#ZH

野心家

2025-05-27 1b9f41e12e3ee8ac8bbc388eab7585300bdab75a

#ZH

 pom.xml

@@ -61,12 +61,12 @@
<!--        </dependency>-->

        <!-- 显式排除slf4j-simple -->
<!--        <dependency>-->
<!--            <groupId>org.slf4j</groupId>-->
<!--            <artifactId>slf4j-simple</artifactId>-->
<!--            <version>1.7.30</version>-->
<!--            <scope>provided</scope> &lt;!&ndash; 或直接删除该依赖 &ndash;&gt;-->
<!--        </dependency>-->
        <dependency>
            <groupId>org.slf4j</groupId>
            <artifactId>slf4j-simple</artifactId>
            <version>1.7.30</version>
            <scope>provided</scope> <!-- 或直接删除该依赖 -->
        </dependency>
        <dependency>
            <groupId>com.dameng</groupId>
            <artifactId>DmJdbcDriver8</artifactId>

 src/main/java/com/zy/asrs/controller/CrnController.java

@@ -303,6 +303,7 @@
                }
            }
            vo.setLaneNo(crnProtocol.getLaneNo());  //
            vo.setErrorCrn(crnProtocol.getErrCrn());  //
            vo.setXspeed(crnProtocol.getXSpeed());  //  走行速度（m/min)
            vo.setYspeed(crnProtocol.getYSpeed());  //  升降速度（m/min)
            vo.setZspeed(crnProtocol.getZSpeed());  //  叉牙速度（m/min)

 src/main/java/com/zy/asrs/controller/OpenController.java

@@ -551,13 +551,14 @@
            basRgvWmsParam.setStatusType(rgvStatus.getStatusType().desc);
            basRgvWmsParam.setSteNo(rgvSlave.getId());
            basRgvWmsParam.setSteErr(rgvStatus.getAlarm().longValue());
            try{
                BasRgvErr basRgvErr = basRgvErrService.selectById((long)rgvStatus.getAlarm$());

                basRgvWmsParam.setSteErrM(basRgvErr.getErrName());
            } catch (Exception e){
                basRgvWmsParam.setSteErrM("未知异常");
            }
            basRgvWmsParam.setSteErrM(rgvStatus.getAlarmM());
//            try{
//                BasRgvErr basRgvErr = basRgvErrService.selectById((long)rgvStatus.getAlarm$());
//
//                basRgvWmsParam.setSteErrM(basRgvErr.getErrName());
//            } catch (Exception e){
//                basRgvWmsParam.setSteErrM("未知异常");
//            }
            if (rgvStatus.getMode()!=1){
                basRgvWmsParam.setSteErr(999L);
                basRgvWmsParam.setSteErrM("非自动！！！");

 src/main/java/com/zy/asrs/controller/RgvController.java

@@ -2,9 +2,11 @@

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.Cools;
import com.core.common.R;
import com.zy.asrs.entity.BasDevpPosition;
import com.zy.asrs.service.BasDevpPositionService;
import com.zy.core.cache.RgvErrCache;
import com.zy.core.cache.RgvStatusCache;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.cache.TaskProtocolCache;
@@ -46,6 +48,7 @@
            map2.put("rgvPos", rgvProtocol.getRgvPos());
            map2.put("rgvPosDestination", rgvProtocol.getRgvPosDestination());
            map2.put("loaded", rgvProtocol.getLoaded().equals((short)-1)? "未知":rgvProtocol.getLoaded()==1? "有物":"无物");
            map2.put("errorRgv", RgvErrCache.getErrorDev(rgvProtocol.getRgvNo()));
            res.add(map2);
        }
        return R.ok().add(res);
@@ -113,6 +116,9 @@
        }
        if (rgvPosDestination == null || rgvPosDestination == 0){
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
            if (Cools.isEmpty(basDevpPosition)){
                return R.error("目标站点不存在");
            }
            rgvPosDestination = basDevpPosition.getPlcPosition();
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
@@ -168,6 +174,9 @@
            }

            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
            if (Cools.isEmpty(basDevpPosition)){
                return R.error("目标站点不存在");
            }
            //执行
            issuedPut.setTaskNo(Long.valueOf(taskNo));
            issuedPut.setTaskStatus(3);
@@ -210,6 +219,9 @@
            }

