四向车入库分配任务逻辑

Junjie

2023-03-29 32bf433492f540b1392c19757124ebb91d0e74bd

四向车入库分配任务逻辑

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

@@ -196,23 +196,6 @@

                // 穿梭车提示信息 ----------------------

                // 任务信息 ----------------
                vo.setPakInTask(shuttleProtocol.isPakInTask());
                vo.setPakOutTask(shuttleProtocol.isPakOutTask());
                vo.setPakMoveTask(shuttleProtocol.isPakMoveTask());
                vo.setGoHpTask(shuttleProtocol.isGoHpTask());
                vo.setGoOHpTask(shuttleProtocol.isGoOHpTask());
                vo.setGoHpAvoid(shuttleProtocol.isGoHpAvoid());
                vo.setGoOHpAvoid(shuttleProtocol.isGoOHpAvoid());
                vo.setPakInEmpty(shuttleProtocol.isPakInEmpty());
                vo.setPakInFinish(shuttleProtocol.isPakInFinish());
                vo.setPakOutEmpty(shuttleProtocol.isPakOutEmpty());
                vo.setPakOutFinish(shuttleProtocol.isPakOutFinish());
                vo.setGoHpAvoidFinish(shuttleProtocol.isGoHpAvoidFinish());
                vo.setGoOHpAvoidFinish(shuttleProtocol.isGoOHpAvoidFinish());
                vo.setGoHpAvoidErr(shuttleProtocol.isGoHpAvoidErr());
                vo.setGoOHpAvoidErr(shuttleProtocol.isGoOHpAvoidErr());

                // 状态信息 -------------

                break;

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

@@ -174,6 +174,10 @@
    @TableField("ctn_no")
    private String ctnNo;

    @ApiModelProperty(value= "库位真实二维码")
    @TableField("qr_code_value")
    private String qrCodeValue;

    public String getIoTime$(){
        if (Cools.isEmpty(this.ioTime)){
            return "";

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

@@ -34,4 +34,7 @@
    @Select("select loc_no from asr_loc_mast where crn_no = #{crnNo} and loc_sts='O' order by lev1, bay1, row1")
    List<String> getDemoNextLoc(Integer crnNo);

    LocMast queryByLoc(String locNo);

    LocMast queryByQrCode(String qrCodeValue);
}

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

@@ -96,5 +96,7 @@

    WrkMast selectAllC();

    WrkMast selectByWorkNo(Integer workNo);
    WrkMast selectRackInStep48(Short workNo,Integer sourceStaNo);

    WrkMast selectByWorkNo9(Integer workNo);
}

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

@@ -63,4 +63,8 @@
    Boolean isShuttle(String locNo);

    Integer getOutCrnNo(LocMast locMast);

    LocMast queryByLoc(String locNo);

    LocMast queryByQrCode(String qrCodeValue);
}

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

@@ -77,4 +77,13 @@
        return 1;
    }

    @Override
    public LocMast queryByLoc(String locNo) {
        return this.baseMapper.queryByLoc(locNo);
    }

    @Override
    public LocMast queryByQrCode(String qrCodeValue) {
        return this.baseMapper.queryByQrCode(qrCodeValue);
    }
}

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

@@ -609,45 +609,191 @@
     * 入出库  ===>>  四向穿梭车入出库作业下发
     */
    public synchronized void shuttleIoExecute() {
        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车信息
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                continue;
            }
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库站
            for (DevpSlave.StaRack rackInStn : devp.getRackInStn()) {
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

            // 只有当四向穿梭车空闲 并且无任务时才继续执行
            if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE && shuttleProtocol.getTaskNo() == 0) {
                //入出库逻辑
                for (WrkMast wrkSts : wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 2))) {
                    //分配任务号
                    shuttleProtocol.setTaskNo(wrkSts.getWrkNo().shortValue());
                    //分配源库位
                    shuttleProtocol.setSourceLocNo(wrkSts.getSourceLocNo());
                    //分配目标库位
                    shuttleProtocol.setLocNo(wrkSts.getLocNo());
                StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
                StaProtocol staProtocol105 = devpThread.getStation().get(105);
                staProtocol105.setWorkNo((short) 752);
                staProtocol105.setStaNo((short) 100);

