# 捷众二期开发

pang.jiabao

2024-06-22 62af9acaccedaea4c4c7efd4e68c8b702cf5a27d

# 捷众二期开发

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

@@ -43,12 +43,12 @@
    @TableField("out_enable")
    private String outEnable;

    /**
     * 回原点
     */
    @ApiModelProperty(value= "回原点")
    @TableField("move_origin")
    private String moveOrigin;
//    /**
//     * 回原点
//     */
//    @ApiModelProperty(value= "回原点")
//    @TableField("move_origin")
//    private String moveOrigin;

    /**
     * 状态
@@ -160,7 +160,7 @@
    public BasCrnp(String inEnable,String outEnable,String moveOrigin,Integer crnSts,Integer wrkNo,Long crnErr,String frmLocno,Integer frmSta,Integer toSta,String toLocno,Long appeUser,Date appeTime,Long modiUser,Date modiTime,String hpMk,String retrieveMk,String ctlHp,String ctlRest,String empIn,Integer tankQty,Integer tankQty1) {
        this.inEnable = inEnable;
        this.outEnable = outEnable;
        this.moveOrigin = moveOrigin;
//        this.moveOrigin = moveOrigin;
        this.crnSts = crnSts;
        this.wrkNo = wrkNo;
        this.crnErr = crnErr;
@@ -228,11 +228,11 @@
        this.outEnable = outEnable;
    }

    public String getMoveOrigin() { return moveOrigin; }

    public void setMoveOrigin(String moveOrigin) {
        this.moveOrigin = moveOrigin;
    }
//    public String getMoveOrigin() { return moveOrigin; }
//
//    public void setMoveOrigin(String moveOrigin) {
//        this.moveOrigin = moveOrigin;
//    }

    public Integer getCrnSts() {
        return crnSts;

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

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

import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
@@ -93,7 +91,7 @@
    private WrkMastService wrkMastService;
    @Value("${wms.url}")
    private String wmsUrl;

    public short wrkNo = 9999;
    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
@@ -112,27 +110,94 @@
                // 获取入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                //LED
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                // 入出库模式判断
//                if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
//                if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
                String barcode = barcodeThread.getBarcode();
                if (Cools.isEmpty(barcode)) {
                    continue;
                }

                if(!staProtocol.isInEnable()) {
                    continue;
                }

                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                if (staProtocol.isFrontErr()) {
                    errMsg = "前超限";
                    back = true;
                }
                if (!back && staProtocol.isBackErr()) {
                    errMsg = "后超限";
                    back = true;
                }
                if (!back && staProtocol.isHighErr()) {
                    errMsg = "高超限";
                    back = true;
                }
                if (!back && staProtocol.isLeftErr()) {
                    errMsg = "左超限";
                    back = true;
                }
                if (!back && staProtocol.isRightErr()) {
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.isWeightErr()) {
                    errMsg = "超重";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeErr()) {
                    errMsg = "扫码失败";
                    back = true;
                }

                if (!back && devp.getId() == 2) {
                    if(staProtocol.getWorkNo() == 9907 && '5' != barcode.charAt(0)){
                        errMsg = "条码5只能入7排";
                        back = true;
                    }
                    if(staProtocol.getWorkNo() == 9906 && '5' == barcode.charAt(0)){
                        errMsg = "条码5不能入6排";
                        back = true;
                    }
                }

                //拣料、盘点任务，不进入新板入库方法，直接跳出
                if(staProtocol.getWorkNo() == 9995){
                    continue;
                }

                // 退回
                if (back) {
//                    News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
//                    if(!staProtocol.isOutEnable()){
//                    continue;
//                }

                // 判断是否满足入库条件
                if (!staProtocol.isLoading()){
                    continue;
                }
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);
                    News.warn("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
                }