            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
            if (Cools.isEmpty(basDevpPosition)){
                return R.error("取货站点不存在");
            }
            //执行
            issuedTake.setTaskNo(Long.valueOf(taskNo));
            issuedTake.setTaskStatus(2);
@@ -257,6 +269,9 @@
            }

            BasDevpPosition basDevpPositionTake = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
            if (Cools.isEmpty(basDevpPositionTake)){
                return R.error("取货站点不存在");
            }
            //执行
            issuedTake.setTaskNo(Long.valueOf(taskNo));
            issuedTake.setTaskStatus(2);
@@ -268,6 +283,9 @@
            issuedTake.setDirection(basDevpPositionTake.getRgvSign()==1);

            BasDevpPosition basDevpPositionPut = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
            if (Cools.isEmpty(basDevpPositionPut)){
                return R.error("目标站点不存在");
            }
            //执行
            issuedPut.setTaskNo(Long.valueOf(taskNo));
            issuedPut.setTaskStatus(3);

 src/main/java/com/zy/asrs/controller/SiteController.java

@@ -113,6 +113,8 @@
            vo.setStaNo(staProtocol.getStaNo());                // 目标站
//            vo.setLocType1(staProtocol.isHigh() != staProtocol.isLow() && staProtocol.isLow() ? "低" : "高");     //高低库位
            vo.setLocType1(devp.getDevNo()==102 ? "高" : "低");
            vo.setWeight(staProtocol.getGrossWt().toString());
            vo.setErrorDev(staProtocol.getErrorDev());
        }
        return R.ok().add(list);
    }

 src/main/java/com/zy/asrs/domain/vo/CrnListVo.java

@@ -112,6 +112,7 @@

    // 可出
    private String outEnable;
    private String errorCrn;

    public void setXspeed(Float xspeed) {
        this.xspeed = Utils.scale(xspeed);

 src/main/java/com/zy/asrs/domain/vo/SiteTableVo.java

@@ -37,5 +37,7 @@

    //高低库位
    private String locType1 = "-";
    private String weight = "-";
    private String errorDev = "-";
    private String car = "-";
}

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

@@ -128,7 +128,7 @@

                    // 尺寸检测异常
                    boolean back = false;
                    String errMsg = "";
                    String errMsg = "-";
                    if (staProtocol.getGrossWt()>=600){
                        errMsg = "超重";
                        back = true;
@@ -177,6 +177,7 @@
                        staProtocol.setWorkNo(9999);
                        staProtocol.setStaNo(inSta.getBackSta());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
                        if (taskWrk != null) {
@@ -217,6 +218,7 @@
                                        staProtocol.setWorkNo(taskWrk1.getWrkNo());
                                        staProtocol.setStaNo(staProtocol.getSiteId());
                                        devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
                                        devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    }
                                }
@@ -252,6 +254,7 @@
                                staProtocol.setStaNo(inSta.getBackSta());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
                                devpThread.setErrorDev(staProtocol.getSiteId(), e.getMessage());
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                continue;
                            }
@@ -270,6 +273,8 @@
                            if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
                                try {
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    devpThread.setErrorDev(staProtocol.getSiteId(), "上报成功等待任务");

                                } catch (Exception e) {
                                    // 退回
                                    log.error("扫码检测程序异常" + inSta.getStaNo() + errMsg);
@@ -278,9 +283,18 @@
                                    staProtocol.setWorkNo(9999);
                                    staProtocol.setStaNo(inSta.getBackSta());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    devpThread.setErrorDev(staProtocol.getSiteId(), "上报成功锁定失败");

                                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                }

                            } else {
                                // 退回
                                staProtocol.setWorkNo(9999);
                                staProtocol.setStaNo(inSta.getBackSta());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                devpThread.setErrorDev(staProtocol.getSiteId(), jsonObject.getString("msg"));
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            }
                        } else {
                            // 退回
@@ -289,6 +303,7 @@
                            staProtocol.setWorkNo(9999);
                            staProtocol.setStaNo(inSta.getBackSta());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            devpThread.setErrorDev(staProtocol.getSiteId(), "扫码入库扫码失败！！！扫码值："+barcode);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
                            if (taskWrk != null) {
@@ -558,6 +573,7 @@
                                        staProtocol.setWorkNo(taskWrk1.getWrkNo());
                                        staProtocol.setStaNo(BarcodeUtils.getStaNo(staProtocol.getSiteId()));
                                        devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
                                        devpThread.setErrorDev(staProtocol.getSiteId(), "-");
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                                        Date now = new Date();
@@ -721,8 +737,19 @@
                        crnProtocol.setLastIo("O");
                    }
                }
            }  else {
                if (crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getStatusType() == CrnStatusType.IDLE){
                    if (crnProtocol.getTaskNo() != 0){
                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");
                    }
                    if (crnProtocol.getLoaded() != 0){
                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "载货台有物");
                    }
                    if (crnProtocol.getForkPos() != 0){
                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "货叉位置不在中位");
                    }
                }
            }

