1

zhang

2025-09-26 3897c8800805f6e99e30d700fe0c11c5ed2df84a

1

 pom.xml

@@ -194,7 +194,7 @@

    <build>
<!--        <finalName>rqdzwcs</finalName>-->
        <finalName>czkhwcs</finalName>
        <finalName>wcs</finalName>
        <plugins>
            <plugin>
                <groupId>org.springframework.boot</groupId>

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

@@ -21,7 +21,6 @@
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.asrs.utils.VersionUtils;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -35,7 +34,6 @@
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.properties.SystemProperties;
import com.zy.core.thread.RgvThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.GetMapping;
@@ -73,7 +71,7 @@

    @ManagerAuth(memo = "进行中的命令")
    @PostMapping("/command/ongoing")
    public R ongoingCommand(){
    public R ongoingCommand() {
        List<CommandLogVo> list = new ArrayList<>();
        for (CrnSlave crn : slaveProperties.getCrn()) {
            CommandLogVo vo = new CommandLogVo();
@@ -92,7 +90,7 @@
            vo.setStatus(1);    //  状态
            Task task = MessageQueue.peek(SlaveType.Crn, crn.getId());
            if (task != null) {
                vo.setCommand(JSON.toJSONString((CrnCommand)task.getData()));
                vo.setCommand(JSON.toJSONString((CrnCommand) task.getData()));
            }
        }
        return R.ok().add(list);
@@ -100,7 +98,7 @@

    @PostMapping("/table/crn/state")
    @ManagerAuth(memo = "堆垛机信息表")
    public R crnStateTable(){
    public R crnStateTable() {
        List<CrnStateTableVo> list = new ArrayList<>();
        List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
        for (BasCrnp basCrnp : crnps) {
@@ -120,20 +118,22 @@
            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
            vo.setStatusType(crnProtocol.modeType.desc);   //  模式状态
            vo.setStatus(crnProtocol.getStatusType().desc);     //  状态
            vo.setLoading(crnProtocol.getLoaded()==1?"有物":"无物");  //  有物
            vo.setLoading(crnProtocol.getLoaded() == 1 ? "有物" : "无物");  //  有物
            vo.setLoadTwoing(crnProtocol.getLoadedTwo() == 1 ? "有物" : "无物");  //  有物

            vo.setBay(crnProtocol.getBay());    //  列
            vo.setLev(crnProtocol.getLevel());  //  层

            vo.setForkOffset(crnProtocol.getForkPosType().desc);    // 货叉位置
            vo.setLiftPos(crnProtocol.getLiftPosType().desc);
            vo.setWalkPos(crnProtocol.getWalkPos()==1?"不在定位":"在定位");
            if(crnProtocol.getAlarm() == 10){
            vo.setWalkPos(crnProtocol.getWalkPos() == 1 ? "不在定位" : "在定位");
            if (crnProtocol.getAlarm() == 10) {
                crnProtocol.setAlarm((short) 0);
            }
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
            if (crnProtocol.getAlarm() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                vo.setAlarm(crnError==null?"未知异常":crnError.getErrName());
                vo.setAlarm(crnError == null ? "未知异常" : crnError.getErrName());
            }
        }
        return R.ok().add(list);
@@ -141,7 +141,7 @@

    @PostMapping("/table/crn/msg")
    @ManagerAuth(memo = "堆垛机数据表")
    public R crnMsgTable(){
    public R crnMsgTable() {
        List<CrnMsgTableVo> list = new ArrayList<>();
        List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
        for (BasCrnp basCrnp : crnps) {
@@ -160,7 +160,7 @@
            }

            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
            if (crnProtocol.getTaskNo()>0) {
            if (crnProtocol.getTaskNo() > 0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (wrkMast != null) {
                    vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
@@ -170,8 +170,21 @@
                    vo.setLocNo(wrkMast.getLocNo());    //  目标库位
                }
            } else {
                vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
                vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO.getDesc() : CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
            }

            if (crnProtocol.getTaskNoTwo() > 0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNoTwo());
                if (wrkMast != null) {
                    vo.setSourceStaNo2(wrkMast.getSourceStaNo$());    //  源站
                    vo.setStaNo2(wrkMast.getStaNo$());   //  目标站
                    vo.setSourceLocNo2(wrkMast.getSourceLocNo());    //  源库位
                    vo.setLocNo2(wrkMast.getLocNo());    //  目标库位
                }
            } else {
                vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO.getDesc() : CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
            }

            vo.setXspeed(crnProtocol.getXSpeed());  //  走行速度（m/min)
            vo.setYspeed(crnProtocol.getYSpeed());  //  升降速度（m/min)
            vo.setZspeed(crnProtocol.getZSpeed());  //  叉牙速度（m/min)
@@ -185,11 +198,11 @@

    @PostMapping("/output/site")
    @ManagerAuth(memo = "堆垛机报文日志输出")
    public R crnOutput(){
    public R crnOutput() {
        StringBuilder str = new StringBuilder();
        String s;
        int i = 0;
        while((s = OutputQueue.CRN.poll()) != null && i <=10) {
        while ((s = OutputQueue.CRN.poll()) != null && i <= 10) {
            str.append("\n").append(s);
            i++;
        }
@@ -198,7 +211,7 @@


