#

lsh

2024-06-21 3fd78eacff528f59e625be99ebadfb7609c8f265

#

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

@@ -139,6 +139,13 @@
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date appeTime;

    /**
     * 库位号
     */
    @ApiModelProperty(value= "库位号")
    @TableField("jar_loc_digit")
    private Integer jarLocDigit;

    public BasJarMast() {}

    public BasJarMast(Long wrkNo,Integer enterStaNo,Integer outStaNo,Integer jarEnterStaNo,Integer jarOutStaNo,Integer jarId,Integer jarRegin,Integer status,Integer enterSteNo,Integer outSteId,Integer enterRgvId,Integer outRgvId,Date ioTime,Date modiTime,Date appeTime) {

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

@@ -1,5 +1,7 @@
package com.zy.asrs.entity;

import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.enums.IdType;
import com.core.common.Cools;import com.baomidou.mybatisplus.annotations.TableField;

import io.swagger.annotations.ApiModelProperty;
@@ -17,6 +19,7 @@
     * ID
     */
    @ApiModelProperty(value= "ID")
    @TableId(value = "id", type = IdType.AUTO)
    private Long id;

    /**

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

New file
@@ -0,0 +1,280 @@
package com.zy.asrs.entity;

import com.core.common.Cools;import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.enums.IdType;
import com.baomidou.mybatisplus.annotations.TableField;
import java.text.SimpleDateFormat;
import java.util.Date;
import org.springframework.format.annotation.DateTimeFormat;
import java.text.SimpleDateFormat;
import java.util.Date;
import java.text.SimpleDateFormat;
import java.util.Date;
import com.core.common.SpringUtils;
import com.zy.asrs.service.BasJarMastStatusService;
import com.zy.asrs.entity.BasJarMastStatus;

import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import com.baomidou.mybatisplus.annotations.TableName;
import java.io.Serializable;

@Data
@TableName("jar_wrk_mast_execute")
public class WrkMastExecute implements Serializable {

    private static final long serialVersionUID = 1L;

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

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

    /**
     * 入库源站点
     */
    @ApiModelProperty(value= "入库源站点")
    @TableField("enter_sta_no")
    private Integer enterStaNo;

    /**
     * 入库目标站点
     */
    @ApiModelProperty(value= "入库目标站点")
    @TableField("out_sta_no")
    private Integer outStaNo;

    /**
     * 入硫化罐站点
     */
    @ApiModelProperty(value= "入硫化罐站点")
    @TableField("jar_enter_sta_no")
    private Integer jarEnterStaNo;

    /**
     * 出硫化罐站点
     */
    @ApiModelProperty(value= "出硫化罐站点")
    @TableField("jar_out_sta_no")
    private Integer jarOutStaNo;

    /**
     * 设备ID
     */
    @ApiModelProperty(value= "设备ID")
    @TableField("jar_id")
    private Integer jarId;

    /**
     * 区域
     */
    @ApiModelProperty(value= "区域")
    @TableField("jar_regin")
    private Integer jarRegin;

    /**
     * 状态
     */
    @ApiModelProperty(value= "状态")
    private Integer status;

    /**
     * 穿梭板
     */
    @ApiModelProperty(value= "穿梭板")
    @TableField("ste_id")
    private Integer steId;

    /**
     * RGV
     */
    @ApiModelProperty(value= "RGV")
    @TableField("rgv_id")
    private Integer rgvId;

    /**
     * 作业时间
     */
    @ApiModelProperty(value= "作业时间")
    @TableField("io_time")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date ioTime;

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

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

    /**
     * 任务状态 0: 初始  1: 作业中  2: 完成  
     */
    @ApiModelProperty(value= "任务状态 0: 初始  1: 作业中  2: 完成  ")
    @TableField("wrk_type")
    private Integer wrkType;

    /**
     * 工作状态
     */
    @ApiModelProperty(value= "工作状态")
    @TableField("wrk_sts")
    private Integer wrkSts;