        }
    }

@@ -765,12 +792,20 @@
                }

                // 堆垛机控制过滤
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE)) {
                    devpThread.setErrorDev(staProtocol.getSiteId(), "堆垛机非空闲");
                    continue;
                }
                if (crnProtocol.getTaskNo() != 0) {
                    devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机工作号不为0");
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");
                    continue;
                }

                // 已经存在吊车执行任务时，则过滤
                if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
                    devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机存在吊车任务");
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
                    continue;
                }

@@ -832,9 +867,15 @@
//                crnCommand.setCommand((short) 1);
                if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                    devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");

                    throw new CoolException("堆垛机命令生成失败");
                } else {
                    try {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "-");
                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");

                        taskWrkService.updateById(taskWrk);
                    } catch (Exception e) {
                        log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", taskWrk.getWrkNo());
@@ -923,12 +964,21 @@
                        // 命令下发区 --------------------------------------------------------------------------

                        // 堆垛机控制过滤
                        if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                            break;
                        if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE)) {
                            devpThread.setErrorDev(staProtocol.getSiteId(), "堆垛机非空闲");
                            continue;
                        }
                        if (crnProtocol.getTaskNo() != 0) {
                            devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机工作号不为0");
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");

                            continue;
                        }

                        // 已经存在吊车执行任务时，则过滤
                        if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
                            devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机存在吊车任务");
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
                            break;
                        }

@@ -947,6 +997,8 @@
                        command.setCommand((short) 1);
                        if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command))) {
                            log.error("堆垛机命令生成失败，堆垛机号={}，巷道={}，任务数据={}", slave.getId(), taskWrk.getCrnNo(), JSON.toJSON(command));
                            devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");
                            throw new CoolException("堆垛机命令生成失败");
                        } else {
                            try {
@@ -956,6 +1008,9 @@
                                taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);
                                taskWrk.setModiTime(now);
                                taskWrk.setExecuteTime(now);
                                devpThread.setErrorDev(staProtocol.getSiteId(), "-");
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");

                                if (taskWrkMapper.updateById(taskWrk) == 0) {
                                    log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
                                }
@@ -994,6 +1049,19 @@
//                                throw new CoolException("wcs派发入库任务上报wms失败");
                            }
                        }
                    } else {
                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");
                        if (staProtocol.isAutoing()){
                            if (staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "能出：未打开");
                            }
                            if (staProtocol.getWorkNo() == 0){
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");
                            }
                            if (staProtocol.isOutEnable()){
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "没有可出");
                            }
                        }
                    }
                }
            }

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

@@ -11,5 +11,6 @@
    void setPakMk(Integer siteId, boolean pakMk);
    void setPakMkWalk(Integer siteId, boolean pakMkWalk);
    void setGrossWt(Integer siteId, Double grossWt);
    void setErrorDev(Integer siteId, String msgErr);

}

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

New file
@@ -0,0 +1,101 @@
package com.zy.core.cache;

import com.zy.core.model.protocol.CrnErrProtocol;
import com.zy.core.model.protocol.RgvErrProtocol;

import java.util.concurrent.ConcurrentHashMap;

/**
 * Created by IX on 2025/02/21
 */
public class CrnErrCache {
    // 本地缓存，键为 currentPosition，值为 DeviceStatus
    private static final ConcurrentHashMap<Integer, CrnErrProtocol> cache = new ConcurrentHashMap<>();

    /**
     * 更新设备状态
     */
    public static void updateCrnStatus(CrnErrProtocol status) {
        try {
            cache.put(status.getCrnNo(), status);
        } finally {
        }
    }