//                String barcode11 = barcodeThread.getBarcode();
//                if (Cools.isEmpty(barcode11)){
//                    if (staProtocol.isAutoing()&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 9999 && staProtocol.isPakMk() && staProtocol.getStamp()>=2){
//                if (Cools.isEmpty(barcode)){
//                    if (staProtocol.isAutoing()&& !staProtocol.isEmptyMk() && staProtocol.isPakMk() && staProtocol.getStamp()>=2){
//                        staProtocol.setStamp(0);
//                        News.info(""+mark+" - 7"+" - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode11, inSta.getStaNo());
//                        staProtocol.setWorkNo((short) 9989);
@@ -147,81 +212,41 @@
//                        continue;
//                    }
//                }
                //超宽超高没扫到条码报警
//                boolean fig=false;
//                for(int i=0;i<8;i++){
//                    switch (i){
//                        case 0: if(devpThread.startSignal[i]){
//                            log.error("前超报警");
//                            fig=true;
//                        };
//                        case 1: if(devpThread.startSignal[i]){
//                            log.error("后超报警");
//                            fig=true;
//                        };
//                        case 2: if(devpThread.startSignal[i]){
//                            log.error("高超报警");
//                            fig=true;
//                        };
//                        case 3: if(devpThread.startSignal[i]){
//                            log.error("左超报警");
//                            fig=true;
//                        };
//                        case 4: if(devpThread.startSignal[i]){
//                            log.error("右超报警");
//                            fig=true;
//                        };
//                        case 5: if(devpThread.startSignal[i]){
//                            log.error("超重报警");
//                            fig=true;
//                        };
//                        case 6: if(devpThread.startSignal[i]){
//                            log.error("未扫到码报警");
//                            fig=true;
//                        };
//
//                    }
//                }
                if (staProtocol.isAutoing() && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
                        && staProtocol.isPakMk()) { //&& staProtocol.getStamp()>=2) {// && !Cools.isEmpty(barcode)) {
                        && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() > 9000
                        && staProtocol.isPakMk() && !back) { //&& staProtocol.getStamp()>=2) {// && !Cools.isEmpty(barcode)) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行");
//                    try {
//                        Thread.sleep(300);
//                    }catch (Exception e){}

                    String barcode = barcodeThread.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);

                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                            staProtocol.setWorkNo((short) 9999);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                            News.info(""+mark+" - 2"+" - 扫码失败1 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = "扫码失败，请重试";
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                            }
                            continue;
                        }
                    } else {
                        staProtocol.setWorkNo((short) 9999);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                        News.info(""+mark+" - 3"+" - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "扫码失败，请重试";
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                        }
                        continue;
                    }
//                    if(!Cools.isEmpty(barcode) ) {
////                        News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
//
//                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
//                            staProtocol.setWorkNo((short) 9999);
//                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//
//                            News.info(""+mark+" - 2"+" - 扫码失败1 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
//                            // led 异常显示
//                            if (ledThread != null) {
//                                String errorMsg = "扫码失败，请重试";
//                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
//                            }
//                            continue;
//                        }
//                    } else {
//                        staProtocol.setWorkNo((short) 9999);
//                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//
//                        News.info(""+mark+" - 3"+" - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
//                        // led 异常显示
//                        if (ledThread != null) {
//                            String errorMsg = "扫码失败，请重试";
//                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
//                        }
//                        continue;
//                    }

                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
@@ -233,7 +258,7 @@
                        }
                    }
                    if (wrkMast != null) {
                        News.error(""+mark+" - 4"+" - 工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        News.warn(""+mark+" - 4"+" - 工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        staProtocol.setWorkNo((short)9999);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -406,7 +431,7 @@
                }
                String barcode = barcodeThread.getBarcode();
                if(!Cools.isEmpty(barcode)) {
                    News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                    News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
@@ -440,18 +465,32 @@
                    }

                    // 拣、盘、并 作业站转换
//                    int stnNo = 0;
//                    if (wrkMast.getStaNo() == 109) {
//                        stnNo = 127;
//                    } else if (wrkMast.getStaNo() == 113) {
//                        stnNo = 128;
//                    } else {
//                        log.error("{}号任务数据异常！", wrkMast.getWrkNo());
//                    }
                    int stnNo = 0;
                    if (wrkMast.getIoType() == 103) { // 拣料出库
                        if(wrkMast.getCrnNo() == 1) {
                            stnNo = 104;
                        }else if(wrkMast.getCrnNo() == 2) {
                            stnNo =204;
                        }else if(wrkMast.getCrnNo() == 3) {
                            stnNo = 304;
                        }
                    } else if(wrkMast.getIoType() == 107){ //盘点出库
                        if(wrkMast.getCrnNo() == 1) {
                            stnNo = 101;
                        }else if(wrkMast.getCrnNo() == 2) {
                            stnNo =201;
                        }else if(wrkMast.getCrnNo() == 3) {
                            stnNo = 301;
                        }
                    }
                    if (stnNo == 0) {
                        log.error("{}号任务数据异常！", wrkMast.getWrkNo());
                        continue;
                    }
                    // 获取目标站
                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                            .eq("type_no", wrkMast.getIoType() - 50)
                            .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
                            .eq("stn_no", stnNo) // 作业站点 = 拣料出库的目标站
                            .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                    StaDesc staDesc = staDescService.selectOne(wrapper);
                    if (Cools.isEmpty(staDesc)) {
@@ -487,7 +526,7 @@
                        wrkMast.setIoTime(now);
                        wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
                        wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                        wrkMast.setSourceStaNo(100); // 源站
                        wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
                        wrkMast.setStaNo(staNo); // 目标站
                        wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
                        wrkMast.setSourceLocNo(""); // 源库位清空
@@ -656,13 +695,13 @@
            //mark - 3 - ....
            this.locToLoc(crn, crnProtocol,mark);

