#ZH

野心家

2025-05-26 3d40ce7e16a9e53bad6637bbed824507f06148b4

#ZH

 pom.xml

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

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

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

@@ -44,7 +44,7 @@
//        return R.ok(basCrnErrorService.selectPage(new Page<>(curr, limit), wrapper));

        List<BasCrnError> basCrnErrorList = basCrnErrorService.selectList(wrapper);
        Page<BasCrnError> page = new Page<BasCrnError>(0, 100).setRecords(basCrnErrorList);
        Page<BasCrnError> page = new Page<BasCrnError>(curr, limit).setRecords(basCrnErrorList);
        page.setTotal(basCrnErrorList.size());
        return R.ok(page);
    }

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

@@ -61,6 +61,7 @@

        try{
            String locNo = null;
            String locSts = null;
            long whsType = 0L;
            Integer crnNo = 0;
            Integer row1 = 0;
@@ -73,21 +74,23 @@
                }
                if (entry.getKey().equals("whsType")) {
                    whsType = Long.getLong(val);
                }else if (entry.getKey().equals("locNo")) {
                }else if (entry.getKey().equals("loc_no")) {
                    locNo = val;
                }else if (entry.getKey().equals("crnNo")) {
                    crnNo = Integer.getInteger(val);
                }else if (entry.getKey().equals("crn_no")) {
                    crnNo = Integer.parseInt(val);
                }else if (entry.getKey().equals("row1")) {
                    row1 = Integer.getInteger(val);
                    row1 = Integer.parseInt(val);
                }else if (entry.getKey().equals("bay1")) {
                    bay1 = Integer.getInteger(val);
                    bay1 = Integer.parseInt(val);
                }else if (entry.getKey().equals("lev1")) {
                    lev1 = Integer.getInteger(val);
                    lev1 = Integer.parseInt(val);
                }else if (entry.getKey().equals("loc_sts")) {
                    locSts = val;
                }
            }
            List<LocMast> locMastList = locMastService.selectLocMastListSix(locNo,whsType,crnNo,row1,bay1,lev1,0,10);
            Page<LocMast> page = new Page<LocMast>(0,10).setRecords(locMastList);
            page.setTotal(locMastService.selectLocMastListTotalSix(locNo,whsType,crnNo,row1,bay1,lev1));
            List<LocMast> locMastList = locMastService.selectLocMastListSix(locSts,locNo,whsType,crnNo,row1,bay1,lev1,curr,limit);
            Page<LocMast> page = new Page<LocMast>(curr,limit).setRecords(locMastList);
            page.setTotal(locMastService.selectLocMastListTotalSix(locSts,locNo,whsType,crnNo,row1,bay1,lev1));
            return R.ok(page);
        }catch (Exception e){
            return R.error("异常" + e);

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

@@ -11,6 +11,7 @@
import com.zy.asrs.entity.param.*;
import com.zy.asrs.service.*;
import com.zy.asrs.service.impl.BasCrnErrorServiceImpl;
import com.zy.asrs.service.impl.TaskWrkLogServiceImpl;
import com.zy.asrs.utils.Utils;
import com.zy.common.web.BaseController;
import com.zy.core.CrnThread;
@@ -70,6 +71,8 @@
    public static final ArrayList<String> APP_KEY_LIST = new ArrayList<String>() {{
        add("ea1f0459efc02a79f046f982767939ae");
    }};
    @Autowired
    private TaskWrkLogServiceImpl taskWrkLogService;

    //agv任务完成
    @PostMapping("/toAgvTaskOver")
@@ -520,9 +523,10 @@
            basCrnpWmsParam.sync(basCrnp);

            basCrnpWmsParam.setCrnNoH(crnProtocol.getLaneNo());
            basCrnpWmsParam.setCrnSts(crnProtocol.getStatus().intValue());

            try{
                BasCrnError basCrnError = basCrnErrorService.selectById(basCrnp.getCrnErr());
                BasCrnError basCrnError = basCrnErrorService.selectById(crnProtocol.getAlarm());
                basCrnpWmsParam.setCrnErrM(basCrnError.getErrName());
            } catch (Exception e){
                basCrnpWmsParam.setCrnErrM("未知异常");
@@ -569,93 +573,22 @@
        return R.ok(wcsStatusResponseModel);
    }