    /**
     * 更新设备状态
     */
    public static void updateCrnErr(Integer crnNo,String error) {
        try {
            CrnErrProtocol crnErrProtocol = cache.get(crnNo);
            if (crnErrProtocol == null){
                crnErrProtocol = new CrnErrProtocol();
                crnErrProtocol.setCrnNo(crnNo);
            }
            if (!crnErrProtocol.getError().equals(error)){
                crnErrProtocol.setError(error);
                cache.put(crnErrProtocol.getCrnNo(), crnErrProtocol);
            }
        } finally {
        }
    }


    /**
     * 更新设备状态
     */
    public static void updateCrnErr(Integer crnNo) {
        try {
            CrnErrProtocol crnErrProtocol = cache.get(crnNo);
            if (crnErrProtocol == null){
                crnErrProtocol = new CrnErrProtocol();
                crnErrProtocol.setCrnNo(crnNo);
            }
            if (!crnErrProtocol.getError().equals("-")){
                crnErrProtocol.setError("-");
                cache.put(crnErrProtocol.getCrnNo(), crnErrProtocol);
            }
        } finally {
        }
    }




    /**
     * 更新设备状态
     */
    public static String getErrorCrn(Integer crnNo) {
        try {
            CrnErrProtocol crnErrProtocol = cache.get(crnNo);
            if (crnErrProtocol == null){
                crnErrProtocol = new CrnErrProtocol();
                crnErrProtocol.setCrnNo(crnNo);
            }
            return crnErrProtocol.getError();
        } finally {
        }
    }

    /**
     * 获取设备状态
     */
    public static CrnErrProtocol getCrnStatus(Integer crnNo) {
        try {
            return cache.get(crnNo);
        } finally {
        }
    }

    /**
     * 获取所有设备状态
     */
    public static ConcurrentHashMap<Integer, CrnErrProtocol> getAllCrnStatus() {
        try {
            return new ConcurrentHashMap<>(cache); // 返回副本
        } finally {
        }
    }

}

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

New file
@@ -0,0 +1,102 @@
package com.zy.core.cache;

import com.core.common.Cools;
import com.zy.core.model.protocol.RgvErrProtocol;
import com.zy.core.model.protocol.RgvRunProtocol;

import java.util.concurrent.ConcurrentHashMap;

/**
 * Created by IX on 2025/02/21
 */
public class RgvErrCache {
    // 本地缓存，键为 currentPosition，值为 DeviceStatus
    private static final ConcurrentHashMap<Integer, RgvErrProtocol> cache = new ConcurrentHashMap<>();

    /**
     * 更新设备状态
     */
    public static void updateRgvStatus(RgvErrProtocol status) {
        try {
            cache.put(status.getRgvNo(), status);
        } finally {
        }
    }


    /**
     * 更新设备状态
     */
    public static void updateRgvErr(Integer rgvNo,String error) {
        try {
            RgvErrProtocol rgvErrProtocol = cache.get(rgvNo);
            if (rgvErrProtocol == null){
                rgvErrProtocol = new RgvErrProtocol();
                rgvErrProtocol.setRgvNo(rgvNo);
            }
            if (!rgvErrProtocol.getError().equals(error)){
                rgvErrProtocol.setError(error);
                cache.put(rgvErrProtocol.getRgvNo(), rgvErrProtocol);
            }
        } finally {
        }
    }


    /**
     * 更新设备状态
     */
    public static void updateRgvErr(Integer rgvNo) {
        try {
            RgvErrProtocol rgvErrProtocol = cache.get(rgvNo);
            if (rgvErrProtocol == null){
                rgvErrProtocol = new RgvErrProtocol();
                rgvErrProtocol.setRgvNo(rgvNo);
            }
            if (!rgvErrProtocol.getError().equals("-")){
                rgvErrProtocol.setError("-");
                cache.put(rgvErrProtocol.getRgvNo(), rgvErrProtocol);
            }
        } finally {
        }
    }




    /**
     * 更新设备状态
     */
    public static String getErrorDev(Integer rgvNo) {
        try {
            RgvErrProtocol rgvErrProtocol = cache.get(rgvNo);
            if (rgvErrProtocol == null){
                rgvErrProtocol = new RgvErrProtocol();
                rgvErrProtocol.setRgvNo(rgvNo);
            }
            return rgvErrProtocol.getError();
        } finally {
        }
    }