            if (!Cools.isEmpty(basCrnp.getMoveOrigin()) && basCrnp.getMoveOrigin().equals("Y")){
                if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
                        && crnThread.isCmdFlag()) {
                    this.crnMoveIntXY(crn, crnProtocol, crnThread);
                    this.crnMoveOutXY(crn, crnProtocol, crnThread);
                }
            }
//            if (!Cools.isEmpty(basCrnp.getMoveOrigin()) && basCrnp.getMoveOrigin().equals("Y")){
//                if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
//                        && crnThread.isCmdFlag()) {
//                    this.crnMoveIntXY(crn, crnProtocol, crnThread);
//                    this.crnMoveOutXY(crn, crnProtocol, crnThread);
//                }
//            }
//            this.crnRebackHp(crnProtocol, crnThread);

        }
@@ -934,6 +973,7 @@
                crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                crnCommand.setCommand((short) 1);
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                    News.error(""+mark+" - 1"+" - 16"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
@@ -1101,6 +1141,7 @@
                        crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                        crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                        crnCommand.setCommand((short) 1);
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                            News.error(""+mark+" - 2"+" - 13"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                        } else {
@@ -1332,7 +1373,8 @@
                    crnThread.setResetFlag(true);
                } else {
                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                    System.out.println("任务号"+crnProtocol.getTaskNo());
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(Integer.valueOf(crnProtocol.getTaskNo()));
                    if (wrkMast == null) {
                        News.error(""+mark+" - 1"+" - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                        continue;
@@ -1513,8 +1555,9 @@
                if (staProtocol.isAutoing()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999)
                        && staProtocol.isPakMk() ) {
                        && (staProtocol.getWorkNo() >= 9990 && staProtocol.getWorkNo() <= 9999)
                        && staProtocol.isPakMk()
                ) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行：空栈板初始化入库,叉车入库站放货");

                    try {

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

@@ -5,11 +5,9 @@
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;

import javax.annotation.PreDestroy;
import java.util.ArrayList;

/**
 * WCS主流程
@@ -44,12 +42,12 @@
                    }

                    // 演示
                    mainService.crnDemoOfLocMove1();
//                    mainService.crnDemoOfLocMove1();
                    // 入出库模式切换函数
//                    mainService.ioConvert();
                    // 入库  ===>> 入库站到堆垛机站，根据条码扫描生成入库工作档
                    mainService.generateStoreWrkFile(1); // 组托
                    mainService.generateStoreWrkFile0(2); // WMS入库
//                    mainService.generateStoreWrkFile0(2); // WMS入库
                    Thread.sleep(500);
                    // 拣料、并板、盘点再入库
                    mainService.stnToCrnStnPick(3);

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

@@ -51,6 +51,29 @@
    // 锁定标记
    private boolean pakMk = true;

    // 外形检测 ------------------------------------------------------------------------

    // 前超限
    private boolean frontErr = false;

    // 后超限
    private boolean backErr = false;

    // 高超限
    private boolean highErr = false;

    // 左超限
    private boolean leftErr = false;

    // 右超限
    private boolean rightErr = false;

    // 超重
    private boolean weightErr = false;

    // 扫码失败
    private boolean barcodeErr = false;

    // 入库暂存数
    private Short inQty;


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

@@ -5,7 +5,6 @@
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.zy.asrs.entity.BasCrnOpt;
@@ -16,7 +15,9 @@
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.*;
import com.zy.core.enums.CrnStatusType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
@@ -158,7 +159,7 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB91.0", (short) 52);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 54);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
@@ -175,20 +176,20 @@
                crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16));
                crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));

//                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
//                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
//                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));
                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 34));
                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));
                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 38));
                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));
//                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 34));
//                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));
//                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 38));

//                crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
//                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
//                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 42));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 46));
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
//                crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
//                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 42));
//                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));


//                crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
@@ -201,15 +202,28 @@
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