                StaProtocol staProtocol106 = devpThread.getStation().get(106);
                staProtocol106.setWorkNo((short) 753);
                staProtocol106.setStaNo((short) 100);

                    ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
                    //四向穿梭车号
                    assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                    //任务号
                    assignCommand.setTaskNo(wrkSts.getWrkNo().shortValue());
                    //入出库模式
                    assignCommand.setTaskMode((short) 0);
                    //源库位
                    assignCommand.setSourceLocNo(wrkSts.getSourceLocNo());
                    //目标库位
                    assignCommand.setDistLocNo(wrkSts.getLocNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                Short workNo = staProtocol.getWorkNo();

                    //下发任务
                    MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                // 判断是否满足入库条件
                if (true || staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
                    WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
                    if (wrkMast != null) {
                        if (wrkMast.getWrkSts() == 4) {
                            //寻找最近且空闲的四向穿梭车
                            HashMap<String, Object> searchIdleShuttle = this.searchIdleShuttle(wrkMast);
                            ShuttleThread shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
                            if (shuttleThread == null) {
                                continue;
                            }

                            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
                            wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号

                            //分配任务号
                            shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
                            //分配源库位
                            shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());

                            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
                            //四向穿梭车号
                            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                            //任务号
                            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
                            //入出库模式
                            assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());
                            //源库位(小车当前位置)
                            Short currentCode = shuttleProtocol.getCurrentCode();
                            LocMast currentLocMast = locMastService.queryByQrCode(currentCode.toString());
                            assignCommand.setSourceLocNo(currentLocMast.getLocNo());

                            if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
                                //同一层
                                //分配目标库位
                                shuttleProtocol.setLocNo(wrkMast.getLocNo());
                                //目标库位
                                assignCommand.setDistLocNo(wrkMast.getLocNo());
                                wrkMast.setWrkSts(9L);//小车入库中
                            }else {
                                //不同层，将目标库位分配成提升机库位号
                                //分配目标库位
                                shuttleProtocol.setLocNo("1800201");
                                //目标库位
                                assignCommand.setDistLocNo("1800201");
                                wrkMast.setWrkSts(5L);//小车迁移状态
                            }

                            if (wrkMastMapper.updateById(wrkMast) > 0) {
                                //下发任务
                                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                            }
                        }else {
                            //状态8，四向穿梭车已在提升机口，等待命令进行入库搬运动作
                            Integer shuttleNo = wrkMast.getShuttleNo();//四向穿梭车号
                            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
                            if (shuttleThread == null) {
                                continue;
                            }
                            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();

                            //分配目标库位
                            shuttleProtocol.setLocNo(wrkMast.getLocNo());

                            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
                            //四向穿梭车号
                            assignCommand.setShuttleNo(shuttleNo.shortValue());
                            //任务号
                            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
                            //入出库模式
                            assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());
                            //源库位(小车当前位置)
                            Short currentCode = shuttleProtocol.getCurrentCode();
                            LocMast currentLocMast = locMastService.queryByQrCode(currentCode.toString());
                            assignCommand.setSourceLocNo(currentLocMast.getLocNo());
                            //目标库位
                            assignCommand.setDistLocNo(wrkMast.getLocNo());
                            wrkMast.setWrkSts(9L);//小车入库中
                            if (wrkMastMapper.updateById(wrkMast) > 0) {
                                //下发任务
                                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                            }
                        }

                    }
                }

            }
        }

    }

    /**
     * 搜索空闲且最近的四向穿梭车
     */
    public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
        HashMap<String, Object> map = new HashMap<>();
        String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//库位号
        LocMast locMast = locMastService.queryByLoc(locNo);//找到库位记录
        String lay = locNo.substring(locNo.length() - 2, locNo.length());//当前工作档库位层高
        ShuttleThread recentShuttle = null;//当前距离最近的四向穿梭车线程

