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LSH

2023-12-28 20429fd1425ed5a3dfdfd493b9fdb1dcf7236fd8

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

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package com.zy.asrs.controller;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.RgvStatusType;
import com.zy.asrs.domain.param.RgvOperatorParam;
import com.zy.asrs.domain.vo.RgvMsgTableVo;
import com.zy.asrs.domain.vo.RgvStateTableVo;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvErr;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.mapper.BasRgvErrMapper;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.RgvModeType;
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 com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.RgvThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;

import java.util.ArrayList;
import java.util.List;

/**
 * RGV接口
 * Created by vincent on 2020-06-01
 */
@Slf4j
@RestController
@RequestMapping("/rgv")
public class RgvController {

    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private BasRgvErrMapper basRgvErrMapper;
    @Autowired
    private BasRgvService basRgvService;
    @Autowired
    private MainServiceImpl mainService;
    @Autowired
    private LocMastService locMastService;

    @PostMapping("/table/rgv/state")
    @ManagerAuth(memo = "RGV信息表")
    public R rgvStateTable(){
        List<RgvStateTableVo> list = new ArrayList<>();
        List<BasRgv> rgvs = basRgvService.selectList(new EntityWrapper<BasRgv>().orderBy("rgv_no"));
        for (BasRgv basRgv : rgvs) {
            // 表格行
            RgvStateTableVo vo = new RgvStateTableVo();
            vo.setRgvNo(basRgv.getRgvNo());   //  RGV号
            list.add(vo);
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basRgv.getRgvNo());
            if (rgvThread == null) {
                continue;
            }
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }
            vo.setStatusType(rgvProtocol.modeType.desc);   //  模式状态
            vo.setStatus(rgvProtocol.getStatusType().desc);     //  状态
            vo.setWorkNo1(rgvProtocol.getTaskNo1());  //  工位1任务号
            vo.setStatus1(rgvProtocol.getStatusType1().desc);  // 工位1状态
            vo.setLoading1(rgvProtocol.getLoaded1()==1?"有物":"无物");  // 工位1有物
            vo.setRgvPos(rgvProtocol.getRgvPos());
            vo.setWalkPos(rgvProtocol.getWalkPos()==1?"不在定位":"在定位");
            vo.setWorkNo2(rgvProtocol.getTaskNo2());  //  工位2任务号
            vo.setStatus2(rgvProtocol.getStatusType2().desc);  // 工位2状态
            vo.setLoading2(rgvProtocol.getLoaded2()==1?"有物":"无物");  // 工位2有物

            vo.setWarnCode(String.valueOf(rgvProtocol.getAlarm()));
            if (rgvProtocol.getAlarm() > 0) {
                BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
                vo.setAlarm(rgvErr==null?"未知异常":rgvErr.getErrName());
            }
        }
        return R.ok().add(list);
    }

    @PostMapping("/table/rgv/msg")
    @ManagerAuth(memo = "RGV数据表")
    public R rgvMsgTable(){
        List<RgvMsgTableVo> list = new ArrayList<>();
        List<BasRgv> rgvs = basRgvService.selectList(new EntityWrapper<BasRgv>().orderBy("rgv_no"));
        for (BasRgv basRgv : rgvs) {
            // 表格行
            RgvMsgTableVo vo = new RgvMsgTableVo();
            vo.setRgvNo(basRgv.getRgvNo());   //  RGV号
            list.add(vo);
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basRgv.getRgvNo());
            if (rgvThread == null) {
                continue;
            }
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }

            vo.setWorkNo(rgvProtocol.getTaskNo1());  //  任务号
            if (rgvProtocol.getTaskNo1()>0) {
                WrkMast wrkMast = wrkMastService.selectById(rgvProtocol.getTaskNo1());
                if (wrkMast != null) {
                    vo.setStatus(RgvStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
                    vo.setSourceStaNo(wrkMast.getSourceStaNo$());    //  源站
                    vo.setStaNo(wrkMast.getStaNo$());   //  目标站
                    vo.setSourceLocNo(wrkMast.getSourceLocNo());    //  源库位
                    vo.setLocNo(wrkMast.getLocNo());    //  目标库位
                }
            } else {
                vo.setStatus(rgvProtocol.modeType.equals(RgvModeType.AUTO)? rgvProtocol.modeType.desc: RgvModeType.HAND.desc);   //  模式状态
            }
            vo.setXspeed(rgvProtocol.getXSpeed());  //  走行速度（m/min)
            vo.setXdistance(rgvProtocol.getXDistance());  //  走行距离(Km)
            vo.setXduration(rgvProtocol.getXDuration());    //  走行时长(H)
        }
        return R.ok().add(list);
    }

    @PostMapping("/output/site")
    @ManagerAuth(memo = "RGV报文日志输出")
    public R rgvOutput(){
        StringBuilder str = new StringBuilder();
        String s;
        int i = 0;
        while((s = OutputQueue.RGV.poll()) != null && i <=10) {
            str.append("\n").append(s);
            i++;
        }
        return R.ok().add(str.toString());
    }

    /****************************************************************/
    /************************** 手动操作 ******************************/
    /****************************************************************/

    @ManagerAuth(memo = "取放货")
    @PostMapping("/operator/put")
    public R rgvFetchPut(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 0);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
        command.setDestinationStaNo1(param.getStaNo1());  // 目标站
        command.setAckFinish2((short) 0);  // 任务完成确认位
        command.setTaskNo2((short) 0); // 工作号
        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command)? R.ok(): R.error();
    }

    @ManagerAuth(memo = "取货")
    @PostMapping("/operator/take")
    public R rgvFetch(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 0);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.FETCH); // 任务模式: 取货
        command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
        command.setDestinationStaNo1(param.getStaNo1());  // 目标站
        command.setAckFinish2((short) 0);  // 任务完成确认位
        command.setTaskNo2((short) 0); // 工作号
        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command)? R.ok(): R.error();
    }

    @ManagerAuth(memo = "放货")
    @PostMapping("/operator/stockMove")
    public R rgvPut(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 0);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.PUT); // 任务模式: 放货
        command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
        command.setDestinationStaNo1(param.getStaNo1());  // 目标站
        command.setAckFinish2((short) 0);  // 任务完成确认位
        command.setTaskNo2((short) 0); // 工作号
        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command)? R.ok(): R.error();
    }

    @ManagerAuth(memo = "任务完成")
    @PostMapping("/operator/taskComplete")
    public R rgvTaskComplete(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 1);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
        command.setSourceStaNo1((short) 0); // 源站
        command.setDestinationStaNo1((short) 0);  // 目标站
        command.setAckFinish2((short) 1);  // 任务完成确认位
        command.setTaskNo2((short) 0); // 工作号
        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);

        return rgvControl(command)? R.ok(): R.error();
    }

    @ManagerAuth(memo = "清除命令")
    @PostMapping("/operator/clearCommand")
    public R rgvClearCommand(RgvOperatorParam param){
        if (param.getRgvNo() == null) {
            throw new CoolException("请选择RGV号");
        }
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 0);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
        command.setSourceStaNo1((short) 0); // 源站
        command.setDestinationStaNo1((short) 0);  // 目标站
        command.setAckFinish2((short) 0);  // 任务完成确认位
        command.setTaskNo2((short) 0); // 工作号
        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);

        return rgvControl(command)? R.ok(): R.error();
    }

    @ManagerAuth(memo = "手动复位")
    @PostMapping("/operator/handleReset")
    public R handleReset(RgvOperatorParam param) throws Exception {
        if (param.getRgvNo() == null) {
            throw new CoolException("请选择RGV");
        }
        // 获取RGV缓存
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            if (param.getRgvNo().equals(rgv.getId())) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
                if (rgvThread == null) {
                    throw new CoolException("RGV不在线");
                }
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    throw new CoolException("RGV不在线");
                }
                RgvCommand Command = new RgvCommand();
                Command.setRgvNo(rgv.getId()); // RGV编号
                Command.setTaskMode1(RgvTaskModeType.NONE);
                Command.setAckFinish1((short) 0);  // 任务完成确认位
                Command.setAckFinish2((short) 0);  // 任务完成确认位
                Command.setCommand((short) 0);  // 任务完成确认位
                // 延时发送
                Thread.sleep(1000L);
                if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(2, Command))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
                }

            }
        }
        return R.error();
    }

    private boolean rgvControl(RgvCommand command){
        if (command.getRgvNo() == null) {
            throw new CoolException("请选择RGV");
        }
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            if (command.getRgvNo().equals(rgv.getId())) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
                if (rgvThread == null) {
                    throw new CoolException("RGV不在线");
                }
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    throw new CoolException("RGV不在线");
                }
                if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(2, command))) {
                    return true;
                } else {
                    throw new CoolException("命令下发失败");
                }
            }
        }
        return false;
    }

}

 src/main/java/com/zy/asrs/domain/enums/RgvStatusType.java

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package com.zy.asrs.domain.enums;

/**
 * RGV状态枚举
 */
public enum RgvStatusType {

    // 入库
    MACHINE_PAKIN("入库"),
    // 出库
    MACHINE_PAKOUT("出库"),
    // 异常
    MACHINE_ERROR("异常"),
    // 自动
    MACHINE_AUTO("自动"),
    // 非自动/手动
    MACHINE_UN_AUTO("非自动"),
    ;

    private String desc;
    RgvStatusType(String desc){
        this.desc = desc;
    }

    public String getDesc() {
        return desc;
    }

    public void setDesc(String desc) {
        this.desc = desc;
    }

    public static RgvStatusType process(Integer ioType){
        if (ioType>100) {
            return MACHINE_PAKOUT;
        } else if (ioType < 100 && ioType!=3 && ioType!=6 && ioType!=11) {
            return MACHINE_PAKIN;
        } else {
            return MACHINE_ERROR;
        }
    }

}

 src/main/java/com/zy/asrs/domain/param/RgvOperatorParam.java

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package com.zy.asrs.domain.param;

import lombok.Data;

/**
 * Created by vincent on 2020-06-02
 */
@Data
public class RgvOperatorParam {

    // RGV号
    private Integer rgvNo;

    // 工位1源站
    private Short sourceStaNo1;

    // 工位1目标站
    private Short staNo1;

    // 工位2源站
    private Short sourceStaNo2;

    // 工位2目标站
    private Short staNo2;
}

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

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@@ -0,0 +1,62 @@
package com.zy.asrs.domain.vo;

import com.zy.asrs.utils.Utils;
import lombok.Data;

/**
 * Created by vincent on 2020-06-02
 */
@Data
public class RgvMsgTableVo {

        // RGV号
    private Integer rgvNo;

    // 工作号
    private Short workNo = 0;

    // 状态
    private String status = "-";

    // 源站
    private String sourceStaNo = "-";

    // 目标站
    private String staNo = "-";

    // 源库位
    private String sourceLocNo = "-";

    // 目标库位
    private String locNo = "-";

    // 异常
    private String error = "";

    // 原点
    private String origin = "";

    // 命令
    private String command = "";

    // 走行速度（m/min)
    private Float xspeed = 0.0F;

    // 走行距离(Km)
    private Float xdistance = 0.0F;

    // 走行时长(H)
    private Float xduration = 0.0F;

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

    public void setXdistance(Float xdistance) {
        this.xdistance = Utils.scale(xdistance);
    }

    public void setXduration(Float xduration) {
        this.xduration = Utils.scale(xduration);
    }
}

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

New file
@@ -0,0 +1,50 @@
package com.zy.asrs.domain.vo;

import lombok.Data;