                // 复位信号
                if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
//                if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
//                    if (resetFlag) {
//                        if(crnProtocol.getTaskNo()==9999){
//                            backHpFlag = false;
//                        }
//                        CrnCommand crnCommand = new CrnCommand();
//                        crnCommand.setAckFinish((short)1);
//                        if (write(crnCommand)) {
//                            resetFlag = false;
//                        }
//                    }
//                }

                if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
//                    News.error("-------------------------------------------第一步、[堆垛机号：{}, 工作号：{}, 载货台信号:{}]==>> 状态为10，等待确认！！",
//                            slave.getId(),crnProtocol.getTaskNo(), crnProtocol.getLoaded()==1 ? "有物" : "无物");
                    if (resetFlag) {
                        if(crnProtocol.getTaskNo()==9999){
                            backHpFlag = false;
                        }
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short)1);
                        if (write(crnCommand)) {
                            resetFlag = false;
//                            cmdFlag = true;
                        }
                    }
                }
@@ -255,7 +269,12 @@
            News.error("SiemensCrn"+" - 6"+" - 堆垛机写入命令为空");
            return false;
        }
        OperateResult result;
//        convertRow(command);
        if (command.getAckFinish() == 1) {
            result = siemensNet.Write("DB100.0", (short) 1);
//            result = siemensNet.Write("DB100.18", 0);
        } else {
        command.setCrnNo(slave.getId());
        short[] array = new short[10];
        array[0] = command.getAckFinish();
@@ -270,12 +289,13 @@
//        array[9] = command.getSourceStaNo();
//        array[10] = command.getDestinationStaNo();
        array[9] = command.getCommand();
        OperateResult result = siemensNet.Write("DB90.0", array);
            result = siemensNet.Write("DB100.0", array);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(100L);
            result = siemensNet.Write("DB90.18", commandFinish);
//            if (command.getAckFinish() == 0) {
//                short commandFinish = 1;
//                Thread.sleep(100L);
//                result = siemensNet.Write("DB100.18", commandFinish);
//            }
        }

        try {
@@ -326,7 +346,8 @@
    public static void main(String[] args) throws InterruptedException {
        CrnSlave slave = new CrnSlave();
        slave.setId(1);
        slave.setIp("192.168.6.9");
        slave.setIp("10.10.10.10");
        slave.setPort(0);
        slave.setRack(0);
        slave.setSlot(0);
        SiemensCrnThread crnThread = new SiemensCrnThread(slave);
@@ -337,16 +358,17 @@

        // 1.入库 源和目标都发
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(1); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
////        command.setCrnNo(3); // 堆垛机编号
//        command.setTaskNo((short) 2); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
//        command.setSourcePosX((short) 1);     // 源库位排
//        command.setSourcePosY((short) 0);     // 源库位列
//        command.setSourcePosZ((short) 1);     // 源库位层
//        command.setDestinationPosX((short) 2);     // 目标库位排
//        command.setDestinationPosY((short) 3);     // 目标库位列
//        command.setSourcePosX((short) 6);     // 源库位排
//        command.setSourcePosY((short) 2);     // 源库位列
//        command.setSourcePosZ((short) 2);     // 源库位层
//        command.setDestinationPosX((short) 6);     // 目标库位排
//        command.setDestinationPosY((short) 0);     // 目标库位列
//        command.setDestinationPosZ((short) 1);     // 目标库位层
//        command.setCommand((short)1);
//        crnThread.write(command);

        // 2.出库 源和目标都发

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

@@ -56,15 +56,15 @@
        add(300);add(301);add(302);add(303);add(304);
    }};

    public static final ArrayList<Integer> barcode1 = new ArrayList<Integer>() {{
        add(1); add(2);
    }};


    public static final ArrayList<Integer> barcode2 = new ArrayList<Integer>() {{
       add(3);
    }};

    private Integer count=0;

    /**
     * 条码数量
     */
    private int barcodeSize = 2;

    /**
     * 入出库模式
@@ -157,6 +157,17 @@
        }
    }

    private ArrayList<Integer> getBarcodeList() {
        switch (slave.getId()) {
            case 1:
                return barcode1;
            case 2:
                return barcode2;
            default:
                throw new CoolException("获取条码扫描器失败！");
        }
    }

    @Override
    public boolean connect() {
        boolean result = false;
@@ -183,10 +194,13 @@
    private void read() throws InterruptedException {
//        // 更新入出库模式
//        updateIoMode();
        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
        ArrayList<Integer> staNos = getStaNo();
        int staNoSize = staNos.size();
        OperateResultExOne<byte[]> result = siemensS7Net.Read("DB100.0", (short) (staNoSize*4));
//        OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB101.0", (short) (staNoSize*2));
        if (slave.getId() == 1) {

        } else if (slave.getId() == 2) {
            OperateResultExOne<byte[]> result = siemensS7Net.Read("DB101.0", (short) (staNoSize*8));
        if (result.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
                Integer siteId = staNos.get(i); // 站点编号
@@ -196,64 +210,22 @@
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*4));     // 工作号