    //设备状态查询接口
    @PostMapping("/taskWrkLogs")
    @Transactional
    public R taskWrkLogs(@RequestHeader String appkey,
                          HttpServletRequest request) {
        List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<>());
        return R.ok(taskWrkLogs);
    }

    //设备状态查询接口
    @PostMapping("/errorRgv1")
    @PostMapping("/error")
    @Transactional
    public R errorRgv(@RequestHeader String appkey,
                          HttpServletRequest request) {
        auth(appkey, "设备状态查询接口", request);
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        List<Object> list = new ArrayList<>();
        WcsStatusResponseModel wcsStatusResponseModel = new WcsStatusResponseModel();
        for (BasDevp basDevp:basDevps){
            BasDevpWmsParam basDevpWmsParam = new BasDevpWmsParam();
            basDevpWmsParam.setDevNo(basDevp.getDevNo());
            basDevpWmsParam.setWrkNo(basDevp.getWrkNo().longValue());
            basDevpWmsParam.setAutoing(basDevp.getAutoing());
            basDevpWmsParam.setLoading(basDevp.getLoading());
            basDevpWmsParam.setInEnable(basDevp.getInEnable());
            basDevpWmsParam.setOutEnable(basDevp.getOutEnable());
            basDevpWmsParam.setDevErr(basDevp.getStaErr().longValue());
            basDevpWmsParam.setDevErrM(basDevpWmsParam.getDevErr$());
//            list.add(basDevpWmsParam);
            wcsStatusResponseModel.getChainList().add(basDevpWmsParam);
        }
        List<BasCrnpWmsParam> basCrnpWmsParamList = new ArrayList<>();
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) { continue; }
            BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
            if (basCrnp == null) {
                log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
                continue;
            }
            BasCrnpWmsParam basCrnpWmsParam = new BasCrnpWmsParam();
            basCrnpWmsParam.sync(basCrnp);

            basCrnpWmsParam.setCrnNoH(crnProtocol.getLaneNo());

            try{
                BasCrnError basCrnError = basCrnErrorService.selectById(basCrnp.getCrnErr());
                basCrnpWmsParam.setCrnErrM(basCrnError.getErrName());
            } catch (Exception e){
                basCrnpWmsParam.setCrnErrM("未知异常");
            }
            if (crnProtocol.getMode()!=3){
                basCrnpWmsParam.setCrnErr(999L);
                basCrnpWmsParam.setCrnErrM("非自动！！！");
            }
            basCrnpWmsParamList.add(basCrnpWmsParam);

//            list.add(basCrnpWmsParam);
        }
        wcsStatusResponseModel.setPilingCarList(basCrnpWmsParamList);
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            RgvProtocol rgvStatus = RgvStatusCache.getRgvStatus(rgvSlave.getId());
            if (Cools.isEmpty(rgvStatus)){
                continue;
            }
            BasRgvWmsParam basRgvWmsParam = new BasRgvWmsParam();
            basRgvWmsParam.setWrkNo(rgvStatus.getTaskNo());
            basRgvWmsParam.setCrnSts(rgvStatus.getStatus().intValue());
            basRgvWmsParam.setStatusType(rgvStatus.getStatusType().desc);
            basRgvWmsParam.setSteNo(rgvSlave.getId());
            basRgvWmsParam.setSteErr(rgvStatus.getAlarm().longValue());
            basRgvWmsParam.setSteErrM(rgvStatus.getAlarmM());
            try{
//                BasRgvErr basRgvErr = basRgvErrService.selectById((long)rgvStatus.getAlarm$());

//                basRgvWmsParam.setSteErrM(basRgvErr.getErrName());
            } catch (Exception e){
                basRgvWmsParam.setSteErrM("未知异常");
            }
            if (rgvStatus.getMode()!=1){
                basRgvWmsParam.setSteErr(999L);
                basRgvWmsParam.setSteErrM("非自动！！！");
            }
//            list.add(basRgvWmsParam);
            wcsStatusResponseModel.getRgvList().add(basRgvWmsParam);