/**
 * Created by vincent on 2020-06-02
 */
@Data
public class RgvStateTableVo {

    // RGV号
    private Integer RgvNo;

    // 模式
    private String statusType = "-";

    // 状态
    private String status = "-";

    // 任务号
    private Short workNo1 = 0;

    // 状态
    private String status1 = "-";

    // 有物
    private String loading1 = "-";

    // RGV位置
    private Short RgvPos = 0;

    // 走行定位
    private String walkPos = "-";

    // 任务号
    private Short workNo2 = 0;

    // 状态
    private String status2 = "-";

    // 有物
    private String loading2 = "-";

    //异常
    private String warnCode;

    // 异常码描述
    private String alarm = "-";

}

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

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@@ -0,0 +1,184 @@
package com.zy.asrs.entity;

import com.baomidou.mybatisplus.annotations.TableField;
import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.annotations.TableName;
import com.baomidou.mybatisplus.enums.IdType;
import com.core.common.Cools;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import org.springframework.format.annotation.DateTimeFormat;

import java.io.Serializable;
import java.text.SimpleDateFormat;
import java.util.Date;

@Data
@TableName("asr_bas_rgv")
public class BasRgv implements Serializable {

    private static final long serialVersionUID = 1L;

    /**
     * RGV编号
     */
    @ApiModelProperty(value= "RGV编号")
    @TableId(value = "rgv_no", type = IdType.INPUT)
    @TableField("rgv_no")
    private Integer rgvNo;

    /**
     * 可入
     */
    @ApiModelProperty(value= "可入")
    @TableField("in_enable")
    private String inEnable;

    /**
     * 可出
     */
    @ApiModelProperty(value= "可出")
    @TableField("out_enable")
    private String outEnable;

    /**
     * 作业态
     */
    @ApiModelProperty(value= "作业态")
    @TableField("rgv_sts")
    private Integer rgvSts;

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

    /**
     * 堆垛机号
     */
    @ApiModelProperty(value= "堆垛机号")
    @TableField("wrk_no2")
    private Integer wrkNo2;

    /**
     * 错误码
     */
    @ApiModelProperty(value= "错误码")
    @TableField("rgv_err")
    private Long rgvErr;

    /**
     * 标记
     */
    @ApiModelProperty(value= "标记")
    @TableField("pak_mk")
    private String pakMk;

    /**
     * 状态 1: 正常  0: 禁用  
     */
    @ApiModelProperty(value= "状态 1: 正常  0: 禁用  ")
    private Integer status;

    /**
     * 添加人员
     */
    @ApiModelProperty(value= "添加人员")
    @TableField("create_by")
    private Long createBy;

    /**
     * 添加时间
     */
    @ApiModelProperty(value= "添加时间")
    @TableField("create_time")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date createTime;

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

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

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

    public BasRgv() {}

    public BasRgv(Integer rgvNo, String inEnable, String outEnable, Integer rgvSts, Integer wrkNo1, Integer wrkNo2, Long rgvErr, String pakMk, Integer status, Long createBy, Date createTime, Long updateBy, Date updateTime, String memo) {
        this.rgvNo = rgvNo;
        this.inEnable = inEnable;
        this.outEnable = outEnable;
        this.rgvSts = rgvSts;
        this.wrkNo1 = wrkNo1;
        this.wrkNo2 = wrkNo2;
        this.rgvErr = rgvErr;
        this.pakMk = pakMk;
        this.status = status;
        this.createBy = createBy;
        this.createTime = createTime;
        this.updateBy = updateBy;
        this.updateTime = updateTime;
        this.memo = memo;
    }

//    BasRgv basRgv = new BasRgv(
//            null,    // RGV编号[非空]
//            null,    // 可入
//            null,    // 可出
//            null,    // 作业态
//            null,    // 任务号
//            null,    // 堆垛机号
//            null,    // 错误码
//            null,    // 标记
//            null,    // 状态
//            null,    // 添加人员
//            null,    // 添加时间
//            null,    // 修改人员
//            null,    // 修改时间
//            null    // 备注
//    );

    public String getStatus$(){
        if (null == this.status){ return null; }
        switch (this.status){
            case 1:
                return "正常";
            case 0:
                return "禁用";
            default:
                return String.valueOf(this.status);
        }
    }

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

    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/entity/BasRgvErr.java

New file
@@ -0,0 +1,102 @@
package com.zy.asrs.entity;

import com.baomidou.mybatisplus.annotations.TableField;
import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.annotations.TableName;
import com.baomidou.mybatisplus.enums.IdType;
import com.core.common.Cools;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import org.springframework.format.annotation.DateTimeFormat;

import java.io.Serializable;
import java.text.SimpleDateFormat;
import java.util.Date;

@Data
@TableName("asr_bas_rgv_err")
public class BasRgvErr implements Serializable {

    private static final long serialVersionUID = 1L;

    /**
     * 异常码
     */
    @ApiModelProperty(value= "异常码")
    @TableId(value = "error_code", type = IdType.INPUT)
    @TableField("error_code")
    private Long errorCode;

    /**
     * 异常
     */
    @ApiModelProperty(value= "异常")
    @TableField("err_name")
    private String errName;

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

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

    /**
     * 添加人员
     */
    @ApiModelProperty(value= "添加人员")
    @TableField("appe_user")
    private Long appeUser;

    /**
     * 添加时间
     */
    @ApiModelProperty(value= "添加时间")
    @TableField("appe_time")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date appeTime;

    public BasRgvErr() {}

    public BasRgvErr(Long errorCode, String errName, Long modiUser, Date modiTime, Long appeUser, Date appeTime) {
        this.errorCode = errorCode;
        this.errName = errName;
        this.modiUser = modiUser;
        this.modiTime = modiTime;
        this.appeUser = appeUser;
        this.appeTime = appeTime;
    }

//    BasRgvErr basRgvErr = new BasRgvErr(
//            null,    // 异常码[非空]
//            null,    // 异常
//            null,    // 修改人员
//            null,    // 修改时间
//            null,    // 添加人员
//            null    // 添加时间
//    );

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

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


}

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

New file
@@ -0,0 +1,85 @@
package com.zy.asrs.entity;

import com.baomidou.mybatisplus.annotations.TableField;
import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.annotations.TableName;
import com.baomidou.mybatisplus.enums.IdType;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;

import java.io.Serializable;

@Data
@TableName("asr_bas_rgv_map")
public class BasRgvMap implements Serializable {

    private static final long serialVersionUID = 1L;

    /**
     * RGV编号
     */
    @ApiModelProperty(value= "RGV编号")
    @TableId(value = "rgv_no", type = IdType.INPUT)
    @TableField("rgv_no")
    private Integer rgvNo;

    /**
     * 开始范围
     */
    @ApiModelProperty(value= "开始范围")
    @TableField("start_route")
    private Integer startRoute;

    /**
     * 结束范围
     */
    @ApiModelProperty(value= "结束范围")
    @TableField("end_route")
    private Integer endRoute;

    /**
     * 当前位置
     */
    @ApiModelProperty(value= "当前位置")
    @TableField("now_route")
    private Integer nowRoute;

    /**
     * 状态
     */
    @ApiModelProperty(value= "状态")
    @TableField("rgv_status")
    private Integer rgvStatus;

    /**
     * 锁-开始-位置
     */
    @ApiModelProperty(value= "锁-开始-位置")
    @TableField("lock_start_route")
    private Integer lockStartRoute;

    /**
     * 锁-结束-位置
     */
    @ApiModelProperty(value= "锁-结束-位置")
    @TableField("lock_end_route")
    private Integer lockEndRoute;

    public BasRgvMap() {}

    public BasRgvMap(Integer rgvNo, Integer startRoute, Integer endRoute, Integer nowRoute, Integer rgvStatus, Integer lockStartRoute, Integer lockEndRoute) {
        this.rgvNo = rgvNo;
        this.startRoute = startRoute;
        this.endRoute = endRoute;
        this.nowRoute = nowRoute;
        this.rgvStatus = rgvStatus;
        this.lockStartRoute = lockStartRoute;
        this.lockEndRoute = lockEndRoute;
    }

    public Integer getRgvNoOther(){
        return 3-this.rgvNo;
    }


}

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

New file
@@ -0,0 +1,230 @@
package com.zy.asrs.entity;

import com.baomidou.mybatisplus.annotations.TableField;
import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.annotations.TableName;
import com.baomidou.mybatisplus.enums.IdType;
import com.core.common.Cools;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import org.springframework.format.annotation.DateTimeFormat;

import java.io.Serializable;
import java.text.SimpleDateFormat;
import java.util.Date;

@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/entity/WrkMastSta.java

New file
@@ -0,0 +1,176 @@
package com.zy.asrs.entity;

import com.baomidou.mybatisplus.annotations.TableField;
import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.annotations.TableName;
import com.baomidou.mybatisplus.enums.IdType;
import com.core.common.Cools;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import org.springframework.format.annotation.DateTimeFormat;

import java.io.Serializable;
import java.text.SimpleDateFormat;
import java.util.Date;

@Data
@TableName("asr_wrk_mast_sta")
public class WrkMastSta implements Serializable {

    private static final long serialVersionUID = 1L;

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

    /**
     * 工作号
     */
    @ApiModelProperty(value= "工作号")
    @TableField("wrk_no")
    private Long wrkNo;

    /**
     * 工作档开始位置
     */
    @ApiModelProperty(value= "工作档开始位置")
    @TableField("wrk_start")
    private Integer wrkStart;

    /**
     * 工作档结束位置
     */
    @ApiModelProperty(value= "工作档结束位置")
    @TableField("wrk_end")
    private Integer wrkEnd;

    /**
     * 小车接货位置
     */
    @ApiModelProperty(value= "小车接货位置")
    @TableField("sta_start")
    private Integer staStart;

    /**
     * 小车放货位置
     */
    @ApiModelProperty(value= "小车放货位置")
    @TableField("sta_end")
    private Integer staEnd;

    /**
     * 添加时间
     */
    @ApiModelProperty(value= "添加时间")
    @TableField("create_time")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date createTime;

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

    /**
     * 类型 0:非空  1:空板
     */
    @ApiModelProperty(value= "类型 1:满版  2:空板")
    private Integer type;

    /**
     * 工作状态 0：初始 1：等待小车取 2：等待小车放 3：完成
     */
    @ApiModelProperty(value= "工作状态 0：初始 1：等待小车取 2：等待小车放 3：完成")
    @TableField("wrk_sts")
    private Integer wrkSts;

    /**
     * 行号
     */
    @ApiModelProperty(value= "行号")
    @TableField("line_number")
    private Integer lineNumber;

    /**
     * 工作类型
     */
    @ApiModelProperty(value= "工作类型  1:取（叠盘）  2：放 3：取放 4：拆盘")
    @TableField("wrk_type")
    private Integer wrkType;

    /**
     * 工作类型
     */
    @ApiModelProperty(value= "工作类型")
    @TableField("wrk_crn")
    private Integer wrkCrn;

    /**
     * 标记时间
     */
    @ApiModelProperty(value= "标记时间")
    @TableField("bign_time")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date bignTime;

    public WrkMastSta() {}

    public WrkMastSta(Long wrkNo, Integer wrkStart, Integer wrkEnd, Integer staStart, Integer staEnd, Date createTime, Date updateTime, Integer type, Integer wrkSts, Integer lineNumber, Integer wrkType, Date bignTime) {
        this.wrkNo = wrkNo;
        this.wrkStart = wrkStart;
        this.wrkEnd = wrkEnd;
        this.staStart = staStart;
        this.staEnd = staEnd;
        this.createTime = createTime;
        this.updateTime = updateTime;
        this.type = type;
        this.wrkSts = wrkSts;
        this.lineNumber = lineNumber;
        this.wrkType = wrkType;
        this.bignTime = bignTime;
    }