                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*4+2));   // 目标站
            }
        }

        Thread.sleep(200);
        OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB100.60", (short) (staNoSize * 2));
        if (result1.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
                Integer siteId = staNos.get(i); // 站点编号
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result1.Content, i*2, 1);
                boolean[] status2 = siemensS7Net.getByteTransform().TransBool(result1.Content, i*2+1, 1);
                StaProtocol staProtocol = station.get(siteId);
                    staProtocol.setWorkNo((short) siemensS7Net.getByteTransform().TransInt32(result.Content, i * 8));     // 工作号
                    staProtocol.setStaNo( siemensS7Net.getByteTransform().TransInt16(result.Content, i*8 + 4 ));   // 目标站
                    boolean[] 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
                staProtocol.setOutEnable(status[3]);// 可出
                staProtocol.setEmptyMk(status[4]);  // 空板信号
                staProtocol.setFullPlt(status[5]);  // 满托盘
                staProtocol.setLow(status[6]);      // 低库位
                staProtocol.setMedium(status[7]);   // 中库位
                staProtocol.setMedium_high(status2[0]); //中高库位
                staProtocol.setHigh(status2[1]);     // 高库位
                if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
                    staProtocol.setHigh(status[6]);     // 高库位
                    staProtocol.setLow(status[7]);      // 低库位
//                staProtocol.setWeight(status[8]);  //是否为重货
                    if (!staProtocol.isPakMk() && staProtocol.isLoading()) {
                    staProtocol.setPakMk(true);
                }

                if (!staProtocol.isLoading()){
                    staProtocol.setStamp(0);
                }
            }
        }

        //接收超宽超高没扫到条码报警
        Thread.sleep(200);
        OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB101.34",(short)(1));
        if (result4.IsSuccess) {
            startSignal = siemensS7Net.getByteTransform().TransBool(result4.Content, 0, 1);
        }


        //条码扫描器
        Thread.sleep(200);
        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB100.90",(short)(barcodeSize*8));
        if (result2.IsSuccess) {
            for (int i = 0; i < barcodeSize; i++) {
                String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "UTF-8");
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i + 1);
                if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
                    barcodeThread.setBarcode(barcode);
                }
            }
        }

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

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

            // 根据实时信息更新数据库
            try {
@@ -268,16 +240,148 @@
                    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());
                    News.error(methodName + ":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}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
                log.error("读取输送线plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
            }

        } 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());
            //外形检测
            OperateResultExOne<byte[]> resultErr = siemensS7Net.Read("DB101.42", (short) 8);
            if (resultErr.IsSuccess){
                    boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr.Content, 0, 1);
                    StaProtocol staProtocol = station.get(303);
                    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]);
        }

            //条码扫描器
            Thread.sleep(200);
            ArrayList<Integer> barcodeList = getBarcodeList();
            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.60", (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
//            Thread.sleep(200);
//            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.60",(short)8);
//            if (result2.IsSuccess) {
//                    String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,0,8, "UTF-8");
//                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 3);
//                    if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
//                        barcodeThread.setBarcode(barcode);
//                    }
//            }
        }

//
//        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) {
//                    staProtocol = new StaProtocol();
//                    staProtocol.setSiteId(siteId);
//                    station.put(siteId, staProtocol);
//                }
//                staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*4));     // 工作号
//
//                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*4+2));   // 目标站
//            }
//        }

//        Thread.sleep(200);
//        OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB100.60", (short) (staNoSize * 2));
//        if (result1.IsSuccess) {
//            for (int i = 0; i < staNoSize; i++) {
//                Integer siteId = staNos.get(i); // 站点编号
//                boolean[] status = siemensS7Net.getByteTransform().TransBool(result1.Content, i*2, 1);
//                boolean[] status2 = siemensS7Net.getByteTransform().TransBool(result1.Content, i*2+1, 1);
//                StaProtocol staProtocol = station.get(siteId);
//                staProtocol.setAutoing(status[0]);  // 自动
//                staProtocol.setLoading(status[1]);  // 有物
//                staProtocol.setInEnable(status[2]); // 可入
//                staProtocol.setOutEnable(status[3]);// 可出
//                staProtocol.setEmptyMk(status[4]);  // 空板信号
//                staProtocol.setFullPlt(status[5]);  // 满托盘
//                staProtocol.setLow(status[6]);      // 低库位
//                staProtocol.setMedium(status[7]);   // 中库位
//                staProtocol.setMedium_high(status2[0]); //中高库位
//                staProtocol.setHigh(status2[1]);     // 高库位
//                if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
//                    staProtocol.setPakMk(true);
//                }
//
//                if (!staProtocol.isLoading()){
//                    staProtocol.setStamp(0);
//                }
//            }
//        }