    /**
     * 任务类型 0: 未知  1: 开门  2: 关门  3: 入硫化罐  4: 入冷却槽  5: 穿梭车进冷却槽  6: 穿梭车离开冷却槽  7: 出冷却槽  
     */
    @ApiModelProperty(value= "任务类型 0: 未知  1: 开门  2: 关门  3: 入硫化罐  4: 入冷却槽  5: 穿梭车进冷却槽  6: 穿梭车离开冷却槽  7: 出冷却槽  ")
    @TableField("io_type")
    private Integer ioType;

    /**
     * 设备 0: 未知  1: 硫化罐  2: 冷却槽  
     */
    @ApiModelProperty(value= "设备 0: 未知  1: 硫化罐  2: 冷却槽  ")
    private Integer type;

    public WrkMastExecute() {}

    public WrkMastExecute(Long wrkNo,Integer enterStaNo,Integer outStaNo,Integer jarEnterStaNo,Integer jarOutStaNo,Integer jarId,Integer jarRegin,Integer status,Integer steId,Integer rgvId,Date ioTime,Date modiTime,Date appeTime,Integer wrkType,Integer wrkSts,Integer ioType,Integer type) {
        this.wrkNo = wrkNo;
        this.enterStaNo = enterStaNo;
        this.outStaNo = outStaNo;
        this.jarEnterStaNo = jarEnterStaNo;
        this.jarOutStaNo = jarOutStaNo;
        this.jarId = jarId;
        this.jarRegin = jarRegin;
        this.status = status;
        this.steId = steId;
        this.rgvId = rgvId;
        this.ioTime = ioTime;
        this.modiTime = modiTime;
        this.appeTime = appeTime;
        this.wrkType = wrkType;
        this.wrkSts = wrkSts;
        this.ioType = ioType;
        this.type = type;
    }

//    WrkMastExecute wrkMastExecute = new WrkMastExecute(
//            null,    // 工作号[非空]
//            null,    // 入库源站点[非空]
//            null,    // 入库目标站点[非空]
//            null,    // 入硫化罐站点[非空]
//            null,    // 出硫化罐站点[非空]
//            null,    // 设备ID[非空]
//            null,    // 区域[非空]
//            null,    // 状态[非空]
//            null,    // 穿梭板[非空]
//            null,    // RGV[非空]
//            null,    // 作业时间
//            null,    // 创建时间
//            null,    // 更新时间
//            null,    // 任务状态[非空]
//            null,    // 工作状态[非空]
//            null,    // 任务类型[非空]
//            null    // 设备[非空]
//    );

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

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

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

    public String getWrkType$(){
        if (null == this.wrkType){ return null; }
        switch (this.wrkType){
            case 0:
                return "初始";
            case 1:
                return "作业中";
            case 2:
                return "完成";
            default:
                return String.valueOf(this.wrkType);
        }
    }

    public String getWrkSts$(){
        BasJarMastStatusService service = SpringUtils.getBean(BasJarMastStatusService.class);
        BasJarMastStatus basJarMastStatus = service.selectById(this.wrkSts);
        if (!Cools.isEmpty(basJarMastStatus)){
            return String.valueOf(basJarMastStatus.getId());
        }
        return null;
    }

    public String getIoType$(){
        if (null == this.ioType){ return null; }
        switch (this.ioType){
            case 0:
                return this.ioType+":未知";
            case 1:
                return this.ioType+":开门";
            case 2:
                return this.ioType+":关门";
            case 3:
                return this.ioType+":入硫化罐";
            case 4:
                return this.ioType+":入冷却槽";
            case 5:
                return this.ioType+":穿梭车进冷却槽";
            case 6:
                return this.ioType+":穿梭车离开冷却槽";
            case 7:
                return this.ioType+":出冷却槽";
            default:
                return String.valueOf(this.ioType);
        }
    }

    public String getType$(){
        if (null == this.type){ return null; }
        switch (this.type){
            case 0:
                return "未知";
            case 1:
                return "硫化罐";
            case 2:
                return "冷却槽";
            default:
                return String.valueOf(this.type);
        }
    }


