值
                        int endPath = basDevp.getLocType3().intValue();
                        boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
                        if (pathUsed) {
                            //行走路径被占用，禁止下发命令
                            continue;
                        }
                        //行走路径空闲，锁定路径
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                        rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
                        rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
                        rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue());   //工位1目标站点
                        rgvCommand.setCommand((short) 1);   //工位1任务确认
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
                            //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 4.RGV取货完成 => 5.RGV放货中
                            Date now = new Date();
                            wrkMast.setWrkSts(5L);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 4.RGV取货完成 => 5.RGV放货中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        }
                    } else if (wrkMast.getWrkSts() == 23) {//23.设备上走1 => 24.RGV取货中
                        if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
                            continue;
                        }

                        //判断行走路径是否被占用
                        Integer staNo = wrkMast.getSourceStaNo();
                        BasDevp basDevp = basDevpService.selectById(staNo);
                        if (basDevp == null) {
                            continue;//目标站不存在
                        }
                        //起始路径
                        int startPath = rgvProtocol.getRgvPos().intValue();
                        //目标路径值
                        int endPath = basDevp.getLocType3().intValue();
                        boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
                        if (pathUsed) {
                            //行走路径被占用，禁止下发命令
                            continue;
                        }
                        //行走路径空闲，锁定路径
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                        rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
                        rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式:  取货
                        rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue());   //工位1目标站点
                        rgvCommand.setCommand((short) 1);   //工位1任务确认
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
                            //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 23.设备上走1 => 24.RGV取货中
                            Date now = new Date();
                            wrkMast.setWrkSts(24L);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 23.设备上走1 => 24.RGV取货中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        }
                    } else if (wrkMast.getWrkSts() == 25) {//25.RGV取货完成 => 26.RGV放货中
                        if (rgvProtocol.getTaskNo1() == 0 || !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致
                            continue;
                        }
                        if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物
                            continue;
                        }

                        //判断行走路径是否被占用
                        Integer staNo = wrkMast.getStaNo();
                        BasDevp basDevp = basDevpService.selectById(staNo);
                        if (basDevp == null) {
                            continue;//目标站不存在
                        }
                        //起始路径
                        int startPath = rgvProtocol.getRgvPos().intValue();
                        //目标路径值
                        int endPath = basDevp.getLocType3().intValue();
                        boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
                        if (pathUsed) {
                            //行走路径被占用，禁止下发命令
                            continue;
                        }
                        //行走路径空闲，锁定路径
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                        rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
                        rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
                        rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue());   //工位1目标站点
                        rgvCommand.setCommand((short) 1);   //工位1任务确认
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
                            //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 25.RGV取货完成 => 26.RGV放货中
                            Date now = new Date();
                            wrkMast.setWrkSts(26L);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 25.RGV取货完成 => 26.RGV放货中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        }
                    }
                }

            }
        }
    }

    private boolean rgvIoExecuteWrk2To3() {
        return false;
    }

    /**
     * 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
     */
    public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) {
@@ -3175,7 +2934,7 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        &&  (rgvProtocol.getLoaded2()==2  || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物  ；2一层有物二层无物 （只能满放）；3  1、2层都有物
                        &&  (rgvProtocol.getLoaded2()==2  || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物  ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
                ) {
                    try {
                        WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122);
@@ -4395,12 +4154,29 @@
                        StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast)){
                            Thread.sleep(100);
                            Thread.sleep(200);
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast.getWrkNo());
                            staProtocol.setStaNo(wrkMast.getStaNo());
                            if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
                                continue;
                            }
                            log.error("小车任务完成下发输送线任务："+staProtocol);
                            try{
                                Thread.sleep(1000);
                                DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                                StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
                                log.error("小车任务完成读取输送线任务："+staProtocolEnd);
                                if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
                                    staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
                                    staProtocolEnd.setStaNo(wrkMast.getStaNo());
                                    if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
                                        continue;
                                    }
                                    log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
                                }
                            }catch (Exception e){

                            }
                        }
                        wrkMastSta.setWrkSts(3);
@@ -4433,12 +4209,29 @@
                        StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast)){
                            Thread.sleep(100);
                            Thread.sleep(200);
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast.getWrkNo());
                            staProtocol.setStaNo(wrkMast.getStaNo());
                            if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
                                continue;
                            }
                            log.error("小车任务完成下发输送线任务："+staProtocol);
                            try{
                                Thread.sleep(1000);
                                DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                                StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
                                log.error("小车任务完成读取输送线任务："+staProtocolEnd);
                                if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
                                    staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
                                    staProtocolEnd.setStaNo(wrkMast.getStaNo());
                                    if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
                                        continue;
                                    }
                                    log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
                                }
                            }catch (Exception e){

                            }
                        }
                        wrkMastSta.setWrkSts(3);
@@ -4456,9 +4249,91 @@
        }
    }
    /**
     * 入出库  ===>>  小车作业下发
     */
    public synchronized void rgvIoExecute(Integer sign) {
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                // 获取小车信息
                boolean signWork = false;
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }

                // 只有当RGV空闲、自动,工位一无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==0
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                ) {
                    switch (sign){
                        case 1://执行小车货物搬运任务
                            signWork = rgvRunWrkMastFullSta();
                            break;
                        case 2://放//拆盘
                            signWork = rgvRunWrkMastEmptyStaPut();
                            break;
                        case 3://满放
                            signWork = rgvRunWrkMastEmptyStaPutFull();
                            break;
                        case 4://取叠盘
                            signWork = rgvRunWrkMastEmptyStaTake();
                            break;
                        case 5:////满取
                            signWork = rgvRunWrkMastEmptyStaTakeFull();
                            break;
                        case 6:////提升
//                            signWork = qwe();
                            break;
                        default:
//                            signWork = rgvRunWrkMastEmptyStaAvoidance();//避让
                            break;
                    }
                }
                for (int signCount = 1;!signWork && signCount<8;signCount++){
                    switch (signCount){
                        case 1://执行小车货物搬运任务
                            signWork = rgvRunWrkMastFullSta();
                            break;
                        case 2://放//拆盘
                            signWork = rgvRunWrkMastEmptyStaPut();
                            break;
                        case 3://满放
                            signWork = rgvRunWrkMastEmptyStaPutFull();
                            break;
                        case 4://取叠盘
                            signWork = rgvRunWrkMastEmptyStaTake();
                            break;
                        case 5:////满取
                            signWork = rgvRunWrkMastEmptyStaTakeFull();
                            break;
                        case 6:////提升
//                            signWork = rgvRunWrkMastEmptyStaPut();
                            break;
                        default:
//                            signWork = rgvRunWrkMastEmptyStaAvoidance();//避让
                            break;
                    }
                }

            }
        }catch (Exception e){
            log.error("RGV小车任务下发报错"+e);
        }
    }
    /**
     * 执行小车搬运任务
     */
    public synchronized void rgvRunWrkMastFullSta() {
    public synchronized boolean rgvRunWrkMastFullSta() {
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
@@ -4474,6 +4349,8 @@

                // 只有当RGV空闲、自动,工位一无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==0
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
@@ -4490,6 +4367,10 @@
                        if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:满版   3：取放
                            continue;
                        }
                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
                            continue;
                        }
                        boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
@@ -4500,7 +4381,7 @@
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return;
                                return true;
                            }else {
                                log.error("3864行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                            }
@@ -4515,11 +4396,12 @@
            log.error("3875行执行小车搬运任务下发失败");
            log.error("3875行"+e);
        }
        return false;
    }
    /**
     * 执行小车搬运任务//拆盘
     */
    public synchronized void rgvRunWrkMastEmptyStaPut() {//拆盘
    public synchronized boolean rgvRunWrkMastEmptyStaPut() {//拆盘
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
@@ -4535,9 +4417,11 @@

                // 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        && (rgvProtocol.getLoaded2()==3  || rgvProtocol.getLoaded2()==1 )////0 无物；1 一层无物二层有物 （只能拆叠） ；2一层有物二层无物 ；3  1、2层都有物
                        && (rgvProtocol.getLoaded2()==3  || rgvProtocol.getLoaded2()==1 || rgvProtocol.getLoaded2()==4)////0 无物；1 一层无物二层有物 （只能拆叠） ；2一层有物二层无物() ；3  1、2层都有物  4：（）只允许拆盘
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
@@ -4553,6 +4437,10 @@
                        }
                        boolean sign = false;
                        if ( wrkMastSta.getStaEnd()!=0){//放
                            BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
                                continue;
                            }
                            sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
                        }else {
                            continue;
@@ -4566,7 +4454,7 @@
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return;
                                return true;
                            }else {
                                log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                            }
@@ -4581,12 +4469,13 @@
            log.error("3933行执行小车放空板任务下发失败");
            log.error("3933行"+e);
        }
        return false;
    }

    /**
     * 执行小车搬运任务
     */
    public synchronized void rgvRunWrkMastEmptyStaPutFull() {//满放
    public synchronized boolean rgvRunWrkMastEmptyStaPutFull() {//满放
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
@@ -4602,9 +4491,11 @@

                // 只有当RGV空闲、自动,工位二有物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        &&  (rgvProtocol.getLoaded2()==2  || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物  ；2一层有物二层无物 （只能满放）；3  1、2层都有物
                        &&  (rgvProtocol.getLoaded2()==2  || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物  ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
@@ -4620,6 +4511,10 @@
                        }
                        boolean sign = false;
                        if ( wrkMastSta.getStaEnd()!=0){//满放
                            BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
                                continue;
                            }
                            sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
                        }else {
                            continue;
@@ -4633,7 +4528,7 @@
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return;
                                return true;
                            }else {
                                log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                            }
@@ -4648,9 +4543,10 @@
            log.error("3933行执行小车放空板任务下发失败");
            log.error("3933行"+e);
        }
        return false;
    }

    public synchronized void rgvRunWrkMastEmptyStaTake() {//叠盘
    public synchronized boolean rgvRunWrkMastEmptyStaTake() {//叠盘
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
@@ -4666,9 +4562,11 @@