    @GetMapping("/demo/status")
    public R demoStatus(){
    public R demoStatus() {
        List<Map<String, Object>> res = new ArrayList<>();
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            Map<String, Object> map = new HashMap<>();
@@ -213,13 +226,13 @@
    @PostMapping("/demo/switch")
    @ManagerAuth(memo = "堆垛机演示")
    public R crnDemo(CrnDemoParam param) throws InterruptedException {
        if (Cools.isEmpty(param.getCrnId())){
        if (Cools.isEmpty(param.getCrnId())) {
            return R.error();
        }
        if (Cools.isEmpty(param.getPassword())){
        if (Cools.isEmpty(param.getPassword())) {
            return R.error("请输入口令");
        }
        if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)){
        if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)) {
            return R.error("口令错误");
        }
        Thread.sleep(200L);
@@ -231,7 +244,6 @@
//        mainService.crnDemoOfLocMove(param.getCrnId());
        return R.ok();
    }



    /****************************************************************/
@@ -275,10 +287,9 @@
//        command.setTraySize(locSts);
//        return crnControl(command)?R.ok():R.error();
//    }

    @ManagerAuth(memo = "库位转移")
    @PostMapping("/operator/stockMove")
    public R crnStockMove(CrnOperatorParam param){
    public R crnStockMove(CrnOperatorParam param) {
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -294,17 +305,17 @@
                .eq("bay1", command.getSourcePosY()).eq("lev1", command.getSourcePosZ()));
        LocMast loc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getDestinationPosX())
                .eq("bay1", command.getDestinationPosY()).eq("lev1", command.getDestinationPosZ()));
        if (sourceLoc.getLocType1() != loc.getLocType1()){
        if (sourceLoc.getLocType1() != loc.getLocType1()) {
            return R.error("库位类型不一致");
        }
        command.setTraySize(loc.getLocType1() == 2);
//        VersionUtils.locMoveCheckLocType(sourceLoc, loc);
        return crnControl(command)?R.ok():R.error();
        return crnControl(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "站到站")
    @PostMapping("/operator/siteMove")
    public R crnSiteMove(CrnOperatorParam param){
    public R crnSiteMove(CrnOperatorParam param) {
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -316,12 +327,12 @@
        command.setDestinationPosX(param.getStaNo());     // 目标库位排
        command.setDestinationPosY((short) 0);     // 目标库位列
        command.setDestinationPosZ((short) 1);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
        return crnControl(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "回原点")
    @PostMapping("/operator/bacOrigin")
    public R crnBacOrigin(CrnOperatorParam param){
    public R crnBacOrigin(CrnOperatorParam param) {
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -333,12 +344,12 @@
        command.setDestinationPosX((short) 0);     // 目标库位排
        command.setDestinationPosY((short) 0);     // 目标库位列
        command.setDestinationPosZ((short) 0);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
        return crnControl(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "反原点")
    @PostMapping("/operator/reverseOrigin")
    public R reverseOrigin(CrnOperatorParam param){
    public R reverseOrigin(CrnOperatorParam param) {
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -350,7 +361,7 @@
        command.setDestinationPosX((short) 0);     // 目标库位排
        command.setDestinationPosY((short) 34);     // 目标库位列
        command.setDestinationPosZ((short) 5);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
        return crnControl(command) ? R.ok() : R.error();
    }

//    @ManagerAuth(memo = "坐标移动")
@@ -373,8 +384,9 @@

    @ManagerAuth(memo = "任务完成")
    @PostMapping("/operator/taskComplete")
    public R crnTaskComplete(CrnOperatorParam param){
    public R crnTaskComplete(CrnOperatorParam param) {
        CrnCommand command = new CrnCommand();
        command.setPltType(param.getC());
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 1);  // 任务完成确认位
@@ -385,9 +397,8 @@
        command.setDestinationPosX((short) 0);     // 目标库位排
        command.setDestinationPosY((short) 0);     // 目标库位列
        command.setDestinationPosZ((short) 0);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
        return crnControl(command) ? R.ok() : R.error();
    }



//    @ManagerAuth(memo = "暂停")
@@ -404,7 +415,7 @@

    @ManagerAuth(memo = "清除命令")
    @PostMapping("/operator/clearCommand")
    public R crnClearCommand(CrnOperatorParam param){
    public R crnClearCommand(CrnOperatorParam param) {
        if (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
@@ -419,7 +430,7 @@
        command.setDestinationPosX((short) 0);     // 目标库位排
        command.setDestinationPosY((short) 0);     // 目标库位列
        command.setDestinationPosZ((short) 0);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
        return crnControl(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "手动复位")
@@ -460,7 +471,7 @@
        return R.error();
    }

    private boolean crnControl(CrnCommand command){
    private boolean crnControl(CrnCommand command) {
        if (command.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
@@ -476,22 +487,19 @@
                    throw new CoolException("堆垛机不在线");
                }
                // 空闲判断
//                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                    if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return true;
                    } else {
                        throw new CoolException("命令下发失败");
                    }
//                } else {
//                    throw new CoolException("堆垛机不在空闲状态");
//                }
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                    return true;
                } else {
                    throw new CoolException("命令下发失败");
                }