//    WrkMastSta wrkMastSta = new WrkMastSta(
//            null,    // 工作号[非空]
//            null,    // 工作档开始位置[非空]
//            null,    // 工作档结束位置[非空]
//            null,    // 小车接货位置[非空]
//            null,    // 小车放货位置[非空]
//            null,    // 添加时间
//            null,    // 修改时间
//            null,    // 类型 0:非空  1:空板[非空]
//            null,    // 工作状态 0：初始 1：等待小车取 2：等待小车放 3：完成[非空]
//            null,    // 行号[非空]
//            null,    // 工作类型[非空]
//            null    // 标记时间
//    );

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

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

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


}

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

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

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

@Mapper
@Repository
public interface BasRgvErrMapper extends BaseMapper<BasRgvErr> {

}

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

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

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

@Mapper
@Repository
public interface BasRgvMapMapper extends BaseMapper<BasRgvMap> {

}

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

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

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

@Mapper
@Repository
public interface BasRgvMapper extends BaseMapper<BasRgv> {

}

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

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

import com.baomidou.mybatisplus.mapper.BaseMapper;
import com.zy.asrs.entity.BasRgvOpt;
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/mapper/WrkMastStaMapper.java

New file
@@ -0,0 +1,37 @@
package com.zy.asrs.mapper;

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

import java.util.List;

@Mapper
@Repository
public interface WrkMastStaMapper extends BaseMapper<WrkMastSta> {

    /*
    * 获取所有任务数量
    * */
    Integer selectAllWrkCount(@Param("type")Integer type);
    Integer selectAllWrkStsCount(@Param("type")Integer type,@Param("wrkSts")Integer wrkSts);

    /*
    * 获取所有可执行任务
    * */
    List<WrkMastSta> selectAllWrkMastStaList(@Param("type")Integer type);

    /*
    * 查询指定工作号任务
    * */
    WrkMastSta selectByWrkNo(@Param("workNo") Integer workNo);

    /*
    * 查询不干涉的可执行任务
    * */
    WrkMastSta selectNoInterfere(@Param("staStarts") List<Integer> staStarts, @Param("staEnds") List<Integer> staEnds);
    List<WrkMastSta> selectNoInterfereList(@Param("staStarts") List<Integer> staStarts, @Param("staEnds") List<Integer> staEnds);

}

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

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

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

public interface BasRgvErrService extends IService<BasRgvErr> {

}

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

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

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

public interface BasRgvOptService extends IService<BasRgvOpt> {

}

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

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

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

public interface BasRgvService extends IService<BasRgv> {

}

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

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

import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import com.zy.asrs.entity.BasRgvErr;
import com.zy.asrs.mapper.BasRgvErrMapper;
import com.zy.asrs.service.BasRgvErrService;
import org.springframework.stereotype.Service;

@Service("basRgvErrService")
public class BasRgvErrServiceImpl extends ServiceImpl<BasRgvErrMapper, BasRgvErr> implements BasRgvErrService {

}

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

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

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

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

}

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

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

import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.mapper.BasRgvMapper;
import com.zy.asrs.service.BasRgvService;
import org.springframework.stereotype.Service;

@Service("basRgvService")
public class BasRgvServiceImpl extends ServiceImpl<BasRgvMapper, BasRgv> implements BasRgvService {

}

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

@@ -8,10 +8,9 @@
import com.core.common.DateUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.mapper.WaitPakinMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.common.model.LocTypeDto;
@@ -27,17 +26,17 @@
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.LedSlave;
import com.zy.core.model.Task;
import com.zy.core.model.*;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.LedThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -87,6 +86,12 @@
    private BasErrLogService basErrLogService;
    @Autowired
    private BasCrnErrorMapper basCrnErrorMapper;
    @Autowired
    private WrkMastStaMapper wrkMastStaMapper;
    @Autowired
    private BasRgvService basRgvService;
    @Autowired
    private BasRgvMapMapper basRgvMapMapper;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -2126,4 +2131,554 @@
            }
        }
    }

    /*
     * 小车地图更新  更新锁
     * */
    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){

//        List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
        //更新当前小车锁
        try{
            Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
            Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
            basRgvMapCurrent.setLockEndRoute(fallMerge);
            basRgvMapMapper.updateById(basRgvMapCurrent);

            //更新另一台小车地图
            Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther();
            BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
            List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
            Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//另一台小车可活动最远位置
            basRgvMapOther.setStartRoute(lockEndRoute);
            basRgvMapMapper.updateById(basRgvMapOther);
            return true;
        }catch (Exception e){
            log.error("小车地图更新出错！");
            return false;
        }
    }

    /*
     * 刷新地图数据
     * */
    public synchronized void refreshRgvMap() {
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                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.getModeType() == RgvModeType.AUTO
                        && 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.getTaskNo1()==9999)
                        && (rgvProtocol.getTaskNo2()==0 || rgvProtocol.getTaskNo2()==9999)
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                }
            }
        }catch (Exception e){
            log.error("4109行执行小车初始化任务下发失败");
            log.error("4109行"+e);
        }
    }


    /**
     *  完成小车任务
     */
    public synchronized void rgvCompleteWrkMastSta() {
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                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等待WCS确认、自动
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                ) {
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    if (rgvProtocol.getTaskNo1()!=0){
                        if (rgvProtocol.getTaskNo1()==9999){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            }
                            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                            break;
                        }
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=1 || wrkMastSta.getWrkSts()!=1){
                            log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
                            continue;
                        }
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }
                        wrkMastSta.setWrkSts(3);
                        wrkMastStaMapper.updateById(wrkMastSta);
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                    }else if (rgvProtocol.getTaskNo2()!=0){
                        if (rgvProtocol.getTaskNo2()==9999){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            }
                            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                            break;
                        }
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().intValue());
                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=2){
                            log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
                            continue;
                        }
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }
                        wrkMastSta.setWrkSts(3);
                        wrkMastStaMapper.updateById(wrkMastSta);
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                    }else {
                        log.error("小车复位失败，小车号{},等待wcs确认但是没有工作号！",rgvProtocol.getRgvNo());
                    }
                }
            }
        }catch (Exception e){
            log.error("小车复位线程报错！"+e);
        }
    }
    /**
     * 执行小车搬运任务
     */
    public synchronized void rgvRunWrkMastFullSta() {
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                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.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==0
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        continue;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:满版   3：取放
                            continue;
                        }
                        boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
                            if (signMap){
                                wrkMastSta.setWrkSts(1);
                                try{
                                    wrkMastStaMapper.updateById(wrkMastSta);
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return;
                            }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());
                            }
                        } else {
                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                        }
                        break;
                    }
                }
            }
        }catch (Exception e){
            log.error("3875行执行小车搬运任务下发失败");
            log.error("3875行"+e);
        }
    }
    /**
     * 执行小车搬运任务
     */
    public synchronized void rgvRunWrkMastEmptyStaPut() {//放
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                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,工位二有物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded2()==1  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        continue;
                    }
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=2 || (wrkMastSta.getWrkType()!=2 && wrkMastSta.getWrkType()!=4)){// 2:空板  2:放 4：拆盘
                            continue;
                        }
                        boolean sign = false;
                        if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//放
                            sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
                        }else {
                            continue;
                        }
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
                            if (signMap){
                                wrkMastSta.setWrkSts(2);
                                try{
                                    wrkMastStaMapper.updateById(wrkMastSta);
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return;
                            }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());
                            }
                        }else {
                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                        }
                        break;
                    }
                }
            }
        }catch (Exception e){
            log.error("3933行执行小车放空板任务下发失败");
            log.error("3933行"+e);
        }
    }

    public synchronized void rgvRunWrkMastEmptyStaTake() {//取
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                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,工位二无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded2()==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
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        continue;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=1){// 2:空板  1:取
                            continue;
                        }
                        boolean sign = false;
                        if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//取
                            sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
                        } else {
                            continue;
                        }
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
                            if (signMap){
                                wrkMastSta.setWrkSts(1);
                                try{
                                    wrkMastStaMapper.updateById(wrkMastSta);
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return;
                            }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());
                            }
                        }else {
                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                        }
                        break;
                    }
                }
            }
        }catch (Exception e){
            log.error("3989行执行小车取空板任务下发失败");
            log.error("3989行"+e);
        }
    }

    /*
     * 有任务但未执行  此时需要调整小车位置
     * */
    public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
        try{
            Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
            if (integer==0){
                return;
            }
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                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.getModeType() == RgvModeType.AUTO
                        && 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
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
                        continue;
                    }
                    rgvAvoidanceXY(rgvProtocol.getRgvNo());
                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                }
            }
        }catch (Exception e){
            log.error("4109行执行小车初始化任务下发失败");
            log.error("4109行"+e);
        }
    }

    /*
     * 小车XY移动  避让
     * */
    public synchronized boolean rgvAvoidanceXY(Integer rgvId){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1((short)9999); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 工位1任务模式:  回原点
            rgvCommand.setCommand((short) 1);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(9, 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   step=9，回原点 9999任务号
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;

        }
    }


    /*
     * 小车取货至工位任务
     * */
    public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
            rgvCommand.setCommand((short) 1);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Crn, rgvId, 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={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 小车取货至工位任务
     * */
    public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式:  取货
            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
            rgvCommand.setCommand((short) 1);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Crn, rgvId, 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={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 小车放货至输送线任务
     * */
    public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
            rgvCommand.setCommand((short) 1);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Crn, rgvId, 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={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 小车取空板至工位任务
     * */
    public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
            rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
            rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式:  取货
            rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue());   //工位2起点
            rgvCommand.setCommand((short) 2);   //工位2任务确认
            if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(5, 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={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 小车放空板至输送线任务
     * */
    public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
            rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
            rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式:  放货
            rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue());   //工位2目标站点
            rgvCommand.setCommand((short) 2);   //工位2任务确认
            if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(5, 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={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 小车复位
     * */
    public synchronized boolean rgvComplete(Integer rgvId){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(3, new 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={}",rgvId);
                return false;
            } else {
                log.info("RGV命令下发成功，RGV号={}",rgvId);
                return true;
            }
        }catch (Exception e){
            log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
            return false;
        }
    }

}

 src/main/java/com/zy/asrs/utils/RouteUtils.java

New file
@@ -0,0 +1,285 @@
package com.zy.asrs.utils;

import com.zy.core.enums.RouteCollectCountType;

import java.util.ArrayList;
import java.util.List;

import static java.util.stream.Collectors.toList;

/**
 * Created by Monkey D. Luffy on 2023/7/18
 */
public class RouteUtils {

    public static final List<Integer> MERGE_STA_NO_One = new ArrayList<Integer>() {{
//        add(116);add(117);
    }};

    public static final List<Integer> MERGE_STA_NO_TWO = new ArrayList<Integer>() {{
//        add(116);add(117);
    }};

    public static final List<Integer> MERGE_STA_NO_THREE = new ArrayList<Integer>() {{
//        add(116);add(117);
    }};

    public static final List<Integer> MERGE_STA_NO_FOUR = new ArrayList<Integer>() {{
//        add(116);add(117);
    }};