        }
//        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
//        for (BasCrnp basCrnp:basCrnps){
//            list.add(basCrnp);
//        }
        return R.ok(wcsStatusResponseModel);
                      HttpServletRequest request) {
        List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<>());
        return R.ok(taskWrkLogs);
    }



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

@@ -68,7 +68,7 @@

        try{
            Integer wrkNo = null;
            Integer taskNo = null;
            String taskNo = null;
            Integer status = null;
            Date modiTimeStart = null, modiTimeEnd = null;
            for (Map.Entry<String, Object> entry : param.entrySet()) {
@@ -83,7 +83,7 @@
                } else if (entry.getKey().equals("wrk_no")) {
                    wrkNo = Integer.parseInt(val);
                } else if (entry.getKey().equals("task_no")) {
                    taskNo = Integer.parseInt(val);
                    taskNo = val;
                } else if (entry.getKey().equals("status")) {
                    status = Integer.parseInt(val);
                }

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

@@ -38,7 +38,7 @@
                  @RequestParam Map<String, Object> param){
        try{
            Integer wrkNo = null;
            Integer taskNo = null;
            String taskNo = null;
            Integer status = null;
            Date modiTimeStart = null, modiTimeEnd = null;
            for (Map.Entry<String, Object> entry : param.entrySet()) {
@@ -53,13 +53,17 @@
                } else if (entry.getKey().equals("wrk_no")) {
                    wrkNo = Integer.parseInt(val);
                } else if (entry.getKey().equals("task_no")) {
                    taskNo = Integer.parseInt(val);
                    taskNo = val;
                } else if (entry.getKey().equals("status")) {
                    status = Integer.parseInt(val);
                }
            }
            List<TaskWrkLog> taskWrkList = taskWrkLogService.selectTaskWrkLogList(wrkNo,taskNo,status,modiTimeStart,modiTimeEnd, curr, limit);
            Page<TaskWrkLog> page = new Page<TaskWrkLog>(curr, limit).setRecords(taskWrkList);
            if (page.getRecords().size()==0){
                taskWrkList = taskWrkLogService.selectTaskWrkLogList(wrkNo,taskNo,status,modiTimeStart,modiTimeEnd, 1, limit);
                page = new Page<TaskWrkLog>(1, limit).setRecords(taskWrkList);
            }
            page.setTotal(taskWrkLogService.selectTaskWrkLogListTotal(wrkNo,taskNo,status,modiTimeStart,modiTimeEnd));
            return R.ok(page);


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

@@ -263,11 +263,15 @@
            case 2:
                return "派发";
            case 3:
                return "步序完成";
                return "命令完成";
            case 4:
                return "取消";
            case 5:
                return "完结";
            case 7:
                return "手动完结";
            case 9:
                return "出库到输送线";
            default:
                return String.valueOf(this.status);
        }

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

@@ -17,7 +17,8 @@
    /**
     * 库位模糊查询库位号
     */
    List<LocMast> selectLocMastListSix(@Param("locNo") String locNo,
    List<LocMast> selectLocMastListSix(@Param("locSts") String locSts,
                                       @Param("locNo") String locNo,
                                       @Param("whsType") Long whsType,
                                       @Param("crnNo") Integer crnNo,
                                       @Param("row1") Integer row1,
@@ -29,7 +30,8 @@
    /**
     * 堆垛机对应的排号集合
     */
    Long selectLocMastListTotalSix(@Param("locNo") String locNo,
    Long selectLocMastListTotalSix(@Param("locSts") String locSts,
                                   @Param("locNo") String locNo,
                                   @Param("whsType") Long whsType,
                                   @Param("crnNo") Integer crnNo,
                                   @Param("row1") Integer row1,

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

@@ -14,7 +14,7 @@
public interface TaskWrkLogMapper extends BaseMapper<TaskWrkLog> {