            }
        }
        return false;
    }

    private void staNoProcess(CrnOperatorParam param, CrnCommand command){
        if (param.getSourceStaNo()!=null) {
    private void staNoProcess(CrnOperatorParam param, CrnCommand command) {
        if (param.getSourceStaNo() != null) {
            if (param.getSourceStaNo() == 5) {
                command.setSourcePosX((short) 2);     // 源库位排
                command.setSourcePosY((short) 0);     // 源库位列
@@ -502,7 +510,7 @@
                command.setSourcePosZ((short) 1);     // 源库位层
            }
        }
        if (param.getStaNo()!=null) {
        if (param.getStaNo() != null) {
            if (param.getStaNo() == 5) {
                command.setDestinationPosX((short) 2);     // 目标库位排
                command.setDestinationPosY((short) 0);     // 目标库位列
@@ -515,16 +523,16 @@
        }
    }

    private boolean isLocSts(String row,String bay,String lev){
    private boolean isLocSts(String row, String bay, String lev) {
        int rowInt = Integer.parseInt(row);
        int bayInt = Integer.parseInt(bay);
        int levInt = Integer.parseInt(lev);
        String loc = String.format("%2d",rowInt)+String.format("%3d",bayInt)+String.format("%2d",levInt);
        String loc = String.format("%2d", rowInt) + String.format("%3d", bayInt) + String.format("%2d", levInt);
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", loc));
        if (Cools.isEmpty(locMast)){
        if (Cools.isEmpty(locMast)) {
            return false;
        }
        if (locMast.getLocType1() == 2){
        if (locMast.getLocType1() == 2) {
            return true;
        }
        return false;

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

@@ -37,4 +37,7 @@

    private Integer rgvNo;


    private Integer c;

}

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

@@ -30,6 +30,18 @@
    // 目标库位
    private String locNo = "-";

    // 源站
    private String sourceStaNo2 = "-";

    // 目标站
    private String staNo2 = "-";

    // 源库位
    private String sourceLocNo2 = "-";

    // 目标库位
    private String locNo2 = "-";

    // 异常
    private String error = "";


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

@@ -17,6 +17,9 @@
    // 有物
    private String loading = "-";

    // 有物
    private String loadTwoing = "-";

    // 列
    private Short bay;


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

@@ -22,6 +22,9 @@

    LocMast queryFreeLocMast(@Param("row") Integer row, @Param("locType1") Short locType1);

    LocMast queryFreeLocMast2(@Param("row") Integer row, @Param("locType1") Short locType1);


    @Select("select loc_no from asr_loc_mast where 1=1 and loc_sts = 'O' and crn_no = #{crnNo}")
    List<String> queryGroupEmptyStock(Integer crnNo);


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

@@ -17,6 +17,7 @@
     */
    LocMast queryFreeLocMast(Integer row, Short locType1);

    LocMast queryFreeLocMast2(Integer row, Short locType1);
    /**
     * 获取同组货架的空库位
     * @param sourceLocNo 源库位

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

@@ -21,6 +21,11 @@
    public LocMast queryFreeLocMast(Integer row, Short locType1) {
        return this.baseMapper.queryFreeLocMast(row, locType1);
    }
    @Override
    public LocMast queryFreeLocMast2(Integer row, Short locType1) {
        return this.baseMapper.queryFreeLocMast2(row, locType1);
    }


    @Override
    public List<String> queryGroupEmptyStock(String sourceLocNo) {

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

@@ -2088,6 +2088,7 @@

        // 命令下发区 --------------------------------------------------------------------------
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setPltType(getCrnStation(wrkMast.getSourceLocNo()));
        crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
        crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
@@ -2660,7 +2661,13 @@
            LocMast loc = null;
            for (Integer row : rows) {
                if (Utils.isDeepLoc(slaveProperties, row)) {
                    loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
                    if (shallowLoc.getRow1() == 1 && row == 1) {
                        loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1());
                    } else if (shallowLoc.getRow1() == 29 && row == 29) {
                        loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1());
                    } else {
                        loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
                    }

                    if (loc != null) {
                        if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
@@ -2679,7 +2686,14 @@
            if (null == loc) {
                for (Integer row : rows) {
                    if (Utils.isShallowLoc(slaveProperties, row)) {
                        loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
                        if (shallowLoc.getRow1() == 1 && row == 1) {
                            loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1());
                        } else if (shallowLoc.getRow1() == 29 && row == 29) {
                            loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1());
                        } else {
                            loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
                        }


                        if (null != loc) {//对应深库位非在库状态,不能移库
                            String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());