    /**
     * 获取设备状态
     */
    public static RgvErrProtocol getRgvStatus(Integer rgvNo) {
        try {
            return cache.get(rgvNo);
        } finally {
        }
    }

    /**
     * 获取所有设备状态
     */
    public static ConcurrentHashMap<Integer, RgvErrProtocol> getAllRgvStatus() {
        try {
            return new ConcurrentHashMap<>(cache); // 返回副本
        } finally {
        }
    }

}

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

New file
@@ -0,0 +1,16 @@
package com.zy.core.model.protocol;

import lombok.Data;

/**
 * Created by IX on 2025/02/21
 */
@Data
public class CrnErrProtocol {

    private Integer crnNo;

    public String error = "-";

    public CrnErrProtocol(){}
}

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

@@ -197,6 +197,7 @@
     * 堆垛机累计升降时长h
     */
    public Float yDuration;
    public String errCrn;

    public void setMode(Short mode) {
        this.mode = mode;

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

New file
@@ -0,0 +1,16 @@
package com.zy.core.model.protocol;

import lombok.Data;

/**
 * Created by IX on 2025/02/21
 */
@Data
public class RgvErrProtocol {

    private Integer rgvNo;

    public String error = "-";

    public RgvErrProtocol(){}
}

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

@@ -116,6 +116,7 @@

    // 光电异常
    private boolean err6;
    private String errorRgv;

    public void setMode(Short mode) {
        this.mode = mode;

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

@@ -86,6 +86,7 @@
    //指令ID
    private Integer commandId;
    private Double grossWt = 0D;
    private String errorDev = "-";

    public BasDevp toSqlModel(){
        BasDevp basDevp = new BasDevp();

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

@@ -53,6 +53,7 @@
    private Long trackBenchmark = 1L;
    //  # 避让距离
    private Long avoidDistance = 5000L;
    private String errorRgv = "-";

    /**
     * 工位1复位信号
@@ -290,6 +291,7 @@
        while (true) {
            RgvRunProtocol rgvRun = RgvRunCache.getRgvRun();
            if (!rgvRun.getRgvNo().equals(slave.getId())){

                continue;
            }
            try {
@@ -307,6 +309,7 @@
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                    rgvRun.setRgvNo(slave.getOtherId());
                    RgvRunCache.updateRgvStatus(rgvRun);
                    RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
                    continue;
                }

@@ -327,6 +330,7 @@
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                    rgvRun.setRgvNo(slave.getOtherId());
                    RgvRunCache.updateRgvStatus(rgvRun);
                    RgvErrCache.updateRgvErr(slave.getId(),"小车探物物状态异常");
                    continue;
                }
                if (rgvTaskProtocol.getAvoid() != 0) {
@@ -337,6 +341,7 @@
                        issued.setTaskStatus(1);
                        issued.setDirection(true);
                        write(issued);
                        RgvErrCache.updateRgvErr(slave.getId());
                        rgvTaskProtocol.setAvoid(0);

//                        try{Thread.sleep(50L);} catch (Exception e){}
@@ -358,21 +363,25 @@
                            if (rgvOtherStatusEnable()) {
                                //另一台车是否允许此台车执行
                                if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
                                    RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
                                    break;
                                }
                            }
                            if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
                                    && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
                                taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                                RgvErrCache.updateRgvErr(slave.getId());
                                break;
                            } else {
                                TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                                write(issued);
                                RgvErrCache.updateRgvErr(slave.getId());
                                taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                                break;
                            }
                        }
                    }
                    RgvErrCache.updateRgvErr(slave.getId());
                } else {
                    for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
                        if (taskProtocol.getIsRunning() == 1) {//准备下发
@@ -380,6 +389,7 @@
                            if (rgvOtherStatusEnable()) {
                                //另一台车是否允许此台车执行
                                if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
                                    RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
                                    break;
                                }
                            }
@@ -389,32 +399,38 @@
                                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
                                    StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
                                    if (staProtocol == null ) {
                                        RgvErrCache.updateRgvErr(slave.getId(),"未查到小车作业站"+staProtocol.getStaNo()+"站点");
                                        break;
                                    }
                                    // 判断是否满足入库条件
                                    if (!staProtocol.isAutoing() || staProtocol.isLoading()
                                    ){
                                        RgvErrCache.updateRgvErr(slave.getId(),"小车等待"+staProtocol.getStaNo()+"站点就绪");
                                        break;
                                    }
                                } else if (taskProtocol.getTaskStatus()==2){
                                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
                                    StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
                                    if (staProtocol == null ) {
                                        RgvErrCache.updateRgvErr(slave.getId(),"未查到小车作业站"+staProtocol.getStaNo()+"站点");
                                        break;
                                    }
                                    // 判断是否满足入库条件
                                    if (!staProtocol.isAutoing() || !staProtocol.isLoading() || staProtocol.getWorkNo()==0
                                    ){
                                        RgvErrCache.updateRgvErr(slave.getId(),"小车等待"+staProtocol.getStaNo()+"站点就绪");
                                        break;
                                    }
                                }
                                TaskProtocol issued = new TaskProtocol(taskProtocol);
                                write(issued);
                                RgvErrCache.updateRgvErr(slave.getId());
                                taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                                break;
                            } else {
                                TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                                write(issued);
                                RgvErrCache.updateRgvErr(slave.getId());
                                break;
                            }
                        }
@@ -465,10 +481,25 @@
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