//    正序
    public static final List<Integer> TRACK_POSITION_POSITIVE_SEQUENCE = new ArrayList<Integer>() {{
        add(161);add(157);add(153);add(149);add(124);add(119);add(113);add(999);;add(112);add(107);add(106);add(101);add(100);
    }};
//    反序
    public static final List<Integer> TRACK_POSITION_REVERSE_SEQUENCE = new ArrayList<Integer>() {{
        add(100);add(101);add(106);add(107);add(112);add(999);add(113);add(119);add(124);add(149);add(153);add(157);add(161);
    }};

    public static String zerofill(String msg, Integer count){
        if (msg.length() == count){
            return msg;
        } else if (msg.length() > count){
            return msg.substring(0, 16);
        } else {
            StringBuilder msgBuilder = new StringBuilder(msg);
            for (int i = 0; i<count-msg.length(); i++){
                msgBuilder.insert(0,"0");
            }
            return msgBuilder.toString();
        }
    }
    /*
     * 获取干涉最远站点
     * */
    public static Integer RouteIndexFarMas(int rgvNo,Integer staNo){
        List<Integer> staFall = new ArrayList<>();
        if (MERGE_STA_NO_One.contains(staNo)){
            staFall = MERGE_STA_NO_One;
        }else if (MERGE_STA_NO_TWO.contains(staNo)){
            staFall = MERGE_STA_NO_TWO;
        }else if (MERGE_STA_NO_THREE.contains(staNo)){
            staFall = MERGE_STA_NO_THREE;
        }else if (MERGE_STA_NO_FOUR.contains(staNo)){
            staFall = MERGE_STA_NO_FOUR;
        }else {
            return staNo;
        }

        int indexNo = 0;
        if (rgvNo==1){
            indexNo=staFall.size()-1;
        }
        return staFall.get(indexNo);
    }


    // 获取当前小车未行走的路线集合
    public static List<Integer> getRoute(Integer groupStart,Integer groupEnd){
        boolean sign = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(groupStart) < TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(groupEnd);
        List<Integer> result = new ArrayList<>();
        List<Integer> groupRoute = new ArrayList<>();
        if (sign){
            groupRoute = TRACK_POSITION_POSITIVE_SEQUENCE;
        }else {
            groupRoute = TRACK_POSITION_REVERSE_SEQUENCE;
        }
        if (groupRoute.contains(groupStart) && groupRoute.contains(groupEnd)) {
            sign = false;
            for (Integer route : groupRoute) {
                if (route.equals(groupStart)){
                    sign=true;
                }
                if (route.equals(groupEnd)){
                    result.add(route);
                    break;
                }
                if (sign){
                    result.add(route);
                }
            }
        }else {
            return null;
        }
        return result;
    }

    /*
    * 获取最远站点
    * */
    public static Integer RouteIndexFarMas(Integer a,Integer b,Integer c,Integer d){
        int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(a);
        int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(b);
        int ic = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(c);
        int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
        if (id==0){
            if (ia>ib){
                if (ia>ic){
                    return a;
                }else {
                    return c;
                }
            }else {
                if (ib>ic){
                    return b;
                }else {
                    return c;
                }
            }
        }else {
            if (ia<ib){
                if (ia<ic){
                    return a;
                }else {
                    return c;
                }
            }else {
                if (ib<ic){
                    return b;
                }else {
                    return c;
                }
            }
        }
    }

    public static Integer[] RouteIndexFarArr(Integer a,Integer b,Integer c,Integer d){
        int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(a);
        int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(b);
        int ic = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(c);
        int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
        return new Integer[]{ia,ib,ic,id};
    }

    /*
     * a  小车当前位置
     * b  小车任务开始位置
     * c  小车任务结束位置
     * d  小车初始位置
     * 获取最大路径差值
     * */
    public static List<Integer>  RouteMapCurrentFar(Integer a,Integer b,Integer c,Integer d){
        Integer farStn = RouteIndexFarMas(a, b, c, d);
        return getRouteIntersection(TRACK_POSITION_POSITIVE_SEQUENCE,getRoute(farStn, d), RouteCollectCountType.DIFFERENCESET);
    }

    public static List<Integer>  RouteMapCurrentFar(Integer farStn,Integer d){
        return getRouteIntersection(TRACK_POSITION_POSITIVE_SEQUENCE,getRoute(farStn, d), RouteCollectCountType.DIFFERENCESET);
    }

    /*
    * 另一台小车最远位置
    * */
    public static Integer RouteMapOtherFarStnNo(List<Integer> routeDIFF,Integer d){
        int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
        if (id==0){
            return routeDIFF.get(0);
        }else {
            int size = routeDIFF.size();
            return routeDIFF.get(size-1);
        }
    }

    //是否有交集
    public static boolean getRouteBoolean(List<Integer> groupCurrent,List<Integer> groupOther){
        for (Integer positionCurrent : groupCurrent){
            for (Integer positionOther : groupOther){
                if (positionCurrent.equals(positionOther)){
                    return true;
                }
            }
        }
        return false;
    }

    //集合运算
    public static List<Integer> getRouteIntersection(List<Integer> groupCurrent, List<Integer> groupOther, RouteCollectCountType routeCollectCountType){
        switch (routeCollectCountType){
            case INTERSECTION:
                //交集
                return groupCurrent.stream().filter(item -> groupOther.contains(item)).collect(toList());
            case DIFFERENCESET:
                //差集
                return groupCurrent.stream().filter(item -> !groupOther.contains(item)).collect(toList());
            case UNION:
                //并集
                groupCurrent.addAll(groupOther);
                return groupCurrent;
            case DEDUPLICATIONUNION:
                //去重并集
                groupCurrent.addAll(groupOther);
                return groupCurrent.stream().distinct().collect(toList());
            default:
                return null;
        }
    }

    /*
    * a  小车当前位置
    * b  小车任务开始位置
    * c  小车任务结束位置
    * sign  另一个小车空闲标记
    * */
    public static boolean RouteAutoBoolean(Integer a,Integer b,Integer c,Integer aa,Integer bb,Integer cc,boolean idleOther){
        List<Integer> routeCurrent = getRouteIntersection(getRoute(a, c), getRoute(b, c), RouteCollectCountType.DEDUPLICATIONUNION);//并集
        List<Integer> routeOther = getRouteIntersection(getRoute(aa, cc), getRoute(bb, cc), RouteCollectCountType.DEDUPLICATIONUNION);//
        return !getRouteBoolean(routeCurrent, routeOther);  //是否有交集
    }

    public static List<Integer> RouteAutoBoolean(Integer a,Integer b,Integer c){
        return getRouteIntersection(getRoute(a, c), getRoute(b, c), RouteCollectCountType.DEDUPLICATIONUNION);
    }



    public static void main(String[] arge){
        List<Integer> routeCurrent = getRoute(100, 124);  //获取当前小车路径
        List<Integer> routeOther = getRoute(149, 161);  //获取其它小车路径
        System.out.println("当前小车路径:\t"+routeCurrent);
        System.out.println("其它小车路径:\t"+routeOther);

        boolean routeBoolean = getRouteBoolean(routeCurrent, routeOther);  //是否有交集
        System.out.println("是否有交集:\t"+routeBoolean);

        List<Integer> routeIntersection = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.INTERSECTION);//交集
        System.out.println("路径交集：\t"+routeIntersection);

        List<Integer> routeIntersection1 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.DIFFERENCESET);//差集
        System.out.println("路径差集：\t"+routeIntersection1);

        List<Integer> routeIntersection2 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.UNION);//并集
        System.out.println("路径并集：\t"+routeIntersection2);

        List<Integer> routeIntersection3 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.DEDUPLICATIONUNION);//去重并集
        System.out.println("路径去重并集：\t"+routeIntersection3);

        /*
         * a  小车当前位置
         * b  小车任务开始位置
         * c  小车任务结束位置
         * sign  另一个小车空闲标记
         * */
        System.out.println("是否有交集：\t"+RouteAutoBoolean(100,101,124,149,161,153,true));   //是否有交集  true无交集  false有交集

        /*
         * a  小车当前位置
         * b  小车任务开始位置
         * c  小车任务结束位置
         * d  小车初始位置
         * 获取最大路径差值
         * */
        List<Integer> routeDIFF = RouteMapCurrentFar(100,101,124,149);
        System.out.println("当前路径最大集合：\t"+ routeDIFF);

        Integer routeFarOther= RouteMapOtherFarStnNo(routeDIFF,124);
        System.out.println("另一台小车最远站点：\t"+routeFarOther);


        Integer[] integers = RouteIndexFarArr(100,101,124,149);
        for (Integer integer:integers){
            System.out.println(integer);
        }
    }

}

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

@@ -44,7 +44,10 @@
                    }

                    // 演示
                    mainService.crnDemoOfLocMove1();
//                    mainService.crnDemoOfLocMove1();
                    //刷新RGV地图
                    mainService.refreshRgvMap();

                    // 入出库模式切换函数
//                    mainService.ioConvert();
                    // 入库  ===>> 入库站到堆垛机站，根据条码扫描生成入库工作档
@@ -84,6 +87,20 @@
//                        i = 0;
//                    }

                    /////////////////////////////////////RGV调度/////////////////////////////////////
//
                    //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
                    mainService.rgvRunWrkMastEmptyStaTake();//取
                    mainService.rgvRunWrkMastEmptyStaAvoidance();//避让


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

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

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

@@ -7,6 +7,7 @@
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;
@@ -52,6 +53,10 @@
        for (Slave crn : slaveProperties.getCrn()) {
            MessageQueue.init(SlaveType.Crn, crn);
        }
        // 初始化Rgv小车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);
@@ -82,6 +87,13 @@
            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(), rgvThread);
        }
        // 初始化输送线线程
        News.info("初始化输送线线程...................................................");
        for (DevpSlave devp : slaveProperties.getDevp()) {

 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/RgvModeType.java

New file
@@ -0,0 +1,43 @@
package com.zy.core.enums;

public enum RgvModeType {

    NONE(-1, "离线"),
    STOP(0, "维修"),
    HAND(1, "手动"),
    HALF_AUTO(2, "半自动"),
    AUTO(3, "自动"),
    AUTO2(100, "其它"),
    ;

    public Integer id;
    public String desc;
    RgvModeType(Integer id, String desc) {
        this.id = id;
        this.desc = desc;
    }

    public static RgvModeType get(Short id) {
        if (null == id) {
            return null;
        }
        for (RgvModeType type : RgvModeType.values()) {
            if (type.id.equals(id.intValue())) {
                return type;
            }
        }
        return null;
    }

    public static RgvModeType get(RgvModeType type) {
        if (null == type) {
            return null;
        }
        for (RgvModeType rgvModeType : RgvModeType.values()) {
            if (rgvModeType == type) {
                return rgvModeType;
            }
        }
        return null;
    }
}

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

New file
@@ -0,0 +1,45 @@
package com.zy.core.enums;

public enum RgvStatusType {

    NONE(-1, "离线"),
    IDLE(0, "空闲"),
    WORKING(1, "作业中"),
    SOS(2, "报警"),
    FETCHING(11, "取货中"),
    PUTTING(12, "放货中"),
    WAITING(90, "任务完成等待WCS确认"),
    FETCHWAITING(91, "取货任务完成等待WCS确认"),
    ;

    public Integer id;
    public String desc;
    RgvStatusType(Integer id, String desc) {
        this.id = id;
        this.desc = desc;
    }

    public static RgvStatusType get(Short id) {
        if (null == id) {
            return null;
        }
        for (RgvStatusType type : RgvStatusType.values()) {
            if (type.id.equals(id.intValue())) {
                return type;
            }
        }
        return NONE;
    }

    public static RgvStatusType get(RgvStatusType type) {
        if (null == type) {
            return null;
        }
        for (RgvStatusType rgvStatusType : RgvStatusType.values()) {
            if (rgvStatusType == type) {
                return rgvStatusType;
            }
        }
        return null;
    }
}