        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                continue;
            }
            if (!shuttleProtocol.isIdle()) {
                continue;
            }

            Short currentCode = shuttleProtocol.getCurrentCode();//四向穿梭车当前位置二维码
            LocMast shuttleLocMast = locMastService.queryByQrCode(currentCode.toString());//找到二维码对应的库位记录
            String shuttleLocNo = shuttleLocMast.getLocNo();//二维码对应库位号
            String shuttleLocNoLay = shuttleLocNo.substring(shuttleLocNo.length() - 2, shuttleLocNo.length());//库位号对应层高
            if (lay.equals(shuttleLocNoLay)) {
                //当前四向穿梭车和工作档任务在同一层，则调配该车辆
                map.put("sameLay", true);//同一层
                map.put("result", shuttleThread);
                return map;
            }

            //更新当前最近的四向穿梭车
            if (recentShuttle == null) {
                recentShuttle = shuttleThread;
            }else {
                ShuttleProtocol recentShuttleProtocol = recentShuttle.getShuttleProtocol();//目前最近穿梭车
                Short recentShuttleCurrentCode = recentShuttleProtocol.getCurrentCode();//目前最近穿梭车位置二维码
                LocMast recentShuttleLocMast = locMastService.queryByQrCode(recentShuttleCurrentCode.toString());//找到二维码对应的库位记录
                String recentShuttleLocNo = recentShuttleLocMast.getLocNo();//二维码对应库位号
                String recentShuttleLocNoLay = recentShuttleLocNo.substring(recentShuttleLocNo.length() - 2, recentShuttleLocNo.length());//库位号对应层高

                int recentShuttleLocNoLayInt = Integer.parseInt(recentShuttleLocNoLay);
                int layInt = Integer.parseInt(lay);
                int shuttleLocNoLayInt = Integer.parseInt(shuttleLocNoLay);
                int i = Math.abs(layInt - recentShuttleLocNoLayInt);//工作档楼层减最近穿梭车楼层，取绝对值
                int j = Math.abs(layInt - shuttleLocNoLayInt);//工作档楼层减当前穿梭车楼层，取绝对值
                if (i < j) {
                    //更新最近穿梭车
                    recentShuttle = shuttleThread;
                } else if (i == j) {
                    //楼层相同情况
                    //找距离出库点最近的车

                    //当前最近四向穿梭车到提升机路径
                    List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentShuttleLocNo, "1800201", ShuttleTaskModeType.PAK_IN.id);
                    //当前楼层四向穿梭车到提升机路径
                    List<NavigateNode> shuttlePath = NavigateUtils.calc(shuttleLocNo, "1800201", ShuttleTaskModeType.PAK_IN.id);
                    //判断哪一个路径最短
                    if (shuttlePath.size() < recentShuttlePath.size()) {
                        //如果当前楼层的车路径更小，则更新最近穿梭车
                        recentShuttle = shuttleThread;
                    }
                }
            }
        }

        map.put("sameLay", false);//不同层
        map.put("result", recentShuttle);
        return map;
    }

    /**
@@ -665,17 +811,23 @@
            //四向穿梭车状态为等待确认
            if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id && shuttleProtocol.getTaskNo() != 0) {
                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo9(shuttleProtocol.getTaskNo().intValue());
                if (wrkMast != null) {
                    wrkMast.setWrkSts(8L);
                    wrkMast.setWrkSts(14L);
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        //设置四向穿梭车为空闲状态
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                        //任务号清零
                        shuttleProtocol.setTaskNo((short) 0);
                        News.error("四向穿梭车处于等待确认且任务完成状态,复位。堆垛机号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
                        //源库位清零
                        shuttleProtocol.setSourceLocNo(null);
                        //目标库位清零
                        shuttleProtocol.setLocNo(null);
                        //标记复位
                        shuttleProtocol.setPakMk(true);
                        News.error("四向穿梭车已确认且任务完成状态,复位。堆垛机号={}", shuttleProtocol.getShuttleNo());
                    } else {
                        News.error("四向穿梭车处于等待确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
                        News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
                    }
                }


 src/main/java/com/zy/core/model/DevpSlave.java

@@ -29,6 +29,10 @@

    private List<Sta> pickOutSta = new ArrayList<>();

    private List<StaRack> rackInStn = new ArrayList<>();

    private List<StaRack> rackOutStn = new ArrayList<>();