    List<TaskWrkLog> selectTaskWrkLogList(@Param("wrkNo") Integer wrkNo,
                                       @Param("taskNo") Integer taskNo,
                                       @Param("taskNo") String taskNo,
                                       @Param("status") Integer status,
                                       @Param("modiTimeStart") Date modiTimeStart,
                                       @Param("modiTimeEnd") Date modiTimeEnd,
@@ -22,7 +22,7 @@
                                       @Param("pageSize") Integer limit);

    Long selectTaskWrkLogListTotal(@Param("wrkNo") Integer wrkNo,
                                @Param("taskNo") Integer taskNo,
                                @Param("taskNo") String taskNo,
                                @Param("status") Integer status,
                                @Param("modiTimeStart") Date modiTimeStart,
                                @Param("modiTimeEnd") Date modiTimeEnd);

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

@@ -44,7 +44,7 @@
    List<TaskWrk> selectWorkingTask();//获取工作中的任务

    List<TaskWrk> selectTaskWrkList(@Param("wrkNo") Integer wrkNo,
                                    @Param("taskNo") Integer taskNo,
                                    @Param("taskNo") String taskNo,
                                    @Param("status") Integer status,
                                    @Param("modiTimeStart") Date modiTimeStart,
                                    @Param("modiTimeEnd") Date modiTimeEnd,
@@ -52,7 +52,7 @@
                                    @Param("pageSize") Integer limit);

    Long selectTaskWrkListTotal(@Param("wrkNo") Integer wrkNo,
                                @Param("taskNo") Integer taskNo,
                                @Param("taskNo") String taskNo,
                                @Param("status") Integer status,
                                @Param("modiTimeStart") Date modiTimeStart,
                                @Param("modiTimeEnd") Date modiTimeEnd);

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

@@ -11,12 +11,12 @@
    /**
     * 库位模糊查询库位号
     */
    List<LocMast> selectLocMastListSix(String locNo,Long whsType,Integer crnNo,Integer row1,Integer bay1,Integer lev1, Integer curr, Integer limit);
    List<LocMast> selectLocMastListSix(String locSts,String locNo,Long whsType,Integer crnNo,Integer row1,Integer bay1,Integer lev1, Integer curr, Integer limit);

    /**
     * 堆垛机对应的排号集合
     */
    Long selectLocMastListTotalSix(String locNo,Long whsType,Integer crnNo,Integer row1,Integer bay1,Integer lev1);
    Long selectLocMastListTotalSix(String locSts,String locNo,Long whsType,Integer crnNo,Integer row1,Integer bay1,Integer lev1);

    /**
     * 库位模糊查询库位号

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

@@ -7,7 +7,7 @@
import java.util.List;

public interface TaskWrkLogService extends IService<TaskWrkLog> {
    List<TaskWrkLog> selectTaskWrkLogList(Integer wrkNo, Integer taskNo, Integer status, Date modiTimeStart, Date modiTimeEnd, Integer curr, Integer limit);
    Long selectTaskWrkLogListTotal(Integer wrkNo,Integer taskNo,Integer status,Date modiTimeStart,Date modiTimeEnd);
    List<TaskWrkLog> selectTaskWrkLogList(Integer wrkNo, String taskNo, Integer status, Date modiTimeStart, Date modiTimeEnd, Integer curr, Integer limit);
    Long selectTaskWrkLogListTotal(Integer wrkNo,String taskNo,Integer status,Date modiTimeStart,Date modiTimeEnd);

}

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

@@ -32,7 +32,7 @@
    int saveToHistory(String taskNo);//将任务转历史日志
    int saveToHistoryD(String taskNo);//将任务转历史日志

    List<TaskWrk> selectTaskWrkList(Integer wrkNo, Integer taskNo, Integer status, Date modiTimeStart, Date modiTimeEnd, Integer curr, Integer limit);
    Long selectTaskWrkListTotal(Integer wrkNo,Integer taskNo,Integer status,Date modiTimeStart,Date modiTimeEnd);
    List<TaskWrk> selectTaskWrkList(Integer wrkNo, String taskNo, Integer status, Date modiTimeStart, Date modiTimeEnd, Integer curr, Integer limit);
    Long selectTaskWrkListTotal(Integer wrkNo,String taskNo,Integer status,Date modiTimeStart,Date modiTimeEnd);