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

New file
@@ -0,0 +1,46 @@
package com.zy.core.enums;

public enum RgvTaskModeType {

    NONE(0),    // 无
    FETCH(1),    // 取货
    PUT(2),    // 放货
    FETCH_PUT(3),    // 取放货
//    X_MOVE(4),    // 站位移转
//    Y_MOVE(5),    // 站位移转
//    XY_MOVE(6),    // 站位移转
    GO_ORIGIN(7),    // 回原点
//    BACK_ORIGIN(8),      // 回反原点
//    CLEAR(9),       // 清错
    ;

    public Integer id;
    RgvTaskModeType(Integer id) {
        this.id = id;
    }

    public static RgvTaskModeType get(Short id) {
        if (null == id) {
            return null;
        }
        for (RgvTaskModeType type : RgvTaskModeType.values()) {
            if (type.id.equals(id.intValue())) {
                return type;
            }
        }
        return null;
    }

    public static RgvTaskModeType get(RgvTaskModeType type) {
        if (null == type) {
            return null;
        }
        for (RgvTaskModeType rgvTaskModeType : RgvTaskModeType.values()) {
            if (rgvTaskModeType == type) {
                return rgvTaskModeType;
            }
        }
        return null;
    }

}

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

New file
@@ -0,0 +1,42 @@
package com.zy.core.enums;

public enum RouteCollectCountType {

    INTERSECTION(0, "交集"),   // 交集
    DIFFERENCESET(1, "差集"),   // 差集
    UNION(2, "并集"),  //并集
    DEDUPLICATIONUNION(3, "去重并集"),  //去重并集
    ;

    public Integer id;
    public String desc;
    RouteCollectCountType(Integer id, String desc) {
        this.id = id;
        this.desc = desc;
    }

    public static RouteCollectCountType get(Short id) {
        if (null == id) {
            return null;
        }
        for (RouteCollectCountType type : RouteCollectCountType.values()) {
            if (type.id.equals(id.intValue())) {
                return type;
            }
        }
        return null;
    }

    public static RouteCollectCountType get(RouteCollectCountType type) {
        if (null == type) {
            return null;
        }
        for (RouteCollectCountType crnLiftPosType : RouteCollectCountType.values()) {
            if (crnLiftPosType == type) {
                return crnLiftPosType;
            }
        }
        return null;
    }

}

 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/RgvSlave.java

New file
@@ -0,0 +1,60 @@
package com.zy.core.model;

import com.zy.core.Slave;
import lombok.Data;
import lombok.EqualsAndHashCode;

import java.util.ArrayList;
import java.util.List;

/**
 * Created by vincent on 2020/8/10
 */
@EqualsAndHashCode(callSuper = true)
@Data
public class RgvSlave extends Slave {

    private Integer rack;

    private Integer slot;

    private Integer offset;

    private Boolean demo;

    // RGV入库源站点
    private List<RgvStn> rgvInSStn = new ArrayList<>();

    // RGV出库源站点
    private List<RgvStn> rgvOutSStn = new ArrayList<>();

    // RGV叠盘
    private List<RgvStn> rgvEmptyInSStn = new ArrayList<>();

    // RGV空板入库
    private List<RgvStn> rgvEmptyOutSStn = new ArrayList<>();

    // RGV出库目标站点
    private List<RgvStn> rgvDestStn = new ArrayList<>();

    @Data
    public static class RgvStn {

        // 输送线plc编号
        private Integer devpPlcId;

        // RGV站点编号
        private Integer staNo;

//        // 排
//        private Integer row;
//
//        // 列
//        private Integer bay;
//
//        // 层
//        private Integer lev;

    }

}

 src/main/java/com/zy/core/model/command/RgvCommand.java

New file
@@ -0,0 +1,129 @@
package com.zy.core.model.command;

import com.alibaba.fastjson.annotation.JSONField;
import com.zy.core.enums.RgvTaskModeType;
import lombok.Data;

import java.util.Calendar;
import java.util.Date;

/**
 * 堆垛机命令报文
 * Created by vincent on 2020/8/11
 */
@Data
public class RgvCommand {

    // Rgv编号
    private Integer rgvNo = 0;

    // 工位1任务完成确认位
    private Short ackFinish1 = 0;

    // 工位1任务号
    private Short taskNo1 = 0;

    /**
     * 任务模式：
     * 0 = 无
     * 1 = 取货
     * 2 = 放货
     * 3 = 取放货
     */
    private Short taskMode1 = 0;

    @JSONField(serialize = false)
    private RgvTaskModeType taskModeType1;

    /*
    工位1源站
     */
    private Short sourceStaNo1 = 0;

    /*
    工位1目标站
     */
    private Short destinationStaNo1 = 0;

    //////////////////////     工位2定义   //////////////////////////////////////////////////
    // 工位1任务完成确认位
    private Short ackFinish2 = 0;

    // 工位2任务号
    private Short taskNo2 = 0;

    /**
     * 任务模式：
     * 0 = 无
     * 1 = 取货
     * 2 = 放货
     * 3 = 取放货
     */
    private Short taskMode2 = 0;

    @JSONField(serialize = false)
    private RgvTaskModeType taskModeType2;

    /*
    工位1源站
     */
    private Short sourceStaNo2 = 0;

    /*
    工位1目标站
     */
    private Short destinationStaNo2 = 0;
    ///////////////////////////////////////////////////////////////////////////////////////

    /**
     * 任务模式：
     * 0 = 未确认
     * 1 = 工位1任务确认
     * 2 = 工位2任务确认
     * 3 = 工位1、2任务同时确认
     */
    private Short command = 0;

    public void setTaskMode1(Short taskMode1){
        this.taskMode1 = taskMode1;
        this.taskModeType1 = RgvTaskModeType.get(taskModeType1);
    }

    public void setTaskMode1(RgvTaskModeType type1) {
        this.taskModeType1 = type1;
        this.taskMode1 = RgvTaskModeType.get(type1).id.shortValue();
    }

    public void setTaskMode2(Short taskMode2){
        this.taskMode2 = taskMode2;
        this.taskModeType2 = RgvTaskModeType.get(taskModeType2);
    }

    public void setTaskMode2(RgvTaskModeType type2) {
        this.taskModeType2 = type2;
        this.taskMode2 = RgvTaskModeType.get(type2).id.shortValue();
    }

    public static void main(String[] args) {
        Date date = new Date();
        Calendar cal = Calendar.getInstance();
        cal.setTime(date);

        System.out.println(cal.get(Calendar.YEAR));
        //默认从0-11
        System.out.println(cal.get(Calendar.MONTH)+1);
        System.out.println(cal.get(Calendar.DATE));
        int hour = cal.get(Calendar.HOUR_OF_DAY);
        System.out.println("时");
        System.out.println(hour);
        int minute = cal.get(Calendar.MINUTE);
        System.out.println("分");
        System.out.println(minute);
        int second = cal.get(Calendar.SECOND);
        System.out.println("秒");
        System.out.println(second);
        int mm = cal.get(Calendar.DAY_OF_WEEK) - 1; // 星期：0(日)～6(六)
        System.out.println("礼拜");
        System.out.println(mm);
    }
}

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

New file
@@ -0,0 +1,210 @@
package com.zy.core.model.protocol;

import com.zy.asrs.entity.BasRgv;
import com.zy.core.enums.RgvModeType;
import com.zy.core.enums.RgvStatusType;
import lombok.Data;

/**
 * Created by vincent on 2020/8/7
 */
@Data
public class RgvProtocol {

    private Integer RgvNo;

    /**
     * 1 = 手动模式
     * 2 = 自动模式
     * 3 = 电脑模式
     */
    public Short mode;

    public RgvModeType modeType;

    /**
     * RGV当前状态
     * 0：空闲，无任务
     * 1：作业中
     * 2：报警
     */
    public Short status;

    /**
     * 状态枚举
     */
    public RgvStatusType statusType;

    /**
     * 工位1任务号
     */
    public Short taskNo1 = 0;

    /**
     * RGV工位1当前状态
     * 0：空闲，无任务
     * 11：取货中
     * 12：放货中
     * 10：任务完成等待WCS确认
     */
    public Short status1;

    /**
     * 状态枚举
     */
    public RgvStatusType statusType1;

    /**
     * 工位1有物
     */
    public Short loaded1;

    /**
     * RGV当前位置
     */
    public Short RgvPos;

    /**
     * 走行在定位
     * 0 = 在定位
     * 1 = 不在定位
     */
    public Short walkPos;

    //////////////////////     工位2定义   //////////////////////////////////////////////////
    /**
     * 工位2任务号
     */
    public Short taskNo2 = 0;

    /**
     * RGV工位2当前状态
     * 0：空闲，无任务
     * 11：取货中
     * 12：放货中
     * 10：任务完成等待WCS确认
     */
    public Short status2;

    /**
     * 状态枚举
     */
    public RgvStatusType statusType2;

    /**
     * 工位2有物
     */
    public Short loaded2;
    ///////////////////////////////////////////////////////////////////////////////////////

    /**
     * 异常码
     */
    public Short alarm;

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

    private Short temp1;

    private Short temp2;

    private Short temp3;

    private Short temp4;

    private Short temp5;

    /**
     * X行走行速度m/min
     */
    private Float xSpeed;

    /**
     * 堆垛机累计走行距离km
     */
    public Float xDistance;

    /**
     * 堆垛机累计走行时长h
     */
    public Float xDuration;

    public void setMode(Short mode) {
        this.mode = mode;
        this.modeType = RgvModeType.get(mode);
    }

    public void setMode(RgvModeType type) {
        this.modeType = type;
        this.mode = RgvModeType.get(type).id.shortValue();
    }

    public void setStatus(Short status){
        this.status = status;
        this.statusType = RgvStatusType.get(status);
    }

    public void setStatus(RgvStatusType type){
        this.statusType = type;
        this.status = RgvStatusType.get(type).id.shortValue();
    }

    public void setStatus1(Short status1){
        this.status1 = status1;
        this.statusType1 = RgvStatusType.get(status1);
    }

    public void setStatus1(RgvStatusType type1){
        this.statusType1 = type1;
        this.status1 = RgvStatusType.get(type1).id.shortValue();
    }

    public void setStatus2(Short status2){
        this.status2 = status2;
        this.statusType2 = RgvStatusType.get(status2);
    }

    public void setStatus2(RgvStatusType type2){
        this.statusType2 = type2;
        this.status2 = RgvStatusType.get(type2).id.shortValue();
    }

    /**
     * 最近一次入出库类型
     *       I:入库
     *       O:出库
     */
    private String lastIo = "I";


    public BasRgv toSqlModel(BasRgv basRgv){
        if (alarm!=null) {
            basRgv.setRgvErr(alarm.longValue());
        }
        basRgv.setWrkNo1(taskNo1.intValue());
        basRgv.setWrkNo2(taskNo2.intValue());
        return basRgv;
    }

    public void setxSpeed(Short xSpeed) {
        this.xSpeed = Float.valueOf(xSpeed);
    }

    public void setxDistance(Short xDistance) {
        this.xDistance = Float.valueOf(xDistance);
    }

    public void setxDuration(Short xDuration) {
        this.xDuration = Float.valueOf(xDuration);
    }

    public Integer getRgvPosI(){
        //需要根据现场改造  根据读到的值获取对应站点位置
        if (RgvPos==null) return 0;
        return RgvPos.intValue();
    }