    @Data
    public static class Sta {

@@ -42,4 +46,17 @@

    }

    @Data
    public static class StaRack {
        private Integer devpPlcId;

        private Integer staNo;

        private Integer row;

        private Integer bay;

        private Integer lev;
    }

}

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

@@ -1,8 +1,13 @@
package com.zy.core.model.protocol;

import com.core.common.SpringUtils;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.BasSteService;
import com.zy.core.News;
import com.zy.core.enums.ShuttleErrorCodeType;
import com.zy.core.enums.ShuttleProtocolStatusType;
import com.zy.core.enums.ShuttleStatusType;
import com.zy.core.enums.SteStatusType;
import com.zy.core.model.command.ShuttleAssignCommand;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -152,82 +157,6 @@
     */
    private Boolean pakMk = true;

    // 任务信息 ---------------------------------------------------------
    /**
     * 96.入库任务中
     */
    private boolean pakInTask;

    /**
     * 97. 出库任务中
     */
    private boolean pakOutTask;

    /**
     * 98. 移库任务中
     */
    private boolean pakMoveTask;

    /**
     * 99. 回原点任务中
     */
    private boolean goHpTask;

    /**
     * 100. 去反原点任务中
     */
    private boolean goOHpTask;

    /**
     * 101. 去原点避让位
     */
    private boolean goHpAvoid;

    /**
     * 102. 去反原点避让位
     */
    private boolean goOHpAvoid;

    /**
     * 104. 入库取空结束
     */
    private boolean pakInEmpty;

    /**
     * 105. 入库正常结束
     */
    private boolean pakInFinish;

    /**
     * 106. 出库取空结束
     */
    private boolean pakOutEmpty;

    /**
     * 107. 出库正常结束
     */
    private boolean pakOutFinish;

    /**
     * 108. 去原点避让完成
     */
    private boolean goHpAvoidFinish;

    /**
     * 109. 去反原点避让完成
     */
    private boolean goOHpAvoidFinish;

    /**
     * 110. 去原点避让完成
     */
    private boolean goHpAvoidErr;

    /**
     * 111. 去反原点避让完成
     */
    private boolean goOHpAvoidErr;

    public void setBusyStatus(Short status) {
        this.busyStatus = status;
        this.busyStatusType = ShuttleStatusType.get(status);
@@ -280,4 +209,25 @@
        this.errorCodeType = type;
    }

    // 是否处于空闲待命状态
    public Boolean isIdle() {
        boolean res = this.busyStatusType.equals(ShuttleStatusType.IDLE)
                && this.pakMk.equals(true)
                && this.errorCodeType.equals(ShuttleErrorCodeType.NORMAL)
                && this.taskNo == 0
                ;
        if (!res) {
            return res;
        } else {
            // 电量
            try {
                Integer chargeLine = SpringUtils.getBean(BasShuttleService.class).selectById(this.shuttleNo).getChargeLine();
                return this.getBatteryPower$() > chargeLine;
            } catch (Exception e) {
                News.error("fail", e);
                return false;
            }
        }
    }

}

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

@@ -5,7 +5,6 @@
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
@@ -308,6 +307,8 @@
            }
        }

        //四向穿梭车号
        map.put("shuttle_no", assignCommand.getShuttleNo());
        //工作号
        map.put("wrk_no", assignCommand.getTaskNo());
        //命令执行步序
@@ -391,6 +392,8 @@
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                //任务号清零
                shuttleProtocol.setTaskNo((short) 0);
                //标记复位
                shuttleProtocol.setPakMk(true);
                break;
            default:
        }
@@ -437,10 +440,6 @@