        if (rgvProtocol == null || rgvTaskProtocol == null) {
            errorRgv = slave.getId()+"号小车连接失败";
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 || rgvProtocol.getRgvPosDestination() == 0L
                || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO)) {
            errorRgv = slave.getId()+"号小车非自动";
            return false;
        }
        if (rgvProtocol.getRgvPos().equals(0L)
                || rgvTaskProtocol.getAvoid() == -1
                || rgvProtocol.getRgvPosDestination() == 0L) {
            errorRgv = slave.getId()+"号小车状态异常";
            return false;
        }
        if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) {
            errorRgv = slave.getId()+"号小车非空闲";
            return false;
        }
        if ( (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) {
            errorRgv = slave.getId()+"号小车存在运行目标值，需要复位！！！";
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
@@ -477,10 +508,12 @@
//                "rgvTaskProtocolOther:"+slave.getOtherId()+"sign:"+rgvTaskProtocolOther.isSignRun()+"/n");

        if (rgvProtocolOther == null) {
            errorRgv = slave.getOtherId()+"号小车连接失败";
            return false;
        }
        if (rgvProtocolOther.statusEnable) {
            if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
                errorRgv = slave.getOtherId()+"号小车状态异常";
                return false;
            }
        }
@@ -536,6 +569,7 @@
                                            long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
                                            if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                                                log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                                                errorRgv = "RGV行走目标超出范围";
                                                try{
                                                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
@@ -559,12 +593,15 @@
                            }
                        }
                        if (signNowPosRun){
                            errorRgv = slave.getOtherId()+"号RGV等待作业...";
                            return false;
                        }
                    }
                    long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
                        log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                        errorRgv = "RGV行走目标超出范围";

                        try{
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
@@ -591,6 +628,8 @@
                    long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
                        log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                        errorRgv = "RGV行走目标超出范围";

                        try{
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
@@ -618,6 +657,8 @@
                        long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
                        if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                            log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                            errorRgv = "RGV行走目标超出范围";

                            try{
                                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
@@ -635,6 +676,8 @@
                        RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                        return false;
                    }
                    errorRgv = slave.getOtherId()+"号RGV影响，等待中...";

                    return false;
                }
            } else {
@@ -671,6 +714,8 @@
                                            long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
                                            if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
                                                log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                                                errorRgv = "RGV行走目标超出范围";

                                                try{
                                                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
@@ -694,12 +739,15 @@
                            }
                        }
                        if (signNowPosRun){
                            errorRgv = slave.getOtherId()+"号RGV等待作业...";
                            return false;
                        }
                    }
                    long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                        log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                        errorRgv = "RGV行走目标超出范围";

                        try{
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
@@ -726,6 +774,8 @@
                    long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                        log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                        errorRgv = "RGV行走目标超出范围";

                        try{
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
@@ -754,6 +804,8 @@
                        long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
                        if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
                            log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                            errorRgv = "RGV行走目标超出范围";