}

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

@@ -3,10 +3,21 @@
import com.zy.asrs.entity.BasJarMast;
import com.baomidou.mybatisplus.mapper.BaseMapper;
import org.apache.ibatis.annotations.Mapper;
import org.apache.ibatis.annotations.Param;
import org.springframework.stereotype.Repository;

import java.util.List;

@Mapper
@Repository
public interface BasJarMastMapper extends BaseMapper<BasJarMast> {

    List<BasJarMast> getJarMastByJarId(@Param("jarId") Long jarId);

    BasJarMast getJarMastByJarIdMax(@Param("jarId") Long jarId);

    BasJarMast getJarMastByJarIdMin(@Param("jarId") Long jarId);

    Integer getJarMastByJarIdCount(@Param("jarId") Long jarId);

}

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

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

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

@Mapper
@Repository
public interface WrkMastExecuteMapper extends BaseMapper<WrkMastExecute> {

}

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

@@ -3,6 +3,16 @@
import com.zy.asrs.entity.BasJarMast;
import com.baomidou.mybatisplus.service.IService;

import java.util.List;

public interface BasJarMastService extends IService<BasJarMast> {

    List<BasJarMast> getJarMastByJarId(Long jarId);

    BasJarMast getJarMastByJarIdMax(Long jarId);

    BasJarMast getJarMastByJarIdMin(Long jarId);

    Integer getJarMastByJarIdCount(Long jarId);

}

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

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

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

public interface WrkMastExecuteService extends IService<WrkMastExecute> {

}

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

@@ -6,7 +6,35 @@
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import org.springframework.stereotype.Service;

import java.util.List;

@Service("basJarMastService")
public class BasJarMastServiceImpl extends ServiceImpl<BasJarMastMapper, BasJarMast> implements BasJarMastService {

    @Override
    public List<BasJarMast> getJarMastByJarId(Long jarId) {
        return this.baseMapper.getJarMastByJarId(jarId);
    }

    /*
    * 获取jarLocDigit最大的BasJarMast
    * */
    @Override
    public BasJarMast getJarMastByJarIdMax(Long jarId) {
        return this.baseMapper.getJarMastByJarIdMax(jarId);
    }

    /*
     * 获取jarLocDigit最小的BasJarMast
     * */
    @Override
    public BasJarMast getJarMastByJarIdMin(Long jarId) {
        return this.baseMapper.getJarMastByJarIdMin(jarId);
    }

    @Override
    public Integer getJarMastByJarIdCount(Long jarId) {
        return this.baseMapper.getJarMastByJarIdCount(jarId);
    }

}

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

@@ -34,13 +34,11 @@
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.cpmmandParam.CrnCommandParam;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.JarProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.LedThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.core.thread.*;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -107,11 +105,14 @@
    private WrkMastCrnMapper wrkMastCrnMapper;
    @Autowired
    private WrkMastSplitTwinMapper wrkMastSplitTwinMapper;
    @Autowired
    private WrkMastSplitTwinService wrkMastSplitTwinService;
    @Autowired
    private BasJarMastService basJarMastService;

    @Value("${wms.url}")
    private String wmsUrl;
    @Autowired
    private WrkMastSplitTwinService wrkMastSplitTwinService;


    /**
     * 组托
@@ -4409,12 +4410,45 @@
     *  Jar任务创建
     */
    public synchronized void jarGenerateWrkMastSta() {
        for (JarSlave jarSlave : slaveProperties.getJar()) {
        try{
                Integer count = basJarMastService.getJarMastByJarIdCount(jarSlave.getId().longValue());
                if (count>=7){
                    continue;
                }
                BasJarMast jarMastByJarIdMax = basJarMastService.getJarMastByJarIdMax(jarSlave.getId().longValue());
                if (jarMastByJarIdMax.getJarLocDigit()==7){
                    continue;
                }
                jarGenerateWrkMastStaExecute(jarSlave);
            }catch (Exception e){
                log.error(jarSlave.getId()+"号小车复位线程报错！"+e);
            }
        }
    }