        //接收超宽超高没扫到条码报警
//        Thread.sleep(200);
//        OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB101.34",(short)(1));
//        if (result4.IsSuccess) {
//            startSignal = siemensS7Net.getByteTransform().TransBool(result4.Content, 0, 1);
//        }


        //条码扫描器
//        Thread.sleep(200);
//        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.60",(short)(barcodeSize*8));
//        if (result2.IsSuccess) {
//            for (int i = 0; i < barcodeSize; i++) {
//                String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "UTF-8");
//                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i + 1);
//                if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
//                    barcodeThread.setBarcode(barcode);
//                }
//            }
//        }

//        if (result.IsSuccess && result1.IsSuccess) {
//
//            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
//
//            // 根据实时信息更新数据库
//            try {
//                List<BasDevp> basDevps = new ArrayList<>();
//                for (Integer siteId : staNos) {
//                    StaProtocol staProtocol = station.get(siteId);
//                    basDevps.add(staProtocol.toSqlModel());
//                }
//
//                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());
//        }
    }

    /**
@@ -296,37 +400,38 @@

        OperateResult write = null;
        OperateResult write1 = null;
        //任务下发次数
        int writeCount = 0;
        do {
            write = siemensS7Net.Write("DB100." + index*4, staProtocol.getWorkNo());    // 工作号
//        //任务下发次数
//        int writeCount = 0;
//        do {
        write1 = siemensS7Net.Write("DB100." + (index*6+4), staProtocol.getStaNo());    // 目标站
            Thread.sleep(500);
            write1 = siemensS7Net.Write("DB100." + (index*4+2), staProtocol.getStaNo());    // 目标站
            if(write.IsSuccess || write1.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> readResult = siemensS7Net.Read("DB100." + index*4, (short) 2);
                OperateResultExOne<byte[]> readResult1 = siemensS7Net.Read("DB100." + (index*4+2), (short) 2);
                if(readResult.IsSuccess && readResult1.IsSuccess){
                    short workNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 0);
                    short staNo = siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 0);
                    if(staProtocol.getWorkNo().equals(workNo) && staProtocol.getStaNo().equals(staNo)){
                        //任务命令写入成功
                        log.info("写入堆垛机命令后返回成功，并且回读成功。堆垛机plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                        break;
                    } else {//返回结果是成功了，但是真实值不相同
                        writeCount++;
                        log.error("写入堆垛机命令后返回成功，但是读取任务值不一致。堆垛机plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                    }
                } else {
                    writeCount++;
                    log.error("写入堆垛机命令后读取失败。堆垛机plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                }
            }
            else {
                writeCount++;
                log.error("写入堆垛机命令后读取失败。堆垛机plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
            }
        }while (writeCount<5);
        write = siemensS7Net.Write("DB100." + index*6, staProtocol.getWorkNo().intValue());    // 工作号

//            if(write.IsSuccess || write1.IsSuccess){
//                Thread.sleep(200);
//                OperateResultExOne<byte[]> readResult = siemensS7Net.Read("DB100." + index*4, (short) 2);
//                OperateResultExOne<byte[]> readResult1 = siemensS7Net.Read("DB100." + (index*4+2), (short) 2);
//                if(readResult.IsSuccess && readResult1.IsSuccess){
//                    short workNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 0);
//                    short staNo = siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 0);
//                    if(staProtocol.getWorkNo().equals(workNo) && staProtocol.getStaNo().equals(staNo)){
//                        //任务命令写入成功
//                        log.info("写入堆垛机命令后返回成功，并且回读成功。堆垛机plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
//                        break;
//                    } else {//返回结果是成功了，但是真实值不相同
//                        writeCount++;
//                        log.error("写入堆垛机命令后返回成功，但是读取任务值不一致。堆垛机plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
//                    }
//                } else {
//                    writeCount++;
//                    log.error("写入堆垛机命令后读取失败。堆垛机plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
//                }
//            }
//            else {
//                writeCount++;
//                log.error("写入堆垛机命令后读取失败。堆垛机plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
//            }
//        }while (writeCount<5);

        if (!write.IsSuccess || !write1.IsSuccess) {
            staProtocol = station.get(staProtocol.getSiteId());
@@ -382,38 +487,44 @@
        siemensS7Net.ConnectClose();
    }

    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++) {
//            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);
    }
//    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++) {
////            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);
//    }