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

@@ -74,7 +74,12 @@
                        break;
                    // 写入数据 1号工位
                    case 2:
                        write((CrnCommand) task.getData());
                        CrnCommand data = (CrnCommand) task.getData();
                        if (data.getPltType() == null || data.getPltType() == 1) {
                            write(data);
                        } else if (data.getPltType() == 2) {
                            write2(data);
                        }
                        break;
                    // 复位 1号工位
                    case 3:
@@ -93,10 +98,6 @@
                        command.setDestinationPosY((short) 0);     // 目标库位列
                        command.setDestinationPosZ((short) 0);     // 目标库位层
                        write(command);
                        break;
                    // 写入数据 2号工位
                    case 4:
                        write2((CrnCommand) task.getData());
                        break;
                    // 复位 2号工位
                    case 6:
@@ -489,7 +490,7 @@
            return false;
        }
        // 向堆垛机发任务前的堆垛机状态
        try{
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 18);
            if (resultRead.IsSuccess) {
                CrnCommand one = new CrnCommand();
@@ -505,13 +506,13 @@
                        || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
                        || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
                        || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
                ){
                ) {
//                    News.error("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                } else {
//                    News.info("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                }
            }
        }catch (Exception e){
        } catch (Exception e) {
            News.error("堆垛机命令地址写入后回读出错");
        }
//        convertRow(command);
@@ -531,7 +532,7 @@
//        array[10] = 0;   //备用1

        short[] array2 = new short[1];
        array2[0] =  command.getAckFinish();
        array2[0] = command.getAckFinish();
        OperateResult result = siemensNet.Write("DB100.20", array);
        OperateResult result2 = siemensNet.Write("DB100.0", array2);
        News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);
@@ -539,7 +540,7 @@
        int writeCount1 = 1;
        do {
            try {
                if (!result.IsSuccess||!result2.IsSuccess) {
                if (!result.IsSuccess || !result2.IsSuccess) {
//                    if (!resetFlag){
                    News.error("写入堆垛机plc数据失败，重新下发任务  写入直接失败 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command), writeCount1);
                    result = siemensNet.Write("DB100.0", array);
@@ -609,26 +610,26 @@
                    writeCount2++;
                    short commandFinish = (short) 1;
                    result = siemensNet.Write("DB100.38", commandFinish);
                    if(result.IsSuccess){
                    if (result.IsSuccess) {
                        //堆垛机任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.38", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                            if (commandFinish != 1){
                                News.error("堆垛机任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                            }else{
                            commandFinish = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                            if (commandFinish != 1) {
                                News.error("堆垛机任务确认位" + commandFinish + "写入数据与回读数据不一致！" + "循环执行次数:" + writeCount2 + "次");
                            } else {
                                //任务命令写入成功
//                                News.info("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
                            News.error("堆垛机任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                        } else {
                            News.error("堆垛机任务确认位" + commandFinish + "回读失败！" + "循环执行次数:" + writeCount2 + "次");
                        }
                    } else {
                        News.error("堆垛机任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                        News.error("堆垛机任务确认位" + commandFinish + "写入失败！" + "循环执行次数:" + writeCount2 + "次");
                    }
                }while (writeCount2<5);
                } while (writeCount2 < 5);
            }
        }

@@ -654,7 +655,8 @@
                    null    // 修改人员
            );
            bean.insert(basCrnOpt);
        } catch (Exception ignore) {}
        } catch (Exception ignore) {
        }

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
@@ -668,6 +670,7 @@
            return false;
        }
    }

    public void requestStop() {
        isRunning = false;
    }

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

@@ -44,34 +44,37 @@
    private Map<Integer, StaProtocol> station = new ConcurrentHashMap<>();
    private short heartBeatVal = 1;
    private StaError1 staError1;
//    public static final ArrayList<Integer> staNos = new ArrayList<Integer>() {{
//
//    }};
    public static final ArrayList<Integer> staNos1 = new ArrayList<Integer>() {{
        add(101);add(102);add(103);
        add(104);add(105);
    }};

    public static final ArrayList<Integer> staNos1 = new ArrayList<Integer>() {{
        add(1101);
        add(1102);
        add(1103);
        add(1104);
        add(1105);
        add(1106);
        add(1107);
    }};


    public static final ArrayList<Integer> BarcodeList1 = new ArrayList<Integer>() {{
        add(1); add(2);add(3);add(4);add(5);
        add(1);
    }};



    public static final ArrayList<Integer> staNosErrList1 = new ArrayList<Integer>() {{

        add(102);
    }};

    public static final ArrayList<Integer> staNoWeight1 = new ArrayList<Integer>() {{
        add(101);add(102);add(103);add(104);add(105);
        add(101);
        add(102);
        add(103);
        add(104);
        add(105);
    }};



    private Integer count=0;
    private Integer count = 0;

    /**
     * 条码数量
@@ -87,9 +90,7 @@
     * 4.出库模式
     */
    public IoModeType ioModeOf2F = IoModeType.NONE;
//    public IoModeType ioMode = IoModeType.NONE;
    public IoModeType ioModeOf4F = IoModeType.NONE;
//    public IoModeType ioMode = IoModeType.NONE;

    public SiemensDevpThread(DevpSlave slave) {
        this.slave = slave;
@@ -127,6 +128,7 @@
                throw new CoolException("服务器异常");
        }
    }

    private ArrayList<Integer> getBarcodeList() {
        switch (slave.getId()) {
            case 1:
@@ -156,8 +158,8 @@
                        break;
                    // 写数据 ID+目标站
                    case 2:
                        write((StaProtocol)task.getData());
                        log.error("输送线下发命令："+((StaProtocol) task.getData()).getWorkNo()+","+((StaProtocol) task.getData()).getStaNo());
                        write((StaProtocol) task.getData());
                        log.error("输送线下发命令：" + ((StaProtocol) task.getData()).getWorkNo() + "," + ((StaProtocol) task.getData()).getStaNo());
                        break;
                    default:
                        break;
@@ -171,13 +173,14 @@