}

 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;
@@ -42,4 +43,6 @@

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

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

}

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

New file
@@ -0,0 +1,465 @@
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;
                    // 工位1、2写入数据
                    case 2:
                        write((RgvCommand) task.getData());
                        break;
                    //工位1写入数据
                    case 4:
                        write1((RgvCommand) task.getData());
                        break;
                    //工位2写入数据
                    case 5:
                        write2((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;
                    // 回原点  避让
                    case 9:
                        RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
                        if (null == commandAvoidanceXY) {
                            commandAvoidanceXY = new RgvCommand();
                        }
                        commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号
                        commandAvoidanceXY.setTaskNo1((short) 9999); // 工作号
                        commandAvoidanceXY.setAckFinish1((short) 1);  // 任务完成确认位
                        commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 任务模式
                        commandAvoidanceXY.setSourceStaNo1((short)0);     // 源站
                        commandAvoidanceXY.setDestinationStaNo1((short)0);     // 目标站
                        commandAvoidanceXY.setTaskNo2((short) 0); // 工作号
                        commandAvoidanceXY.setAckFinish2((short) 1);  // 任务完成确认位
                        commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 任务模式
                        commandAvoidanceXY.setSourceStaNo2((short)0);     // 源站
                        commandAvoidanceXY.setDestinationStaNo2((short)0);     // 目标站
                        commandAvoidanceXY.setCommand((short)0);
                        write(commandAvoidanceXY);
                        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("DB1.0", (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)
                        || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
                    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)
                        || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
                    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){
                    System.out.println(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();
        siemensNet.Write("DB100.20", command.getCommand());

        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;
        }

        command.setRgvNo(slave.getId());
        short[] array = new short[6];
        array[0] = command.getAckFinish2();
        array[1] = command.getTaskNo2();
        array[2] = command.getTaskMode2();
        array[3] = command.getSourceStaNo2();
        array[4] = command.getDestinationStaNo2();
        array[5] = command.getCommand();

        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

@@ -1,5 +1,5 @@
server:
  port: 9090
  port: 9091
  servlet:
    context-path: /@pom.build.finalName@

@@ -140,6 +140,63 @@
      row: 23
      bay: 1
      lev: 1

  # RGV穿梭车1
  rgv[0]:
    id: 1
    ip: 192.168.4.250
    port: 502
    rack: 0
    slot: 0
    #RGV入库源站点
    rgvInSStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 100
    rgvInSStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 101
    #RGV出库源站点
    rgvOutSStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 110
    rgvOutSStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 112
    #RGV目标站点
    rgvDestStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 102
    rgvDestStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 103
  # RGV穿梭车2
  rgv[1]:
    id: 2
    ip: 192.168.4.250
    port: 502
    rack: 0
    slot: 0
    #RGV入库源站点
    rgvInSStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 100
    rgvInSStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 101
    #RGV出库源站点
    rgvOutSStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 110
    rgvOutSStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 112
    #RGV目标站点
    rgvDestStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 102
    rgvDestStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 103
  # 输送线1
  devp[0]:
    id: 1

 src/main/resources/mapper/BasRgvErrMapper.xml

New file
@@ -0,0 +1,16 @@
<?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.BasRgvErrMapper">

    <!-- 通用查询映射结果 -->
    <resultMap id="BaseResultMap" type="com.zy.asrs.entity.BasRgvErr">
        <result column="error_code" property="errorCode" />
        <result column="err_name" property="errName" />
        <result column="modi_user" property="modiUser" />
        <result column="modi_time" property="modiTime" />
        <result column="appe_user" property="appeUser" />
        <result column="appe_time" property="appeTime" />

    </resultMap>

</mapper>

 src/main/resources/mapper/BasRgvMapMapper.xml

New file
@@ -0,0 +1,17 @@
<?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.BasRgvMapMapper">

    <!-- 通用查询映射结果 -->
    <resultMap id="BaseResultMap" type="com.zy.asrs.entity.BasRgvMap">
        <result column="rgv_no" property="rgvNo" />
        <result column="start_route" property="startRoute" />
        <result column="end_route" property="endRoute" />
        <result column="now_route" property="nowRoute" />
        <result column="rgv_status" property="rgvStatus" />
        <result column="lock_start_route" property="lockStartRoute" />
        <result column="lock_end_route" property="lockEndRoute" />

    </resultMap>

</mapper>

 src/main/resources/mapper/BasRgvMapper.xml

New file
@@ -0,0 +1,24 @@
<?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.BasRgvMapper">

    <!-- 通用查询映射结果 -->
    <resultMap id="BaseResultMap" type="com.zy.asrs.entity.BasRgv">
        <result column="rgv_no" property="rgvNo" />
        <result column="in_enable" property="inEnable" />
        <result column="out_enable" property="outEnable" />
        <result column="rgv_sts" property="rgvSts" />
        <result column="wrk_no1" property="wrkNo1" />
        <result column="wrk_no2" property="wrkNo2" />
        <result column="rgv_err" property="rgvErr" />
        <result column="pak_mk" property="pakMk" />
        <result column="status" property="status" />
        <result column="create_by" property="createBy" />
        <result column="create_time" property="createTime" />
        <result column="update_by" property="updateBy" />
        <result column="update_time" property="updateTime" />
        <result column="memo" property="memo" />

    </resultMap>

</mapper>

 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>

 src/main/resources/mapper/WrkMastStaMapper.xml

New file
@@ -0,0 +1,99 @@
<?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.WrkMastStaMapper">

    <!-- 通用查询映射结果 -->
    <resultMap id="BaseResultMap" type="com.zy.asrs.entity.WrkMastSta">
        <id column="id" property="id" />
        <result column="wrk_no" property="wrkNo" />
        <result column="wrk_start" property="wrkStart" />
        <result column="wrk_end" property="wrkEnd" />
        <result column="sta_start" property="staStart" />
        <result column="sta_end" property="staEnd" />
        <result column="create_time" property="createTime" />
        <result column="update_time" property="updateTime" />
        <result column="type" property="type" />
        <result column="wrk_sts" property="wrkSts" />
        <result column="line_number" property="lineNumber" />
        <result column="wrk_type" property="wrkType" />
        <result column="bign_time" property="bignTime" />

    </resultMap>

    <select id="selectAllWrkMastStaList" resultMap="BaseResultMap">
        select * from asr_wrk_mast_sta
        where 1=1
        and wrk_sts=0
        <if test="type!=null">
            and type = #{type}
        </if>
        order by line_number,id
    </select>

    <select id="selectByWrkNo" resultMap="BaseResultMap">
        select top 1 * from asr_wrk_mast_sta
        where 1=1
        and wrk_no = #{wrkNo}
    </select>

    <select id="selectNoInterfere" resultMap="BaseResultMap">
        select top 1 * from asr_wrk_mast_sta
        where 1=1
        and (sta_start in
        <foreach item="item" collection="staStarts" index="index" separator="," open="(" close=")">
            #{item}
        </foreach>
        or sta_start = 0
        )
        and (sta_end in
        <foreach item="item" collection="staEnds" index="index" separator="," open="(" close=")">
            #{item}
        </foreach>
        or sta_end = 0
        )
        and wrk_sts=0
        order by line_number,id
    </select>

    <select id="selectNoInterfereList" resultMap="BaseResultMap">
        select * from asr_wrk_mast_sta
        where 1=1
        and (sta_start in
        <foreach item="item" collection="staStarts" index="index" separator="," open="(" close=")">
            #{item}
        </foreach>
        or sta_start = 0
        )
        and (sta_end in
        <foreach item="item" collection="staEnds" index="index" separator="," open="(" close=")">
            #{item}
        </foreach>
        or sta_end = 0
        )
        and wrk_sts=0
        order by line_number,id
    </select>

    <select id="selectAllWrkCount" resultType="java.lang.Integer">
        select count(1) from asr_wrk_mast_sta
        where 1=1
        <if test="type!=null">
            and type = #{type}
        </if>
    </select>

    <select id="selectAllWrkStsCount" resultType="java.lang.Integer">
        select count(1) from asr_wrk_mast_sta
        where 1=1
        <if test="type!=null">
            and type = #{type}
        </if>
        <if test="wrkSts!=null">
            and wrk_sts = #{wrkSts}
        </if>
    </select>




</mapper>

 src/main/webapp/static/css/rgv.css

New file
@@ -0,0 +1,252 @@
body {
    background-color: #6CA7A8;
}
.button-window {
    float: left;
    width: 100%;
    height: 100%;
    padding: 10px;
    border-radius: 5px;
    box-shadow: 0 0 3px rgba(0 0 0 .3);
}
/* -------------------- 第一模块 -------------------- */
.log-board {
    background-color: #fff;
    border-radius: 5px;
    box-shadow: 0 0 3px rgba(0,0,0,.3);
    height: 28%;
}

/* 左 */
.command-log {
    float: left;
    height: 100%;
    width: 20%;
    text-align: center;
}
.command-log h2 {
    padding: 10px;
}
.rgv-command-item {
    padding: 4px 0;
}
.rgv-command-item label {
    font-size: 20px;
    font-weight: bold;
    vertical-align: middle;
}
.rgv-command-item span {
    display: inline-block;
    width: 20px;
    height: 20px;
    background-color: #2e9926;
    border-radius: 5px;
    vertical-align: middle;
}
.rgv-command-item input {
    vertical-align: middle;
    outline: none;
    width: 60%;
}

/* 右 */
.rgv-state {
    float: left;
    height: 100%;
    width: 100%;
    overflow: auto;
}
/* 堆垛机状态表 */
#rgv-state-table {
    font-size: 12px;
    border-collapse: collapse;
    margin: 0 auto;
    text-align: center;
}
#rgv-state-table td, #rgv-state-table th {
    border: 1px solid #cad9ea;
    color: #666;
    height: 25px;
}
#rgv-state-table thead th {
    background-color: #CCE8EB;
    width: 300px;
}
#rgv-state-table tr:nth-child(odd) {
    background: #fff;
}
#rgv-state-table tr:nth-child(even) {
    background: #F5FAFA;
}

/* -------------------- 第二模块 -------------------- */
.rgv-msg {
    /*overflow: auto;*/
    margin-top: 10px;
    height: 23%;
    background-color: #fff;
    border-radius: 5px;
    box-shadow: 0 0 3px rgba(0,0,0,.3);
}
/* 堆垛机状态信息表 */
#rgv-msg-table {
    font-size: 12px;
    border-collapse: collapse;
    margin: 0 auto;
    text-align: center;
}
#rgv-msg-table td, #rgv-msg-table th {
    border: 1px solid #f1f1f1;
    color: #666;
    height: 30px;
}
#rgv-msg-table thead th {
    background-color: #fff;
    width: 400px;
}
#rgv-msg-table tr:nth-child(odd) {
    background: #fff;
}
#rgv-msg-table tr:nth-child(even) {
    background: #fff;
}

/* -------------------- 第三模块 -------------------- */
.rgv-operation {
    position: relative;
    margin-top: 10px;
    height: 25%;
    background-color: #fff;
    border-radius: 5px;
    box-shadow: 0 0 3px rgba(0,0,0,.3);
}