    /**
     *  Jar任务创建  执行
     */
    public synchronized boolean jarGenerateWrkMastStaExecute(JarSlave jarSlave) {
        try{
            // 获取堆垛机信息
            JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
            JarProtocol jarProtocol = jarThread.getJarProtocol();
            if (jarProtocol == null) {
                return false;
            }
            if (jarProtocol.modeType != JarModeType.AUTO){
                return false;
            }
            //  状态：等待确认 并且  任务完成位 = 1

        }catch (Exception e){
            log.error("小车复位线程报错！"+e);
//            log.error("堆垛机工位二完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),2);
        }
        return false;
    }


    /**
     *  Jar任务执行
@@ -4499,7 +4533,7 @@
        return false;
    }
    /*
     * 小车取空板至工位任务  满取
     * 穿梭板移动
     * */
    public synchronized boolean jarRgvTake8(Integer rgvId,BasJarMast basJarMast){
        return false;

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

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

import com.zy.asrs.mapper.WrkMastExecuteMapper;
import com.zy.asrs.entity.WrkMastExecute;
import com.zy.asrs.service.WrkMastExecuteService;
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import org.springframework.stereotype.Service;

@Service("wrkMastExecuteService")
public class WrkMastExecuteServiceImpl extends ServiceImpl<WrkMastExecuteMapper, WrkMastExecute> implements WrkMastExecuteService {

}

 src/main/java/com/zy/common/CodeBuilder.java

@@ -20,7 +20,7 @@
        generator.url="192.168.4.15:1433;databasename=ahyxasrs";
        generator.username="sa";
        generator.password="sa@123";
        generator.table="asr_bas_jar_mast";
        generator.table="jar_wrk_mast_execute";
        generator.packagePath="com.zy.asrs";

        generator.controller = false;

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

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

public enum JarModeType {

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

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

    public static JarModeType get(Integer id) {
        if (null == id) {
            return null;
        }
        for (JarModeType type : JarModeType.values()) {
            if (type.id.equals(id)) {
                return type;
            }
        }
        return null;
    }

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

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

@@ -1,6 +1,8 @@
package com.zy.core.model.protocol;

import com.zy.asrs.entity.BasJar;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.JarModeType;
import com.zy.core.enums.JarStatusType;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -22,6 +24,9 @@
     * 0 = 脱机模式
     */
    public Integer mode;

    public JarModeType modeType;


    /**
     IDLE(0, "空闲"),
@@ -84,6 +89,15 @@
        this.status = JarStatusType.get(type).id.shortValue();
    }

    public void setMode(Integer mode) {
        this.mode = mode;
        this.modeType = JarModeType.get(mode);
    }

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

    public BasJar toSqlModel(BasJar basJar){
        if (jarErr!=null) {

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

@@ -4,11 +4,15 @@
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasJar;
import com.zy.asrs.entity.BasSteOpt;
import com.zy.asrs.service.BasJarService;
import com.zy.asrs.service.BasSteOptService;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
@@ -17,7 +21,9 @@
import com.zy.core.enums.SlaveType;
import com.zy.core.model.JarSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.SteCommand;
import com.zy.core.model.protocol.JarProtocol;
import com.zy.core.model.protocol.StaProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