        }
    }

    /**
     * 初始化站点状态
     */
    private void initSite() {
        count ++;
        count++;
        ArrayList<Integer> staNos = getStaNo();
        if(count > 48) {
        if (count > 48) {
            // 站点编号
            for (Integer siteId : staNos) {
                StaProtocol staProtocol = station.get(siteId);
@@ -209,32 +212,19 @@
        siemensS7Net.setRack(slave.getRack().byteValue());
        siemensS7Net.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensS7Net.ConnectServer();
        if(connect.IsSuccess){
        if (connect.IsSuccess) {
            result = true;
            OutputQueue.DEVP.offer(MessageFormat.format( "【{0}】输送线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()));
            News.info("SiemensDevp"+" - 1"+" - 输送线plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】输送线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()));
            News.info("SiemensDevp" + " - 1" + " - 输送线plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format( "【{0}】输送线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()));
            News.error("SiemensDevp"+" - 2"+" - 输送线plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】输送线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()));
            News.error("SiemensDevp" + " - 2" + " - 输送线plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
//        siemensS7Net.ConnectClose();
        initSite();
        return result;
    }

    public static int getOffsetFromSiteId(int siteId) {
        if (siteId < 100 || siteId > 450) {
            throw new IllegalArgumentException("siteId 超出有效范围: " + siteId);
        }
        return (siteId - 100) * 8;
    }

    public static int getOffsetFromSiteId2(int siteId) {
        if (siteId < 100 || siteId > 450) {
            throw new IllegalArgumentException("siteId 超出有效范围: " + siteId);
        }
        return (siteId - 100) * 6;
    }

    /**
     * 读取状态 ====> 整块plc
@@ -243,26 +233,13 @@
//        // 更新入出库模式
//        updateIoMode();

//        if (slave.getId()==1) return;
        ArrayList<Integer> staNos = staNos1;
        int staNoSize = staNos1.size();
        //ArrayList<Integer> staNos = getStaNo();
        ArrayList<Integer> staNosErrList = getStaNoErr();
        ArrayList<Integer> staNoWeight = getStaNoWeight();
        //int staNoSize = staNos.size();
        OperateResultExOne<byte[]> result = siemensS7Net.Read("DB101.0", (short) (staNoSize * 8));
        OperateResultExOne<byte[]> resultWeight = null;
        /*if(staNoWeight.size()>4){
            resultWeight = siemensS7Net.Read("DB102.0", (short)  (8 * 4));
        }else{
            resultWeight = siemensS7Net.Read("DB102.0", (short)  (4 * 4));
        }
        OperateResultExOne<byte[]> resultWeight2 = siemensS7Net.Read("DB102.0", (short)  (4 * 4));*/

        //if (result.IsSuccess && resultWeight.IsSuccess) {
            if (result.IsSuccess) {
            int j = 0;
            for(int i = 0 ; i<staNoSize;i++){
        if (result.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
                Integer siteId = staNos.get(i); // 站点编号
                StaProtocol staProtocol = station.get(siteId);
                if (null == staProtocol) {
@@ -271,22 +248,11 @@
                    station.put(siteId, staProtocol);
                }
                boolean[] status = null;
                int offset = getOffsetFromSiteId(siteId);//取余获得对应db块数据

                staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt32(result.Content, i * 8));     // 工作号
                /*if (staNoWeight.contains(siteId)) {
                    if(staNoWeight.size() == 4){
                        staProtocol.setWeight(siemensS7Net.getByteTransform().TransInt32(resultWeight2.Content, j));
                        j = j + 4;
                    }else{
                        staProtocol.setWeight(siemensS7Net.getByteTransform().TransInt32(resultWeight.Content, j));
                        j = j + 4;

                    }
                }*/
                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i * 8 + 4));   // 目标站
                status = siemensS7Net.getByteTransform().TransBool(result.Content, i * 8 + 6, 1);

                status = siemensS7Net.getByteTransform().TransBool(result.Content, i * 8 + 6, 1);
                staProtocol.setAutoing(status[0]);  // 自动
                staProtocol.setLoading(status[1]);  // 有物
                staProtocol.setInEnable(status[2]); // 可入
@@ -302,38 +268,38 @@
            }
        }