                //对主线程抛出等待确认状态waiting
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
                //设置四向穿梭车为空闲状态
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                //任务号清零
                shuttleProtocol.setTaskNo((short) 0);

                News.info("四向穿梭车任务执行完成等待确认中，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
            }

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

@@ -45,8 +45,8 @@
    private int barcodeSize = 2;
    public static final ArrayList<Integer> staNos = new ArrayList<Integer>() {{
        add(100);add(101);add(102);
        add(200);add(201);add(202);
        add(300);add(301);add(302);
        add(103);add(104);add(105);
        add(106);add(107);add(108);
    }};

    public boolean charge0;
@@ -195,38 +195,37 @@
            staProtocol.setWeightErr(status[5]); // 超重
            staProtocol.setBarcodeErr(status[6]);// 扫码失败
        }
        // 外形检测 - 201
        Thread.sleep(50);
        OperateResultExOne<byte[]> result201 = siemensS7Net.Read("DB102.112", (short)1);
        if (result201.IsSuccess) {
            boolean[] status = siemensS7Net.getByteTransform().TransBool(result201.Content, 0, 1);
            StaProtocol staProtocol = station.get(201);
            staProtocol.setFrontErr(status[0]);
            staProtocol.setBackErr(status[1]);
            staProtocol.setHighErr(status[2]);
            staProtocol.setLeftErr(status[3]);
            staProtocol.setRightErr(status[4]);
            staProtocol.setWeightErr(status[5]);
            staProtocol.setBarcodeErr(status[6]);
        }
        // 外形检测 - 301
        Thread.sleep(50);
        OperateResultExOne<byte[]> result301 = siemensS7Net.Read("DB102.114", (short)1);
        if (result301.IsSuccess) {
            boolean[] status = siemensS7Net.getByteTransform().TransBool(result301.Content, 0, 1);
            StaProtocol staProtocol = station.get(301);
            staProtocol.setFrontErr(status[0]);
            staProtocol.setBackErr(status[1]);
            staProtocol.setHighErr(status[2]);
            staProtocol.setLeftErr(status[3]);
            staProtocol.setRightErr(status[4]);
            staProtocol.setWeightErr(status[5]);
            staProtocol.setBarcodeErr(status[6]);
        }
//        // 外形检测 - 201
//        Thread.sleep(50);
//        OperateResultExOne<byte[]> result201 = siemensS7Net.Read("DB102.112", (short)1);
//        if (result201.IsSuccess) {
//            boolean[] status = siemensS7Net.getByteTransform().TransBool(result201.Content, 0, 1);
//            StaProtocol staProtocol = station.get(201);
//            staProtocol.setFrontErr(status[0]);
//            staProtocol.setBackErr(status[1]);
//            staProtocol.setHighErr(status[2]);
//            staProtocol.setLeftErr(status[3]);
//            staProtocol.setRightErr(status[4]);
//            staProtocol.setWeightErr(status[5]);
//            staProtocol.setBarcodeErr(status[6]);
//        }
//        // 外形检测 - 301
//        Thread.sleep(50);
//        OperateResultExOne<byte[]> result301 = siemensS7Net.Read("DB102.114", (short)1);
//        if (result301.IsSuccess) {
//            boolean[] status = siemensS7Net.getByteTransform().TransBool(result301.Content, 0, 1);
//            StaProtocol staProtocol = station.get(301);
//            staProtocol.setFrontErr(status[0]);
//            staProtocol.setBackErr(status[1]);
//            staProtocol.setHighErr(status[2]);
//            staProtocol.setLeftErr(status[3]);
//            staProtocol.setRightErr(status[4]);
//            staProtocol.setWeightErr(status[5]);
//            staProtocol.setBarcodeErr(status[6]);
//        }


        if (result.IsSuccess && result1.IsSuccess) {

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

            // 根据实时信息更新数据库

 src/main/resources/mapIn.json

@@ -1 +1 @@
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    </select>

    <select id="queryByQrCode" resultMap="BaseResultMap">
        select top 1 * from asr_loc_mast where qr_code_value = #{qrCodeValue}
    </select>