@@ -57,6 +63,10 @@
                    // 读数据
                    case 1:
                        readStatus();
                        break;
                    // 写数据 ID+目标站
                    case 2:
                        write(null);
                        break;
                    default:
                        break;
@@ -110,23 +120,21 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensS7Net.Read("DB101.0", (short) 10);
            OperateResultExOne<byte[]> result = siemensS7Net.Read("V300", (short) 26);
            if (result.IsSuccess) {
                if (null == jarProtocol) {
                    jarProtocol = new JarProtocol();
                    jarProtocol.setJarNo(slave.getId());
                }
                jarProtocol.setMode(siemensS7Net.getByteTransform().TransInt32(result.Content, 2));
                jarProtocol.setLeftDoor(siemensS7Net.getByteTransform().TransBool(result.Content, 4));//左门状态
                jarProtocol.setRightDoor(siemensS7Net.getByteTransform().TransBool(result.Content, 4));//右门状态
                jarProtocol.setLeftInEnable(siemensS7Net.getByteTransform().TransBool(result.Content, 4));//左门可开
                jarProtocol.setLeftOutEnable(siemensS7Net.getByteTransform().TransBool(result.Content, 4));//左门可关
                jarProtocol.setRightInEnable(siemensS7Net.getByteTransform().TransBool(result.Content, 4));//右门可开
                jarProtocol.setRightOutEnable(siemensS7Net.getByteTransform().TransBool(result.Content, 4));//右门可关
                jarProtocol.setAutoing(siemensS7Net.getByteTransform().TransBool(result.Content, 4));//自
                jarProtocol.setJarErr(siemensS7Net.getByteTransform().TransInt32(result.Content, 4));//异常码


                jarProtocol.setMode((int)siemensS7Net.getByteTransform().TransInt16(result.Content, 0));
                jarProtocol.setLeftDoor(siemensS7Net.getByteTransform().TransInt16(result.Content, 2) != 0);//左门状态
                jarProtocol.setRightDoor(siemensS7Net.getByteTransform().TransInt16(result.Content, 4) != 0);//右门状态
                jarProtocol.setLeftInEnable(siemensS7Net.getByteTransform().TransInt16(result.Content, 6) != 0);//左门可开
                jarProtocol.setLeftOutEnable(siemensS7Net.getByteTransform().TransInt16(result.Content, 8) != 0);//左门可关
                jarProtocol.setRightInEnable(siemensS7Net.getByteTransform().TransInt16(result.Content, 10) != 0);//右门可开
                jarProtocol.setRightOutEnable(siemensS7Net.getByteTransform().TransInt16(result.Content, 12) != 0);//右门可关
                jarProtocol.setJarErr((int)siemensS7Net.getByteTransform().TransInt16(result.Content, 14));//异常码
                jarProtocol.setAutoing(siemensS7Net.getByteTransform().TransInt16(result.Content, 16) != 0);//模式
                // 根据实时信息更新数据库
                BasJarService service = SpringUtils.getBean(BasJarService.class);
                if (null != service) {
@@ -151,6 +159,106 @@

    }

    /**
     * 写入数据
     */
    private synchronized boolean write(SteCommand command){
        if (null == command) {
            News.error("穿梭车写入命令为空");
            return false;
        }
        command.setSteNo(slave.getId());
        OperateResult result = null;
        // 开始任务
        if (!command.getComplete()) {
            //组织任务前，先清空写任务确认位，以及任务完成确认位
            OperateResult result01 = siemensS7Net.Write("V2000.0", false);
            OperateResult result02 = siemensS7Net.Write("V2000.1", false);
            // 1.任务号
            OperateResult result0 = siemensS7Net.Write("V998", command.getTaskNo().shortValue());
            try {
                Thread.sleep(200);
            } catch (InterruptedException e) {
                e.printStackTrace();
            }
            // 作业
            if (command.getTaskMode() != 0) {
                // 2.作业
                OperateResult result1 = siemensS7Net.Write("V1000", command.getTaskMode());
                // 3.确认开始任务
                if (result0.IsSuccess && result1.IsSuccess) {
                    result = siemensS7Net.Write("V2000.0", true);
                }
            }