            //条码扫描器
            ArrayList<Integer> barcodeList = getBarcodeList();
            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.602", (short) (barcodeList.size() * 8));
            if (result2.IsSuccess) {
                for (int i = 0; i < barcodeList.size(); i++) {
                    Integer barcodeId = barcodeList.get(i);
                    String barcode = siemensS7Net.getByteTransform().TransString(result2.Content, i * 8, 8, "UTF-8");
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId);
                    if (!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
                        barcodeThread.setBarcode(barcode);
                    }
        //条码扫描器
        ArrayList<Integer> barcodeList = getBarcodeList();
        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.602", (short) (barcodeList.size() * 8));
        if (result2.IsSuccess) {
            for (int i = 0; i < barcodeList.size(); i++) {
                Integer barcodeId = barcodeList.get(i);
                String barcode = siemensS7Net.getByteTransform().TransString(result2.Content, i * 8, 8, "UTF-8");
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId);
                if (!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
                    barcodeThread.setBarcode(barcode);
                }
            }
            //外形检测
            ArrayList<Integer> staNoErrs = staNosErrList;
            int staNoErrsSize = staNoErrs.size();
            OperateResultExOne<byte[]> resultErr = siemensS7Net.Read("DB101.702", (short) (staNoErrsSize * 7));
            if (resultErr.IsSuccess) {
                for (int i = 0; i < staNoErrsSize; i++) {
                    Integer siteId = staNoErrs.get(i); // 站点编号
        }
        //外形检测
        ArrayList<Integer> staNoErrs = staNosErrList;
        int staNoErrsSize = staNoErrs.size();
        OperateResultExOne<byte[]> resultErr = siemensS7Net.Read("DB101.702", (short) (staNoErrsSize * 7));
        if (resultErr.IsSuccess) {
            for (int i = 0; i < staNoErrsSize; i++) {
                Integer siteId = staNoErrs.get(i); // 站点编号
//                    boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr.Content, i * 4 + 2, 1);
                    boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr.Content, i * 7, 1);
                    StaProtocol staProtocol = station.get(siteId);
                    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]);
                }
                boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr.Content, i * 7, 1);
                StaProtocol staProtocol = station.get(siteId);
                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]);
            }
        }

//        //plc故障
//        OperateResultExOne<byte[]> resultErr2 = siemensS7Net.Read("DB101.1728", (short) (staNoSize*4));
@@ -382,34 +348,34 @@
//        }


            if (result.IsSuccess) {
        if (result.IsSuccess) {

                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId()));
            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
                try {
                    List<BasDevp> basDevps = new ArrayList<>();
                    for (Integer siteId : staNos) {
                        StaProtocol staProtocol = station.get(siteId);
                        basDevps.add(staProtocol.toSqlModel());
                    }
                    BasDevpService basDevpService = SpringContextUtil.getBean(BasDevpService.class);
                    //BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
                    if (null != basDevpService && !basDevpService.updateBatchById(basDevps)) {
                        throw new Exception("更新数据库数据失败");
                    }
                } catch (Exception e) {
                    initSite();
                    e.printStackTrace();
                    OutputQueue.DEVP.offer(MessageFormat.format("【{0}】更新数据库数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
                    News.error("SiemensDevp" + " - 3" + " - 更新数据库数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            // 根据实时信息更新数据库
            try {
                List<BasDevp> basDevps = new ArrayList<>();
                for (Integer siteId : staNos) {
                    StaProtocol staProtocol = station.get(siteId);
                    basDevps.add(staProtocol.toSqlModel());
                }

            } else {
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】读取输送线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("读取输送线plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                BasDevpService basDevpService = SpringContextUtil.getBean(BasDevpService.class);
                //BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
                if (null != basDevpService && !basDevpService.updateBatchById(basDevps)) {
                    throw new Exception("更新数据库数据失败");
                }
            } catch (Exception e) {
                initSite();
                e.printStackTrace();
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】更新数据库数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
                News.error("SiemensDevp" + " - 3" + " - 更新数据库数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }

        } else {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】读取输送线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("读取输送线plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        }
    }


    /**
@@ -431,23 +397,22 @@
            write = siemensS7Net.Write("DB100." + index * 6, staProtocol.getWorkNo());    // 工作号
            Thread.sleep(200);
            write1 = siemensS7Net.Write("DB100." + (index * 6 + 4), staProtocol.getStaNo().shortValue());    // 目标站
            if(write.IsSuccess && write1.IsSuccess){
            if (write.IsSuccess && write1.IsSuccess) {
                log.error("写入输送线命令成功。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                break;
            }
            else {
            } else {
                writeCount++;
                log.error("写入输送线命令失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
            }
        }while (writeCount<5);
        } while (writeCount < 5);

        if (!write.IsSuccess) {
            staProtocol = station.get(staProtocol.getSiteId());
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() == 0) {
                staProtocol.setPakMk(true);
            }
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线站点数据失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
            News.error("SiemensDevp"+" - 4"+" - 写入输送线站点数据失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
            News.error("SiemensDevp" + " - 4" + " - 写入输送线站点数据失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
        }
//        else {
//            //dang 101,201zhan xaifazhiling qingchu tiaoxingsaomaolide shuju shanchu
@@ -471,7 +436,7 @@
        if (this.ioModeOf2F != IoModeType.NONE) {
            if (!siemensS7Net.Write("DB100.180", this.ioModeOf2F.id).IsSuccess) {
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线2F入出库模式失败。输送线plc编号={1}", slave.getId()));
                News.error("SiemensDevp"+" - 6"+" - 写入输送线2F入出库模式失败。输送线plc编号={}", slave.getId());
                News.error("SiemensDevp" + " - 6" + " - 写入输送线2F入出库模式失败。输送线plc编号={}", slave.getId());
            }
        }
    }
@@ -479,7 +444,7 @@
    /**
     * 心跳
     */
    private void heartbeat(){
    private void heartbeat() {
        if (heartBeatVal == 1) {
            heartBeatVal = 2;
        } else {
@@ -487,7 +452,7 @@
        }
        OperateResult write = siemensS7Net.Write("DB100.50", heartBeatVal);
        if (!write.IsSuccess) {
            News.error("SiemensDevp"+" - 7"+" - 输送线plc编号={} 心跳失败", slave.getId());
            News.error("SiemensDevp" + " - 7" + " - 输送线plc编号={} 心跳失败", slave.getId());
        }
    }