//    public static void main(String[] args) throws Exception {
//        DevpSlave slave = new DevpSlave();
//        slave.setIp("192.168.2.125");
//        SiemensDevpThread devpThread = new SiemensDevpThread(slave);
//        devpThread.connect();
//        devpThread.read();
//        // 写
//        StaProtocol staProtocol = devpThread.getStation().get(1);
//        staProtocol.setWorkNo((short) 232);
//        staProtocol.setStaNo((short) 6);
    public static void main(String[] args) throws Exception {
        DevpSlave slave = new DevpSlave();
        slave.setId(1);
        slave.setIp("10.10.10.100");
        slave.setPort(0);
        slave.setRack(0);
        slave.setSlot(0);
//        slave.setIp("10.10.10.130");
        SiemensDevpThread devpThread = new SiemensDevpThread(slave);
        devpThread.connect();
        devpThread.read();
        // 写
//        StaProtocol staProtocol = devpThread.getStation().get(300);
//        staProtocol.setWorkNo((short) 3002);
//        staProtocol.setStaNo((short) 301);
//        staProtocol.setAutoing(true);
//        staProtocol.setEmptyMk(true);
//        staProtocol.setInEnable(true);
//        staProtocol.setOutEnable(true);
//        devpThread.write(staProtocol);
//        System.out.println("----------------------------------------");
//        // 读
        // 读
//        devpThread.read();
//        System.out.println(JSON.toJSONString(devpThread.station));
//
//    }
        System.out.println(JSON.toJSONString(devpThread.station));

    }

}

 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://192.168.4.15:1433;databasename=sxjzasrs
    url: jdbc:sqlserver://127.0.0.1:1433;databasename=sxjzasrs
    username: sa
    password: sa@123
  mvc:
@@ -34,69 +34,69 @@
  enable: false