                            try{
                                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
@@ -771,6 +823,7 @@
                        RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                        return false;
                    }
                    errorRgv = slave.getOtherId()+"号RGV等待中...";
                    return false;
                }
            } else {
@@ -781,6 +834,8 @@
                }
            }
        }

        errorRgv = slave.getOtherId()+"号RGV影响，等待中...";
        return false;
    }

@@ -918,6 +973,9 @@
//                        }
//                    }
//                }
                if (rgvProtocol.getAlarm$()!=0){
                    RgvErrCache.updateRgvErr(slave.getId(),rgvProtocol.getAlarmM());
                }

                try {
                    // 根据实时信息更新数据库

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

@@ -13,6 +13,7 @@
import com.zy.asrs.service.BasCrnOptService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.core.CrnThread;
import com.zy.core.cache.CrnErrCache;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.CrnStatusType;
@@ -243,6 +244,8 @@
            log.error("堆垛机写入命令为空");
            return false;
        }
        CrnErrCache.updateCrnErr(slave.getId(), "-");

//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[10];
@@ -276,6 +279,8 @@
                if (!command.getTaskNo().equals(one.getTaskNo())
                ){
                    i++;
                    CrnErrCache.updateCrnErr(slave.getId(), "堆垛机命令地址写入后回读失败");

                    log.error("堆垛机命令地址写入后回读失败[id:{}]>>>>重写[{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), i,JSON.toJSON(command),JSON.toJSON(one));
                    result = siemensNet.Write("DB100.0", array);
                }else{
@@ -297,6 +302,8 @@
                if (transInt16 != commandFinish){
                    log.info("下发DB100.18  回读失败" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18  回读失败" + "array:"+ JSON.toJSONString(array));
                    CrnErrCache.updateCrnErr(slave.getId(), "下发DB100.18  回读失败");

                    result = siemensNet.Write("DB100.18", commandFinish);
                    signFinish++;
                }else {
@@ -339,6 +346,8 @@
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            CrnErrCache.updateCrnErr(slave.getId(), "写入堆垛机plc数据失败");

            return false;
        }
    }

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

@@ -460,6 +460,17 @@
        }
    }

    /**
     * 设置入库标记
     */
    @Override
    public void setErrorDev(Integer siteId, String msgErr) {
        StaProtocol staProtocol = station.get(siteId);
        if (null != staProtocol) {
            staProtocol.setErrorDev(msgErr);
        }
    }

    @Override
    public void close() {
        siemensS7Net.ConnectClose();

 src/main/webapp/views/deviceOperate/crnOperate.html

@@ -28,6 +28,8 @@
                </el-table-column>
                <el-table-column property="deviceStatus" label="设备状态">
                </el-table-column>
                <el-table-column property="errorCrn" label="异常提示">
                </el-table-column>
            </el-table>
        </div>

@@ -166,6 +168,8 @@
                                </el-descriptions-item>
                                <el-descriptions-item label="升降时长(H)">{{ tableData[currentIndex].yduration }}
                                </el-descriptions-item>
                                <el-descriptions-item label="异常提示">{{ tableData[currentIndex].errorCrn }}
                                </el-descriptions-item>
                            </el-descriptions>
                        </div>
                    </div>

 src/main/webapp/views/deviceOperate/devpOperate.html

@@ -24,6 +24,10 @@
                </el-table-column>
                <el-table-column property="pakMk" label="入库标记">
                </el-table-column>
                <el-table-column property="weight" label="称重">
                </el-table-column>
                <el-table-column property="errorDev" label="异常提示">
                </el-table-column>
            </el-table>
        </div>

@@ -93,6 +97,10 @@
                                </el-descriptions-item>
                                <el-descriptions-item label="高低库位">{{ tableData[currentIndex].locType1 }}
                                </el-descriptions-item>
                                <el-descriptions-item label="重量">{{ tableData[currentIndex].weight }}
                                </el-descriptions-item>
                                <el-descriptions-item label="异常提示">{{ tableData[currentIndex].errorDev }}
                                </el-descriptions-item>
                            </el-descriptions>
                        </div>
                    </div>

 src/main/webapp/views/deviceOperate/rgvOperate.html

@@ -28,7 +28,9 @@
                </el-table-column>
                <el-table-column property="rgvPosDestination" label="目标定位置">
                </el-table-column>
                <el-table-column property="loaded" label="有物">
                <el-table-column property="loaded" label="探物">
                </el-table-column>
                <el-table-column property="errorRgv" label="提示">
                </el-table-column>
            </el-table>
        </div>