@@ -510,14 +475,14 @@
    public static void main(String[] args) {
        System.out.println(staNos1.indexOf(129));
        System.out.println(staNos1.size());
        for (int i = 0; i<staNos1.size(); i++) {
        for (int i = 0; i < staNos1.size(); i++) {
//            System.out.println(i*2);
//            System.out.println(i*2 + 200);
//            System.out.println(i);
        }
        int index = staNos1.indexOf(128);
        System.out.println(index*2);
        System.out.println(index*2 + 200);
        System.out.println(index * 2);
        System.out.println(index * 2 + 200);
    }

//    public static void main(String[] args) throws Exception {

 src/main/resources/application.yml

@@ -8,7 +8,7 @@
    name: @pom.build.finalName@
  datasource:
    driver-class-name: com.microsoft.sqlserver.jdbc.SQLServerDriver
    url: jdbc:sqlserver://192.168.0.2:1433;databasename=rqdzasrs
    url: jdbc:sqlserver://127.0.0.1:1433;databasename=rqdzasrs
    username: sa
    password: sa@123
#    driver-class-name: com.oscar.Driver
@@ -38,7 +38,7 @@
  enable: false

wms:
  url: 127.0.0.1:8080/rqdzasrs
  url: 127.0.0.1:8080/wcs

# 下位机配置
wcs-slave:
@@ -63,31 +63,19 @@
    # 堆垛机入库站点
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 101
      staNo: 1105
      row: 2
      bay: 1
      lev: 1
    # 堆垛机入库站点
    crnInStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 105
      row: 3
      bay: 1
      lev: 1
      bay: 11
      lev: 2

    # 堆垛机出库站点
    crnOutStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 101
      staNo: 1101
      row: 2
      bay: 1
      lev: 1
    # 堆垛机出库站点
    crnOutStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 105
      row: 3
      bay: 1
      lev: 1
      bay: 14
      lev: 2

  # plc
  devp[0]:
    id: 1
@@ -97,9 +85,9 @@
    slot: 0
    # 入库口1
    inSta[0]:
      staNo: 102
      staNo: 1106
      barcode: ${wcs-slave.barcode[0].id}
      backSta: 103
      backSta: 1105
      led: ${wcs-slave.led[0].id}
#    # 入库口2
#    inSta[1]:
@@ -109,10 +97,10 @@
#      led: ${wcs-slave.led[1].id}
    # 拣料入库口1
    pickSta[0]:
      staNo: 104
      staNo: 1106
      barcode: ${wcs-slave.barcode[0].id}
      led: ${wcs-slave.led[1].id}
      backSta: 104
      led: ${wcs-slave.led[0].id}
      backSta: 1105
#    # 拣料入库口2
#    pickSta[1]:
#      staNo: 225
@@ -121,9 +109,9 @@
#      backSta: 224
    # 空板入库口1
    emptyInSta[0]:
      staNo: 102
      staNo: 1106
      barcode: ${wcs-slave.barcode[0].id}
      backSta: 103
      backSta: 1105
      led: ${wcs-slave.led[0].id}
    # 空板入库口2
    #emptyInSta[1]:
@@ -133,7 +121,7 @@
      #led: ${wcs-slave.led[1].id}
    # 出库口1
    outSta[0]:
      staNo: 104
      staNo: 1101
  # 条码扫描仪1
  barcode[0]:
    id: 1
@@ -145,12 +133,12 @@
    ip: 10.10.10.51
    port: 5005
    devpPlcId: ${wcs-slave.devp[0].id}
    staArr: 102
  # LED2
  led[1]:
    id: 123
    ip: 10.10.10.52
    port: 5005
    devpPlcId: ${wcs-slave.devp[0].id}
    staArr: 104
    staArr: 1104
#  # LED2
#  led[1]:
#    id: 123
#    ip: 10.10.10.52
#    port: 5005
#    devpPlcId: ${wcs-slave.devp[0].id}
#    staArr: 104


 src/main/resources/mapper/LocMastMapper.xml

@@ -48,6 +48,18 @@
        order by NEWID(),lev1 asc,bay1 asc
    </select>

    <select id="queryFreeLocMast2" resultMap="BaseResultMap">
        select top 1 *
        from asr_loc_mast
        where row1=#{row}
        and loc_sts='O'
        and row1 != #{row}
        <if test="locType1 != null">
            and loc_type1 = #{locType1}
        </if>
        order by NEWID(),lev1 asc,bay1 asc
    </select>

    <select id="queryDemoSourceLoc" resultMap="BaseResultMap">
        select top 1 * from asr_loc_mast where crn_no = #{crnNo}
        and loc_sts='D'

 src/main/webapp/static/js/common.js

@@ -1,5 +1,5 @@
// var baseUrl = "/rqdzwcs";
var baseUrl = "/czkhwcs";
var baseUrl = "/wcs";