</mapper>

 src/main/resources/mapper/WrkMastMapper.xml

@@ -61,6 +61,7 @@
        <result column="Pdc_type" property="pdcType" />
        <result column="ctn_no" property="ctnNo" />
        <result column="full_plt" property="fullPlt" />
        <result column="shuttle_no" property="shuttleNo" />

    </resultMap>

@@ -235,14 +236,14 @@
        </foreach>
    </select>
    
<!--    <select id="selectWorkWaiting" resultMap="BaseResultMap">-->
<!--        select *-->
<!--        from dbo.asr_wrk_mast-->
<!--        where 1=1-->
<!--        wrk_no=#{workNo} and wrk_sts in (4,7)-->
<!--    </select>-->
    <select id="selectRackInStep48" resultMap="BaseResultMap">
        select top 1 *
        from dbo.asr_wrk_mast
        where 1=1
        and wrk_sts in (4,8) and source_sta_no = #{sourceStaNo} and wrk_no=#{workNo} order by io_pri desc,wrk_sts desc
    </select>

    <select id="selectByWorkNo" resultMap="BaseResultMap">
        select top 1 * from dbo.asr_wrk_mast where wrk_no=#{workNo}
    <select id="selectByWorkNo9" resultMap="BaseResultMap">
        select top 1 * from dbo.asr_wrk_mast where wrk_no=#{workNo} and wrk_sts in (9)
    </select>
</mapper>

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

@@ -1,2052 +1 @@
[
  [{
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }],
  [{
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": 0,
    "data": ""
  }, {
    "value": 0,
    "data": ""
  }, {
    "value": 0,
    "data": ""
  }, {
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    "data": ""
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    "data": ""
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    "data": ""
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    "data": ""
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    "data": ""
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    "data": ""
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    "data": ""
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    "data": ""
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    "data": ""
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  }, {
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    "data": ""
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    "data": ""
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  }, {
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    "data": ""
  }, {
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    "data": ""
  }],
  [{
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  }, {
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    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": 0,
    "data": ""
  }, {
    "value": 0,
    "data": ""
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    "value": 0,
    "data": ""
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    "value": 0,
    "data": ""
  }, {
    "value": -1,
    "data": ""
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    "data": ""
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    "data": ""
  }, {
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    "data": ""
  }, {
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    "data": ""
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    "data": ""
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    "data": ""
  }, {
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    "data": ""
  }, {
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    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
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    "data": ""
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    "data": ""
  }, {
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    "data": ""
  }, {
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    "data": ""
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    "data": ""
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    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
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    "data": ""
  }],
  [{
    "value": -1,
    "data": ""
  }, {
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    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
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    "data": ""
  }, {
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    "data": ""
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    "data": ""
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    "data": ""
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    "value": 0,
    "data": ""
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    "data": ""
  }, {
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    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
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    "data": ""
  }, {
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    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
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    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
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    "data": ""
  }, {
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    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -21,
    "data": ""
  }],
  [{
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
    "value": -1,
    "data": ""
  }, {
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    "data": ""
  }, {
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    "data": ""
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    "data": ""
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    "value": 0,
    "data": ""
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    "data": ""
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    "data": ""
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    "data": ""
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    "data": ""
  }, {
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    "data": ""
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    "data": ""
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    "data": ""
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    "data": ""
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    "data": ""
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    "data": ""
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    "data": ""
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    "data": ""
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    "data": ""
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    "data": ""
  }, {
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    "data": ""
  }, {
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    "data": ""
  }],
  [{
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    "data": ""
  }, {
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    "data": ""
  }, {
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  }, {
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    "data": ""
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    "data": ""
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    "data": ""
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    "data": ""
  }],
  [{
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    "data": ""
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  [{
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