/* 任务设备选择框 */
.task-select {
    height: 50%;
    overflow: hidden;
    padding: 20px 0 10px 20px;
}
.operator-item {
    display: inline-block;
    height: 100%;
    width: 20%;
    text-align: center;
    position: relative;
    vertical-align: middle;
    padding: 10px 0px 10px 50px;
}
.operator-item .select-title {
    display: inline-block;
    position: absolute;
    top: -11px;
    left: 50%;
    transform: translate(-50%, 0);
    background-color: #fff;
    color: #2e95d3;
    font-size: 12px;
    border: 1px solid #8d8d8d;
    border-radius: 5px;
    padding: 5px;
    z-index: 999;
}
.operator-item .select-container {
    padding: 10px 0;
    height: 100%;
    border: 1px solid #8d8d8d;
    border-radius: 5px;
}
#rgv-select .select-container label {
    display: inline-block;
    padding: 0 20px;
    vertical-align: middle; margin-top:-2px; margin-bottom:1px;

}
.select-container input {
    display: inline-block;
    font-size: 12px;
    vertical-align: middle; margin-top:-2px; margin-bottom:1px;
}
.select-container-item {
    display: inline-block;
    margin: 0px auto;
    padding: 0;
}
.select-container-item input {
    height: 20px;
    border: 1px solid #8D8D8D;
    border-radius: 3px;
    width: 80px;
    outline: none;
}

/* 任务作业选择框 */
.task-operator {
    height: 50%;
    overflow: hidden;
    padding: 0 20px 10px 20px;
}
.task-operator fieldset {
    padding: 15px 20px 5px 50px;
    border-width: 1px;
    border-style: solid;
    height: 100%;
}
.task-operator legend {
    margin-left: 20px;
    padding: 0 10px;
    font-size: 16px;
    font-weight: 300;
}
button.item {
    border: 1px solid #333;
    font-size: 13px;
    padding: 1px 1px 1px 1px;
    width: 100px;
    height: 40px;
    outline: none;
    cursor: pointer;
    color: #333;
    background-color: transparent;
    margin-right: 5px;
    border-radius: 5px;
}
button.item:hover {
    background-color: #333;
    color: #fff;
}

/* 手动操作遮罩 */
.rgv-operation-shade {
    position: absolute;
    height: 100%;
    width: 100%;
    z-index: 1000;
    text-align: center;
    padding: 80px 0;
}
.rgv-operation-shade-span {
    font-size: xx-large;
    font-weight: bold;
    color: red;
}

/* -------------------- 第四模块 -------------------- */
.rgv-output-board {
    margin-top: 10px;
    height: 15%;
    background-color: #fff;
    border-radius: 5px;
    box-shadow: 0 0 3px rgba(0,0,0,.3);
}
#rgv-output {
    border-left: none;
    border-right: none;
    border-top: 1px solid #9d9d9d;
    border-bottom: 1px solid #333;
    width: 100%;
    height: 100%;
    overflow: auto;
    resize:none;
    color: #666;
}

 src/main/webapp/static/js/console.map.js

@@ -683,7 +683,7 @@
                "height": 19
            }, {
                "type": "stn",
                "id": "site-1",
                "id": "site-999",
                "text": "备用PGV、RGV维修区",
                "top": 642,
                "left": 283,

 src/main/webapp/views/index.html

@@ -24,6 +24,7 @@
            <li><a id="console" onclick="nav(this.id)" class="nav-select" href="#">主控图</a></li>
            <li><a id="pipeline" onclick="nav(this.id)" class="nav-unselect" href="#">输送设备</a></li>
            <li><a id="crn" onclick="nav(this.id)" class="nav-unselect" href="#">堆垛机</a></li>
            <li><a id="rgv" onclick="nav(this.id)" class="nav-unselect" href="#">RGV</a></li>
        </ul>
    </div>
</div>

 src/main/webapp/views/rgv.html

New file
@@ -0,0 +1,581 @@
<!DOCTYPE html>
<html lang="en">
<head>
    <meta charset="UTF-8">
    <title>RGV监控管理</title>
    <meta name="renderer" content="webkit">
    <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
    <meta name="viewport" content="width=device-width, initial-scale=1.0, minimum-scale=1.0, maximum-scale=1.0, user-scalable=0">
    <link rel="stylesheet" type="text/css" href="../static/css/normalize.css">
    <link rel="stylesheet" type="text/css" href="../static/css/common.css">
    <link rel="stylesheet" type="text/css" href="../static/css/rgv.css">
    <script type="text/javascript" src="../static/js/jquery/jquery-3.3.1.min.js"></script>
    <script type="text/javascript" src="../static/js/common.js"></script>
    <script type="text/javascript" src="../static/js/layer/layer.js"></script>
    <style>
        .demoBtn {
            vertical-align: middle;
            width: 20%;
            height: 25px;
            left: 0;
            top: 0;
            text-shadow: inherit;
            font-size: 15px;
            margin-left: 5px;
            margin-right: 5px;
            display: inline-block;
            background-color: #FF5722;
            border: none;
            color: #FFF;
            box-shadow: 1px 1px 5px #B6B6B6;
            border-radius: 3px;
            cursor: pointer;
        }

        .demoBtn:hover {
            opacity: 0.8
        }
        .demoBtn:focus {
            outline: 0;
        }
    </style>
</head>
<body>
<div style="padding: 10px;height: 100%;float: left;width: 6%">
    <div class="button-window"></div>
</div>
<div style="height: 100%;padding-left: 6%">
    <div style="padding: 10px;height: 100%">
        <!-- 日志监控板 -->
        <div class="log-board">
            <!-- 执行命令 -->

            <!-- 执行命令 -->
            <!--<div class="command-log">-->
<!--                <h3>执行中的命令</h3>-->
<!--                <div class="crn-command-item">-->
<!--                    <label>1#</label>-->
<!--                    <button id="demoBtn-1" class="demoBtn" onclick="demoSwitch(this.id)"> - </button>-->
<!--                    &lt;!&ndash;            <span>&nbsp;</span>&ndash;&gt;-->
<!--                    <input id="crn1" disabled="disabled">-->
<!--                </div>-->
<!--                <div class="crn-command-item">-->
<!--                    <label>2#</label>-->
<!--                    <button id="demoBtn-2" class="demoBtn" onclick="demoSwitch(this.id)"> - </button>-->
<!--                    &lt;!&ndash;            <span>&nbsp;</span>&ndash;&gt;-->
<!--                    <input id="crn2" disabled="disabled">-->
<!--                </div>-->
<!--                <div class="crn-command-item">-->
<!--                    <label>3#</label>-->
<!--                    <button id="demoBtn-3" class="demoBtn" onclick="demoSwitch(this.id)"> - </button>-->
<!--                    &lt;!&ndash;            <span>&nbsp;</span>&ndash;&gt;-->
<!--                    <input id="crn3" disabled="disabled">-->
<!--                </div>-->
<!--                <div class="crn-command-item">-->
<!--                    <label>4#</label>-->
<!--                    <button id="demoBtn-4" class="demoBtn" onclick="demoSwitch(this.id)"> - </button>-->
<!--                    &lt;!&ndash;            <span>&nbsp;</span>&ndash;&gt;-->
<!--                    <input id="crn4" disabled="disabled">-->
<!--                </div>-->
<!--                <div class="crn-command-item">-->
<!--                    <label>5#</label>-->
<!--                    <button id="demoBtn-5" class="demoBtn" onclick="demoSwitch(this.id)"> - </button>-->
<!--                    &lt;!&ndash;            <span>&nbsp;</span>&ndash;&gt;-->
<!--                    <input id="crn5" disabled="disabled">-->
<!--                </div>-->
<!--            </div>-->
            <!-- RGV状态位信息 -->
            <div class="rgv-state">
                <table id="rgv-state-table">
                    <thead>
                    <tr>
                        <th>RGV</th>
                        <th>模式</th>
                        <th>状态</th>
                        <th>任务号1</th>
                        <th>状态1</th>
                        <th>有物1</th>
                        <th>RGV位置</th>
                        <th>走行定位</th>
                        <th>任务号2</th>
                        <th>状态2</th>
                        <th>有物2</th>
                        <th>故障代码</th>
                        <th>故障描述</th>
                    </tr>
                    </thead>
                    <tbody>
                    </tbody>
                </table>
            </div>
        </div>
        <!-- RGV状态 -->
        <div class="rgv-msg">
            <table id="rgv-msg-table">
                <thead>
                <tr>
                    <th>RGV</th>
                    <th>工作号</th>
                    <th>状态</th>
                    <th>源站</th>
                    <th>目标站</th>
                    <th>源库位</th>
                    <th>目标库位</th>
<!--                    <th>走行速度（m/min)</th>-->
<!--                    <th>升降速度（m/min)</th>-->
<!--                    <th>叉牙速度（m/min)</th>-->
<!--                    <th>走行距离(Km)</th>-->
<!--                    <th>升降距离(Km)</th>-->
<!--                    <th>走行时长(H)</th>-->
<!--                    <th>升降时长(H)</th>-->
                </tr>
                </thead>
                <tbody>
                </tbody>
            </table>
        </div>
        <!-- 手动操作 -->
        <div class="rgv-operation">

            <!-- 遮罩层 -->
            <div class="rgv-operation-shade">
        <span class="rgv-operation-shade-span">
            WCS 系统运行中，请停止后操作
        </span>
            </div>

            <!-- 设备任务选择 -->
            <div class="task-select">
                <!-- 堆垛机选择 -->
                <div id="rgv-select" class="operator-item" style="width: 55%">
                    <span class="select-title">RGV号</span>
                    <div class="select-container" style="padding: 20px 0;">
                        <label><input type="radio" name="rgvSelect" value="1" checked>&nbsp;1号RGV</label>
                        <label><input type="radio" name="rgvSelect" value="2">&nbsp;2号RGV</label>
                    </div>
                </div>
                <!-- 源站/源库位 选择 -->
                <div id="source-select" class="operator-item">
                    <span class="select-title">源站</span>
                    <div class="select-container">
                        <div class="select-container-item">
                            <span>工位1源站</span>
                            <label><input id="sourceStaNo" type="number" name="points" min="0" /></label>
                        </div>
<!--                        <div class="select-container-item">-->
<!--                            <span>排</span>-->
<!--                            <label><input id="sourceRow" type="number" name="points" min="1" style="background-color: #a9eeff" value="1" /></label>-->
<!--                        </div>-->
                        <div class="select-container-item">
                            <span>工位2源站</span>
                            <label><input id="sourceBay" type="number" name="points" min="0" style="background-color: #a9eeff" value="0" /></label>
                        </div>
<!--                        <div class="select-container-item">-->
<!--                            <span>层</span>-->
<!--                            <label><input id="sourceLev" type="number" name="points" min="1" style="background-color: #a9eeff" value="1" /></label>-->
<!--                        </div>-->
                    </div>
                </div>
                <!-- 目标站/目标库位 选择 -->
                <div id="target-select" class="operator-item">
                    <span class="select-title">目标站</span>
                    <div class="select-container">
                        <div class="select-container-item">
                            <span>工位1目标站</span>
                            <label><input id="staNo" type="number" name="points" min="0" /></label>
                        </div>
<!--                        <div class="select-container-item">-->
<!--                            <span>排</span>-->
<!--                            <label><input id="row" type="number" name="points" min="1" style="background-color: #a9eeff" value="1" /></label>-->
<!--                        </div>-->
                        <div class="select-container-item">
                            <span>工位2目标站</span>
                            <label><input id="bay" type="number" name="points" min="0" style="background-color: #a9eeff" value="0" /></label>
                        </div>
<!--                        <div class="select-container-item">-->
<!--                            <span>层</span>-->
<!--                            <label><input id="lev" type="number" name="points" min="1" style="background-color: #a9eeff" value="1" /></label>-->
<!--                        </div>-->
                    </div>
                </div>
            </div>