// 赋值
function setVal(el, val) {

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

@@ -1,6 +1,6 @@
mapInfo ={
    // "mapName": "rqdzwcs",
    "mapName": "czkhwcs",
    "mapName": "wcs",
    "rackCount": 8,
    "crnCount": 4,
    "stbCount": 120,
@@ -127,9 +127,11 @@
                    "stns": [
                        // { "type": "stn", "id": "site-100", "text": "100", "top": 80, "left": 94, "width": 40, "height": 23 },
                        //{ "type": "stn", "id": "site-103", "text": "103", "top": 160, "left": 1430, "width": 120, "height": 23 },
                        {"type": "stn", "id": "site-313", "text": "313", "top": 200, "left": 990, "width": 170, "height": 25},
                        { "type": "stn", "id": "site-102", "text": "102", "top": 280, "left": 990, "width": 30, "height": 40 },
                        { "type": "stn", "id": "site-101", "text": "101", "top": 230, "left": 990, "width": 30, "height": 40 },
                        {"type": "stn", "id": "site-1103", "text": "1103", "top": 180, "left": 1000, "width": 45, "height": 45},
                        {"type": "stn", "id": "site-1104", "text": "1104", "top": 180, "left": 945, "width": 45, "height": 45},
                        {"type": "stn", "id": "site-1105", "text": "1105", "top": 180, "left": 890, "width": 45, "height": 45},
                        { "type": "stn", "id": "site-1102", "text": "1102", "top": 280, "left": 890, "width": 45, "height": 45 },
                        { "type": "stn", "id": "site-1101", "text": "1101", "top": 230, "left": 890, "width": 45, "height": 45 },
                        // { "type": "stn", "id": "site-110", "text": "110", "top": 130, "left": 1784, "width": 40, "height": 23 },
                        // { "type": "stn", "id": "site-111", "text": "111", "top": 130, "left": 1826, "width": 40, "height": 23 },
                        //
@@ -143,8 +145,8 @@
                        // { "type": "stn", "id": "site-118", "text": "118", "top": 240, "left": 94, "width": 40, "height": 23 },
                        // { "type": "stn", "id": "site-119", "text": "119", "top": 240, "left": 52, "width": 40, "height": 23 },
                        // { "type": "stn", "id": "site-120", "text": "120", "top": 240, "left": 10, "width": 40, "height": 23 },
                        { "type": "stn", "id": "site-104", "text": "104", "top": 280, "left": 1130, "width": 30, "height": 40 },
                        { "type": "stn", "id": "site-105", "text": "105", "top": 230, "left": 1130, "width": 30, "height": 40 },
                        { "type": "stn", "id": "site-1107", "text": "1107", "top": 280, "left": 1000, "width": 45, "height": 45 },
                        { "type": "stn", "id": "site-1106", "text": "1106", "top": 230, "left": 1000, "width": 45, "height": 45 },
                        // { "type": "stn", "id": "site-123", "text": "123", "top": 210, "left": 1301, "width": 60, "height": 23 },

                        // { "type": "stn", "id": "site-124", "text": "124", "top": 160, "left": 1742, "width": 120, "height": 23 },

 src/main/webapp/views/crn.html

@@ -98,7 +98,8 @@
                        <th>堆垛机</th>
                        <th>模式</th>
                        <th>状态</th>
                        <th>有物</th>
                        <th>工位1有物</th>
                        <th>工位2有物</th>
                        <th>列</th>
                        <th>层</th>
                        <th>货叉定位</th>
@@ -122,9 +123,12 @@
                    <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>目标站1</th>
                    <th>源库位1</th>
                    <th>目标库位1</th>
                    <th>目标站2</th>
                    <th>源库位2</th>
                    <th>目标库位2</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>-->
@@ -220,7 +224,9 @@
                        <!--                <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="taskComplete(1)">任务完成1</button>
                        <button class="item" onclick="taskComplete(2)">任务完成2</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>
@@ -320,13 +326,15 @@
                        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].loading);
                        setVal(tr.children("td").eq(4), table[i-1].bay);
                        setVal(tr.children("td").eq(5), table[i-1].lev);
                        setVal(tr.children("td").eq(6), table[i-1].forkOffset);
                        setVal(tr.children("td").eq(7), table[i-1].liftPos);
                        setVal(tr.children("td").eq(8), table[i-1].walkPos);
                        setVal(tr.children("td").eq(9), table[i-1].warnCode);
                        setVal(tr.children("td").eq(10), table[i-1].alarm);
                        setVal(tr.children("td").eq(4), table[i-1].loadTwoing);

                        setVal(tr.children("td").eq(5), table[i-1].bay);
                        setVal(tr.children("td").eq(6), table[i-1].lev);
                        setVal(tr.children("td").eq(7), table[i-1].forkOffset);
                        setVal(tr.children("td").eq(8), table[i-1].liftPos);
                        setVal(tr.children("td").eq(9), table[i-1].walkPos);
                        setVal(tr.children("td").eq(10), table[i-1].warnCode);
                        setVal(tr.children("td").eq(11), table[i-1].alarm);
                    }
                } else if (res.code === 403){
                    window.location.href = baseUrl+"/login";
@@ -360,6 +368,10 @@
                        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].staNo2);
                        setVal(tr.children("td").eq(8), table[i-1].sourceLocNo2);
                        setVal(tr.children("td").eq(9), table[i-1].locNo2);
                        // 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);
@@ -452,8 +464,8 @@
    }

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