            // 任务完成
        } else {
            siemensS7Net.Write("V998", (short) 0);
            siemensS7Net.Write("V1000", (short) 0);
            siemensS7Net.Write("V2000.0", false);
            result = siemensS7Net.Write("V2000.1", true);
        }

        try {
            // 日志记录
            if (!command.getComplete() && command.getTaskMode() != 0) {
                BasSteOptService bean = SpringUtils.getBean(BasSteOptService.class);
                if (null != bean) {
                    BasSteOpt basSteOpt = new BasSteOpt(
                            command.getTaskNo(),    // 任务号
                            command.getSteNo(),    // 穿梭车
                            new Date(),    // 下发时间
                            command.getTaskModeType().desc,    // 作业
                            null,    // 源排
                            null,    // 源列
                            null,    // 源层
                            null,    // 源站
                            null,    // 目标排
                            null,    // 目标列
                            null,    // 目标层
                            null,    // 目标站
                            null,    // 响应结果
                            null,    // 修改时间
                            null,    // 修改人员
                            null    // 备注
                    );
                    bean.insert(basSteOpt);
                }
            }

        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {


            News.info("穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.STE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));

            try {
                Thread.sleep(500);
            } catch (Exception e){

            }
            OperateResultExOne<byte[]> result1 = siemensS7Net.Read("V998", (short) 4);
            if (result1.IsSuccess) {
                short taskNo = siemensS7Net.getByteTransform().TransInt16(result1.Content, 0);
                short taskType = siemensS7Net.getByteTransform().TransInt16(result1.Content, 2);
//                readStatus();
            }
            return true;
        } else {
            OutputQueue.STE.offer(MessageFormat.format("【{0}】写入穿梭车plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            News.error("写入穿梭车plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());

            //写入失败后，重新添加commanddao 任务队列中,并立即回读一次设备状态
//            MessageQueue.offer(SlaveType.Ste, slave.getId(), new Task(2, command));
//            readStatus();

            initSte();
            return false;
        }
    }

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

 src/main/resources/mapper/BasJarMastMapper.xml

@@ -20,7 +20,35 @@
        <result column="io_time" property="ioTime" />
        <result column="modi_time" property="modiTime" />
        <result column="appe_time" property="appeTime" />
        <result column="jar_loc_digit" property="jarLocDigit" />

    </resultMap>

    <select id="getJarMastByJarId" resultMap="BaseResultMap">
        select * from asr_bas_jar_mast
        where 1=1
        and jar_id = #{jarId}
        order by jar_loc_digit
    </select>

    <select id="getJarMastByJarIdMax" resultMap="BaseResultMap">
        select top 1 * from asr_bas_jar_mast
        where 1=1
          and jar_id = #{jarId}
        order by jar_loc_digit desc
    </select>

    <select id="getJarMastByJarIdMin" resultMap="BaseResultMap">
        select top 1 * from asr_bas_jar_mast
        where 1=1
          and jar_id = #{jarId}
        order by jar_loc_digit asc
    </select>

    <select id="getJarMastByJarIdCount" resultType="Integer">
        select count(1) from asr_bas_jar_mast
        where 1=1
        and jar_id = #{jarId}
    </select>

</mapper>

 src/main/resources/mapper/WrkMastExecuteMapper.xml

New file
@@ -0,0 +1,28 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="com.zy.asrs.mapper.WrkMastExecuteMapper">

    <!-- 通用查询映射结果 -->
    <resultMap id="BaseResultMap" type="com.zy.asrs.entity.WrkMastExecute">
        <id column="id" property="id" />
        <result column="wrk_no" property="wrkNo" />
        <result column="enter_sta_no" property="enterStaNo" />
        <result column="out_sta_no" property="outStaNo" />
        <result column="jar_enter_sta_no" property="jarEnterStaNo" />
        <result column="jar_out_sta_no" property="jarOutStaNo" />
        <result column="jar_id" property="jarId" />
        <result column="jar_regin" property="jarRegin" />
        <result column="status" property="status" />
        <result column="ste_id" property="steId" />
        <result column="rgv_id" property="rgvId" />
        <result column="io_time" property="ioTime" />
        <result column="modi_time" property="modiTime" />
        <result column="appe_time" property="appeTime" />
        <result column="wrk_type" property="wrkType" />
        <result column="wrk_sts" property="wrkSts" />
        <result column="io_type" property="ioType" />
        <result column="type" property="type" />

    </resultMap>

</mapper>