            <!-- 设备任务操作 -->
            <div class="task-operator">
                <fieldset>
                    <legend>手动操作</legend>
                    <div class="button-group">
                        <button class="item" onclick="put()">取放货</button>
                        <button class="item" onclick="take()">取货</button>
                        <button class="item" onclick="stockMove()">放货</button>
<!--                        <button class="item" onclick="siteMove()">站到站</button>-->
                        <!--                <button class="item" onclick="bacOrigin()">回原点</button>-->
                        <!--                <button class="item" onclick="reverseOrigin()">反原点</button>-->
                        <!--                <button class="item" onclick="coorMove()">坐标移行</button>-->
                        <button class="item" onclick="taskComplete()">任务完成</button>
                        <!--                <button class="item" onclick="pause()">暂停</button>-->
                        <!--                <button class="item" onclick="boot()">启动</button>-->
                        <button class="item" onclick="clearCommand()">清除命令</button>
                        <button class="item" onclick="handleReset()">复位</button>
                    </div>
                </fieldset>
            </div>

        </div>
        <!-- 堆垛机日志输出 -->
        <div class="rgv-output-board">
            <textarea id="rgv-output"></textarea>
        </div>
    </div>
</div>
</body>
<script>
    // 空白行数
    var rgvStateTableBlankRows = 0;
    var rgvMsgTableBlankRows = 0;
    // 实际行数
    var rgvStateTableFullRows = 0;
    var rgvMsgTableFullRows = 0;
    // 初始化
    var rgvOutputDom = document.getElementById("rgv-output");
    $(document).ready(function() {
        // getCommandLog();
        initRgvStateTable();
        getRgvStateInfo();
        initRgvMsgTable();
        getRgvMsgInfo();
        operatorBlockShow();
    });
    // 数据更新
    setInterval(function () {
        getRgvStateInfo();
        getRgvMsgInfo();
        // getCommandLog();
    },1000);
    setInterval(function () {
        getRgvOutput();
        operatorBlockShow();
        // initDemo();
    },500);

    // 判断手动操作模块是否可用
    function operatorBlockShow() {
        if (parent.systemRunning) {
            $('.rgv-operation').css("opacity", "0.5");
            $('.rgv-operation-shade').show();
            $('.rgv-operation-shade-span').show();
        }  else {
            $('.rgv-operation').css("opacity", "1");
            $('.rgv-operation-shade').hide();
            $('.rgv-operation-shade-span').hide();
        }
    }

    // 获取RGV执行中的命令
    function getCommandLog() {
        $.ajax({
            url: baseUrl + "/rgv/command/ongoing",
            headers: {'token': localStorage.getItem('token')},
            method: 'POST',
            success: function (res) {
                if (res.code === 200) {
                    var commands = res.data;
                    for (var i=0; i<commands.length;i++){
                        $("#rgv"+commands[i].rgvNo).val(commands[i].command);
                    }
                } else if (res.code === 403) {
                    window.location.href = baseUrl + "/login";
                } else {
                    console.log(res.msg);
                }
            }
        })
    }

    // 堆垛机信息表获取 ---- 表一
    function getRgvStateInfo() {
        var tableEl = $('#rgv-state-table');
        $.ajax({
            url: baseUrl+ "/rgv/table/rgv/state",
            headers: {'token': localStorage.getItem('token')},
            method: 'POST',
            success: function (res) {
                console.log(res)
                if (res.code === 200){
                    var table = res.data;
                    if (table.length > rgvStateTableBlankRows && table.length !== rgvStateTableFullRows) {
                        initRgvStateTable(table.length-rgvStateTableBlankRows);
                        rgvStateTableFullRows = table.length;
                    }
                    for (var i=1;i<=table.length;i++){
                        var tr = tableEl.find("tr").eq(i);
                        setVal(tr.children("td").eq(0), table[i-1].rgvNo);
                        setVal(tr.children("td").eq(1), table[i-1].statusType);
                        setVal(tr.children("td").eq(2), table[i-1].status);
                        setVal(tr.children("td").eq(3), table[i-1].workNo1);
                        setVal(tr.children("td").eq(4), table[i-1].status1);
                        setVal(tr.children("td").eq(5), table[i-1].loading1);
                        setVal(tr.children("td").eq(6), table[i-1].rgvPos);
                        setVal(tr.children("td").eq(7), table[i-1].walkPos);
                        setVal(tr.children("td").eq(8), table[i-1].workNo2);
                        setVal(tr.children("td").eq(9), table[i-1].status2);
                        setVal(tr.children("td").eq(10), table[i-1].loading2);
                        setVal(tr.children("td").eq(11), table[i-1].warnCode);
                        setVal(tr.children("td").eq(12), table[i-1].alarm);
                    }
                } else if (res.code === 403){
                    window.location.href = baseUrl+"/login";
                }  else {
                    console.log(res.msg);
                }
            }
        });
    }

    // 堆垛机数据表获取 ---- 表二
    function getRgvMsgInfo() {
        var tableEl = $('#rgv-msg-table');
        $.ajax({
            url: baseUrl+ "/rgv/table/rgv/msg",
            headers: {'token': localStorage.getItem('token')},
            method: 'POST',
            success: function (res) {
                if (res.code === 200){
                    var table = res.data;
                    if (table.length > rgvStateTableBlankRows && table.length !== rgvMsgTableFullRows) {
                        initRgvStateTable(table.length-rgvStateTableBlankRows);
                        rgvMsgTableFullRows = table.length;
                    }
                    for (var i=1;i<=table.length;i++){
                        var tr = tableEl.find("tr").eq(i);
                        setVal(tr.children("td").eq(0), table[i-1].rgvNo);
                        setVal(tr.children("td").eq(1), table[i-1].workNo);
                        setVal(tr.children("td").eq(2), table[i-1].status);
                        setVal(tr.children("td").eq(3), table[i-1].sourceStaNo);
                        setVal(tr.children("td").eq(4), table[i-1].staNo);
                        setVal(tr.children("td").eq(5), table[i-1].sourceLocNo);
                        setVal(tr.children("td").eq(6), table[i-1].locNo);
                        // setVal(tr.children("td").eq(7), table[i-1].xspeed);
                        // setVal(tr.children("td").eq(8), table[i-1].yspeed);
                        // setVal(tr.children("td").eq(9), table[i-1].zspeed);
                        // setVal(tr.children("td").eq(10), table[i-1].xdistance);
                        // setVal(tr.children("td").eq(11), table[i-1].ydistance);
                        // setVal(tr.children("td").eq(12), table[i-1].xduration);
                        // setVal(tr.children("td").eq(13), table[i-1].yduration);
                    }
                } else if (res.code === 403){
                    window.location.href = baseUrl+"/login";
                }  else {
                    console.log(res.msg);
                }
            }
        });
    }

    // 堆垛机手动操作区 -----------------------------------------------------------------------

    function getReqParam() {
        var rgvNo = $('input[name="rgvSelect"]:checked').val();
        var sourceStaNo = $('#sourceStaNo').val();
        var sourceRow = $('#sourceRow').val();
        var sourceBay = $('#sourceBay').val();
        var sourceLev = $('#sourceLev').val();
        var staNo = $('#staNo').val();
        var row = $('#row').val();
        var bay = $('#bay').val();
        var lev = $('#lev').val();
        return {
            rgvNo: rgvNo,
            sourceStaNo: sourceStaNo,
            sourceRow: sourceRow,
            sourceBay: sourceBay,
            sourceLev: sourceLev,
            staNo: staNo,
            row: row,
            bay: bay,
            lev: lev
        };
    }

    // 入库
    function put() {
        http.post(baseUrl+"/rgv/operator/put", getReqParam(), function (res) {
            layer.msg(res.msg);
        });
    }

    // 出库
    function take() {
        http.post(baseUrl+"/rgv/operator/take", getReqParam(), function (res) {
            layer.msg(res.msg);
        });
    }

    // 库位转移
    function stockMove() {
        http.post(baseUrl+"/rgv/operator/stockMove", getReqParam(), function (res) {
            layer.msg(res.msg);
        });
    }

    // 站到站
    function siteMove() {
        http.post(baseUrl+"/rgv/operator/siteMove", getReqParam(), function (res) {
            layer.msg(res.msg);
        });
    }

    // 坐标移动
    function coorMove() {
        http.post(baseUrl+"/rgv/operator/coorMove", getReqParam(), function (res) {
            layer.msg(res.msg);
        });
    }

    // 回原点
    function bacOrigin() {
        http.post(baseUrl+"/rgv/operator/bacOrigin", getReqParam(), function (res) {
            layer.msg(res.msg);
        });
    }

    // 回原点
    function reverseOrigin() {
        http.post(baseUrl+"/rgv/operator/reverseOrigin", getReqParam(), function (res) {
            layer.msg(res.msg);
        });
    }

    // 任务完成
    function taskComplete() {
        http.post(baseUrl+"/rgv/operator/taskComplete", getReqParam(), function (res) {
            layer.msg(res.msg);
        });
    }

    // 暂停
    function pause() {
        http.post(baseUrl+"/rgv/operator/pause", getReqParam(), function (res) {
            layer.msg(res.msg);
        });
    }

    // 启动
    function boot() {
        http.post(baseUrl+"/rgv/operator/boot", getReqParam(), function (res) {
            layer.msg(res.msg);
        });
    }

    // 清除命令
    function clearCommand() {
        http.post(baseUrl+"/rgv/operator/clearCommand", getReqParam(), function (res) {
            layer.msg(res.msg);
        });
    }

    // 手动复位
    function handleReset() {
        http.post(baseUrl+"/rgv/operator/handleReset", getReqParam(), function (res) {
            layer.msg(res.msg);
        });
    }

    // 输送设备日志输出 -----------------------------------------------------------------------
    function getRgvOutput() {
        $.ajax({
            url: baseUrl + "/rgv/output/site",
            headers: {'token': localStorage.getItem('token')},
            method: 'POST',
            success: function (res) {
                console.log(res)
                if (res.code === 200) {
                    rgvOutput(res.data);
                } else if (res.code === 403) {
                    window.location.href = baseUrl + "/login";
                } else {
                    console.log(res.msg);
                }
            }
        })
    }

    // ------------------------------------------------------------------------------------------------

    // 堆垛机信息表获取  ----- 表一
    function initRgvStateTable(row) {
        var line;
        if (row === undefined){
            var one = $('#rgv-state-table thead').height();
            var total = $('.rgv-state').height();
            var count = total / one;
            count = parseInt(count) - 1;
            rgvStateTableBlankRows = count;
            line = count;
        } else {
            line = row;
        }
        var html = "";
        for (var i = 0; i < line; i ++){
            html += " <tr>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "     </tr>\n";
        }
        $('#rgv-state-table tbody').after(html);
    }

    // 堆垛机数据表获取  ----- 表二
    function initRgvMsgTable(row) {
        var line;
        if (row === undefined){
            var one = $('#rgv-msg-table thead').height();
            var total = $('.rgv-msg').height();
            var count = total / one;
            count = parseInt(count) - 1;
            rgvMsgTableBlankRows = count;
            line = count;
        } else {
            line = row;
        }
        var html = "";
        for (var i = 0; i < line; i ++){
            html += " <tr>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "     </tr>\n";
        }
        $('#rgv-msg-table tbody').after(html);
    }

    // 日志输出框
    function rgvOutput(content){
        rgvOutputDom.value += content;
        rgvOutputDom.scrollTop = rgvOutputDom.scrollHeight;
    }

</script>
</html>