}

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

@@ -32,13 +32,13 @@
    private ApiLogService apiLogService;

    @Override
    public List<LocMast> selectLocMastListSix(String locNo,Long whsType,Integer crnNo,Integer row1,Integer bay1,Integer lev1,Integer curr,Integer limit) {
        return this.baseMapper.selectLocMastListSix(locNo,whsType,crnNo,row1,bay1,lev1,curr,limit);
    public List<LocMast> selectLocMastListSix(String locSts,String locNo,Long whsType,Integer crnNo,Integer row1,Integer bay1,Integer lev1,Integer curr,Integer limit) {
        return this.baseMapper.selectLocMastListSix(locSts,locNo,whsType,crnNo,row1,bay1,lev1,curr,limit);
    }

    @Override
    public Long selectLocMastListTotalSix(String locNo,Long whsType,Integer crnNo,Integer row1,Integer bay1,Integer lev1) {
        return this.baseMapper.selectLocMastListTotalSix(locNo,whsType,crnNo,row1,bay1,lev1);
    public Long selectLocMastListTotalSix(String locSts,String locNo,Long whsType,Integer crnNo,Integer row1,Integer bay1,Integer lev1) {
        return this.baseMapper.selectLocMastListTotalSix(locSts,locNo,whsType,crnNo,row1,bay1,lev1);
    }

    @Override

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

@@ -206,7 +206,7 @@
                            TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
                            if (!Cools.isEmpty(taskWrk1)) {
                                log.info("托盘码：" + barcode + "任务档存在");
                                if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
                                if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
                                    StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                            .eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));

@@ -509,7 +509,7 @@

                                if (!Cools.isEmpty(taskWrk1)) {
                                    log.info("托盘码：" + barcode + "任务档存在");
                                    if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
                                    if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
                                        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                                .eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));


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

@@ -12,12 +12,12 @@
@Service("taskWrkLogService")
public class TaskWrkLogServiceImpl extends ServiceImpl<TaskWrkLogMapper, TaskWrkLog> implements TaskWrkLogService {
    @Override
    public List<TaskWrkLog> selectTaskWrkLogList(Integer wrkNo, Integer taskNo, Integer status, Date modiTimeStart, Date modiTimeEnd, Integer curr, Integer limit) {
    public List<TaskWrkLog> selectTaskWrkLogList(Integer wrkNo, String taskNo, Integer status, Date modiTimeStart, Date modiTimeEnd, Integer curr, Integer limit) {
        return this.baseMapper.selectTaskWrkLogList(wrkNo,taskNo, status,modiTimeStart,modiTimeEnd,curr,limit);
    }

    @Override
    public Long selectTaskWrkLogListTotal(Integer wrkNo,Integer taskNo,Integer status,Date modiTimeStart,Date modiTimeEnd) {
    public Long selectTaskWrkLogListTotal(Integer wrkNo,String taskNo,Integer status,Date modiTimeStart,Date modiTimeEnd) {
        return this.baseMapper.selectTaskWrkLogListTotal(wrkNo,taskNo, status,modiTimeStart,modiTimeEnd);
    }
}

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

@@ -257,12 +257,12 @@


    @Override
    public List<TaskWrk> selectTaskWrkList(Integer wrkNo,Integer taskNo,Integer status,Date modiTimeStart,Date modiTimeEnd, Integer curr, Integer limit) {
    public List<TaskWrk> selectTaskWrkList(Integer wrkNo,String taskNo,Integer status,Date modiTimeStart,Date modiTimeEnd, Integer curr, Integer limit) {
        return this.baseMapper.selectTaskWrkList(wrkNo,taskNo, status,modiTimeStart,modiTimeEnd,curr,limit);
    }

    @Override
    public Long selectTaskWrkListTotal(Integer wrkNo,Integer taskNo,Integer status,Date modiTimeStart,Date modiTimeEnd) {
    public Long selectTaskWrkListTotal(Integer wrkNo,String taskNo,Integer status,Date modiTimeStart,Date modiTimeEnd) {
        return this.baseMapper.selectTaskWrkListTotal(wrkNo,taskNo, status,modiTimeStart,modiTimeEnd);
    }


 src/main/java/com/zy/common/utils/HttpHandler.java

@@ -15,7 +15,7 @@
 */
public class HttpHandler {

    private static final Integer DEFAULT_TIMEOUT_SECONDS = 10;
    private static final Integer DEFAULT_TIMEOUT_SECONDS = 5;
    private static final MediaType MEDIA_TYPE = MediaType.parse("application/json");

    private String uri;