                // 只有当RGV空闲、自动,工位二无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        &&  (rgvProtocol.getLoaded2()==0  || rgvProtocol.getLoaded2()==1 ) //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）   ；2一层有物二层无物 （只能满放）；3  1、2层都有物
                        &&  (rgvProtocol.getLoaded2()==0  || rgvProtocol.getLoaded2()==1 ) //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）   ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
@@ -4684,6 +4582,10 @@
                        }
                        boolean sign = false;
                        if ( wrkMastSta.getStaStart()!=0){//取
                            BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
                            if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
                                continue;
                            }
                            sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
                        }else {
                            continue;
@@ -4697,7 +4599,7 @@
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return;
                                return true;
                            }else {
                                log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                            }
@@ -4712,9 +4614,10 @@
            log.error("3989行执行小车取空板任务下发失败");
            log.error("3989行"+e);
        }
        return false;
    }

    public synchronized void rgvRunWrkMastEmptyStaTakeFull() {//满取
    public synchronized boolean rgvRunWrkMastEmptyStaTakeFull() {//满取
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
@@ -4730,9 +4633,11 @@

                // 只有当RGV空闲、自动,工位二无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        &&  rgvProtocol.getLoaded2()==0  //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）   ；2一层有物二层无物 （只能满放）；3  1、2层都有物
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        &&  rgvProtocol.getLoaded2()==0  //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）   ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
@@ -4747,7 +4652,11 @@
                            continue;
                        }
                        boolean sign = false;
                        if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//满取
                        if (wrkMastSta.getStaStart()!=0){//满取
                            BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
                            if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
                                continue;
                            }
                            sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
                        }else {
                            continue;
@@ -4761,7 +4670,7 @@
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return;
                                return true;
                            }else {
                                log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                            }
@@ -4776,6 +4685,7 @@
            log.error("3989行执行小车取空板任务下发失败");
            log.error("3989行"+e);
        }
        return false;
    }

    /*
@@ -4784,6 +4694,13 @@
    public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
        try{
            Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
            if (integer==0){
                return;
            }
            //查询是否需要避让
            //未完成
            Thread.sleep(1000);
            integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
            if (integer==0){
                return;
            }
@@ -4805,6 +4722,8 @@
                        && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && rgvProtocol.getTaskNo1()==0
                        && rgvProtocol.getTaskNo2()==0
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){

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

@@ -26,6 +26,7 @@
    private Thread thread;
    // 频率
    private int i = 0;
    private int j = 0;

    /**
     * =====>>  开始工作
@@ -85,18 +86,28 @@

                    //完成小车任务
                    mainService.rgvCompleteWrkMastSta();
                    //执行小车货物搬运任务
                    mainService.rgvRunWrkMastFullSta();
                    //执行小车空板搬运任务
                    mainService.rgvRunWrkMastEmptyStaPut();//放//拆盘
                    mainService.rgvRunWrkMastEmptyStaPutFull();//满放
                    mainService.rgvRunWrkMastEmptyStaTake();//取叠盘
                    mainService.rgvRunWrkMastEmptyStaTakeFull();////满取
                    i++;
                    if (i > 3) {
                        mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
                    if (i<7) {
                        // RGV  ===>>  小车任务作业下发
                        try{
                            mainService.rgvIoExecute(i);
                        }catch (Exception e){
                            log.error("RGV  ===>>  小车任务作业下发异常"+e);
                        }
                    }else {
                        i = 0;
                    }


//                    //执行小车货物搬运任务
//                    mainService.rgvRunWrkMastFullSta();
//                    //执行小车空板搬运任务
//                    mainService.rgvRunWrkMastEmptyStaPut();//放//拆盘
//                    mainService.rgvRunWrkMastEmptyStaPutFull();//满放
//                    mainService.rgvRunWrkMastEmptyStaTake();//取叠盘
//                    mainService.rgvRunWrkMastEmptyStaTakeFull();////满取
//                    mainService.rgvRunWrkMastEmptyStaAvoidance();//避让

                    /////////////////////////////////////RGV调度/////////////////////////////////////

                    // 异常信息记录
@@ -146,7 +157,6 @@
                    mainService.stackingCompletionDriveTrayOk2();
                    //退货码垛完成托盘继续下一步
                    mainService.stackingCompletionDriveTrayOk3();


                } catch (Exception e) {
                    e.printStackTrace();

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

@@ -94,7 +94,7 @@
    /**
     * 工位2有物
     */
    public Short loaded2;  //0 无物；1 一层无物二层有物（只能拆叠）  ；2一层有物二层无物 （只能满放）；3  1、2层都有物
    public Short loaded2;  //0 无物；1 一层无物二层有物（只能拆叠）  ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
    ///////////////////////////////////////////////////////////////////////////////////////

    /**