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

@@ -471,6 +471,29 @@
                                if (!staProtocol.isAutoing() || staProtocol.isLoading()
                                        || staProtocol.getWorkNo() != 0
                                ){
                                    if (targetPosition.equals(nowPosRunTask.getTargetPosition())){
                                        if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()-50) {
                                            long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
                                            if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                                                log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                                                try{
                                                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                                                } catch (Exception e2){
                                                    log.error("e2:"+e2.getMessage());
                                                }
                                                return false;
                                            }
                                            long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
                                            if (avoidAbs<51){
                                                return false;
                                            }
                                            rgvTaskProtocol.setAvoid(1);
                                            rgvTaskProtocol.setAvoidingTheDestination(avoid);
                                            RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                                        }
                                        return false;
                                    }
                                    signNowPosRun =false;
                                }
                            }
@@ -584,6 +607,29 @@
                                if (!staProtocol.isAutoing() || staProtocol.isLoading()
                                        || staProtocol.getWorkNo() != 0
                                ){
                                    if (targetPosition.equals(nowPosRunTask.getTargetPosition())){
                                        if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos() + 50) {
                                            long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
                                            if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
                                                log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                                                try{
                                                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                                                } catch (Exception e2){
                                                    log.error("e2:"+e2.getMessage());
                                                }
                                                return false;
                                            }
                                            long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
                                            if (avoidAbs<51){
                                                return false;
                                            }
                                            rgvTaskProtocol.setAvoid(1);
                                            rgvTaskProtocol.setAvoidingTheDestination(avoid);
                                            RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                                        }
                                        return false;
                                    }
                                    signNowPosRun =false;
                                }
                            }

 src/main/resources/application-prod.yml

@@ -88,13 +88,13 @@
      staNo: 1023
#      led: ${wcs-slave.led[0].id}
  # RGV穿梭车1
  rgv[0]:
    id: 1
  rgv[1]:
    id: 2
    ip: 27.172.2.70
    port: 502
    rack: 0
    slot: 0
    otherId: 2
    otherId: 1
    carBodyJiaoMing: 2800
    carBodyKunPeng: 13500
    #RGV源站点
@@ -172,13 +172,13 @@
      staNo: 1002
      direction: false
  # RGV穿梭车2
  rgv[1]:
    id: 2
  rgv[0]:
    id: 1
    ip: 27.172.2.71
    port: 502
    rack: 0
    slot: 0
    otherId: 1
    otherId: 2
    carBodyJiaoMing: 2800
    carBodyKunPeng: 13500
    #RGV源站点

 src/main/resources/mapper/LocMastMapper.xml

@@ -42,8 +42,11 @@
    </resultMap>

    <sql id="batchSeq">
        <if test="locSts != null and locSts != ''">
            and LOC_STS = #{locSts}
        </if>
        <if test="locNo != null and locNo != ''">
            and LOC_NO like '%' + #{locNo} + '%'
            and LOC_NO = #{locNo}
        </if>
        <if test="whsType != null and whsType != 0">
            and WHS_TYPE = #{whsType}

 src/main/webapp/views/taskWrkLog/taskWrkLog.html

@@ -29,8 +29,10 @@
                    <el-select v-model="tableSearchParam.status" placeholder="任务状态">
                        <el-option label="接收" value="1"></el-option>
                        <el-option label="派发" value="2"></el-option>
                        <el-option label="完结" value="3"></el-option>
                        <el-option label="完结" value="5"></el-option>
                        <el-option label="取消" value="4"></el-option>
                        <el-option label="手动完结" value="7"></el-option>
                        <el-option label="出库到输送线" value="9"></el-option>
                    </el-select>
                </el-form-item>
                <el-form-item>