wms:
  url: 127.0.0.1:8080/sxjzwms
  url: 127.0.0.1:8080/jzwms

# 下位机配置
wcs-slave:
  # 双深
  doubleDeep: true
  # 双深库位排号
  doubleLocs: 1,4,5,8,9,12
  doubleLocs: 1
  # 一个堆垛机负责的货架排数
  groupCount: 4
  # 堆垛机1
  crn[0]:
    id: 1
    ip: 10.10.10.10
    port: 102
    rack: 0
    slot: 0
    # 偏移量，当堆垛机站点列号=1时，偏移量=2
    offset: 2
    demo: false
    # 堆垛机入库站点
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 104
      row: 1
      bay: 1
      lev: 1
    # 堆垛机出库站点
    crnOutStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 100
      row: 2
      bay: 1
      lev: 1
  # 堆垛机2
  crn[1]:
    id: 2
    ip: 10.10.10.18
    port: 102
    rack: 0
    slot: 0
    # 偏移量，当堆垛机站点列号=1时，偏移量=2
    offset: 2
    demo: false
    # 堆垛机入库站点
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 204
      row: 4
      bay: 1
      lev: 1
    # 堆垛机出库站点
    crnOutStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 200
      row: 5
      bay: 2
      lev: 1
  groupCount: 3
#  # 堆垛机1
#  crn[0]:
#    id: 1
#    ip: 10.10.10.10
#    port: 102
#    rack: 0
#    slot: 0
#    # 偏移量，当堆垛机站点列号=1时，偏移量=2
#    offset: 2
#    demo: false
#    # 堆垛机入库站点
#    crnInStn[0]:
#      devpPlcId: ${wcs-slave.devp[0].id}
#      staNo: 104
#      row: 3
#      bay: 39
#      lev: 1
#    # 堆垛机出库站点
#    crnOutStn[0]:
#      devpPlcId: ${wcs-slave.devp[0].id}
#      staNo: 100
#      row: 2
#      bay: 39
#      lev: 1
#  # 堆垛机2
#  crn[1]:
#    id: 2
#    ip: 10.10.10.18
#    port: 102
#    rack: 0
#    slot: 0
#    # 偏移量，当堆垛机站点列号=1时，偏移量=2
#    offset: 2
#    demo: false
#    # 堆垛机入库站点
#    crnInStn[0]:
#      devpPlcId: ${wcs-slave.devp[0].id}
#      staNo: 204
#      row: 5
#      bay: 39
#      lev: 1
#    # 堆垛机出库站点
#    crnOutStn[0]:
#      devpPlcId: ${wcs-slave.devp[0].id}
#      staNo: 200
#      row: 4
#      bay: 39
#      lev: 1
  # 堆垛机3
  crn[2]:
  crn[0]:
    id: 3
    ip: 10.10.10.110
    port: 102
    ip: 10.10.10.30
    port: 0
    rack: 0
    slot: 0
    # 偏移量，当堆垛机站点列号=1时，偏移量=2
@@ -106,147 +106,128 @@
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 304
      row: 4
      bay: 1
      row: 7
      bay: 0
      lev: 1
    # 堆垛机出库站点
    crnOutStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 300
      row: 5
      bay: 2
      row: 6
      bay: 0
      lev: 1
  # 输送线1
  devp[0]:
    id: 1
    ip: 10.10.10.100
    port: 102
    rack: 0
    slot: 0
    # 入库口1
    inSta[0]:
      staNo: 104
      barcode: ${wcs-slave.barcode[0].id}
      backSta: 1
      led: ${wcs-slave.led[0].id}
    # 入库口2
    inSta[1]:
      staNo: 204
      barcode: ${wcs-slave.barcode[0].id}
      backSta: 1
      led: ${wcs-slave.led[0].id}
    # 空板入库口1
    emptyInSta[0]:
      staNo: 104
      barcode: ${wcs-slave.barcode[0].id}
      backSta: 1
      led: ${wcs-slave.led[0].id}
    # 空板入库口2
    emptyInSta[1]:
      staNo: 101
      barcode: ${wcs-slave.barcode[0].id}
      backSta: 1
      led: ${wcs-slave.led[0].id}
    # 拣料入库口1
    pickSta[0]:
      staNo: 204
      barcode: ${wcs-slave.barcode[0].id}
      led: ${wcs-slave.led[0].id}
    # 拣料入库口2
    pickSta[1]:
      staNo: 104
      barcode: ${wcs-slave.barcode[0].id}
      led: ${wcs-slave.led[0].id}
    # 出库口1
    outSta[0]:
      staNo: 101
      led: ${wcs-slave.led[1].id}
    # 出库口2
    outSta[1]:
      staNo: 201
      led: ${wcs-slave.led[1].id}
#  # 输送线1
#  devp[0]:
#    id: 1
#    ip: 10.10.10.100
#    port: 102
#    rack: 0
#    slot: 0
#    # 入库口1
#    inSta[0]:
#      staNo: 104
#      barcode: ${wcs-slave.barcode[0].id}
#      backSta: 103
#      led: ${wcs-slave.led[0].id}
#    # 入库口2
#    inSta[1]:
#      staNo: 204
#      barcode: ${wcs-slave.barcode[1].id}
#      backSta: 203
#      led: ${wcs-slave.led[1].id}
#    # 空板入库口1
#    emptyInSta[0]:
#      staNo: 104
#      barcode: ${wcs-slave.barcode[0].id}
#      led: ${wcs-slave.led[0].id}
#    # 空板入库口2
#    emptyInSta[1]:
#      staNo: 204
#      barcode: ${wcs-slave.barcode[1].id}
#      led: ${wcs-slave.led[1].id}
#    # 拣料入库口1
#    pickSta[0]:
#      staNo: 204
#      barcode: ${wcs-slave.barcode[1].id}
#      led: ${wcs-slave.led[1].id}
#    # 拣料入库口2
#    pickSta[1]:
#      staNo: 104
#      barcode: ${wcs-slave.barcode[0].id}
#      led: ${wcs-slave.led[0].id}
#    # 出库口1
#    outSta[0]:
#      staNo: 101
#      led: ${wcs-slave.led[0].id}
#    # 出库口2
#    outSta[1]:
#      staNo: 201
#      led: ${wcs-slave.led[1].id}
  # 输送线2
  devp[1]:
  devp[0]:
    id: 2
    ip: 10.10.10.120
    port: 102
    ip: 10.10.10.130
    port: 0
    rack: 0
    slot: 0
    # 入库口1
    inSta[0]:
      staNo: 104
      barcode: ${wcs-slave.barcode[2].id}
      backSta: 1
      led: ${wcs-slave.led[2].id}
    # 入库口2
    inSta[1]:
      staNo: 204
      barcode: ${wcs-slave.barcode[2].id}
      backSta: 1
      led: ${wcs-slave.led[2].id}
      staNo: 304
      barcode: ${wcs-slave.barcode[0].id}
      backSta: 303
      led: ${wcs-slave.led[0].id}
    # 空板入库口1
    emptyInSta[0]:
      staNo: 104
      barcode: ${wcs-slave.barcode[2].id}
      backSta: 1
      led: ${wcs-slave.led[2].id}
    # 空板入库口2
    emptyInSta[1]:
      staNo: 101
      barcode: ${wcs-slave.barcode[2].id}
      backSta: 1
      led: ${wcs-slave.led[2].id}
      staNo: 304
      barcode: ${wcs-slave.barcode[0].id}
      led: ${wcs-slave.led[0].id}
    # 拣料入库口1
    pickSta[0]:
      staNo: 204
      barcode: ${wcs-slave.barcode[2].id}
      led: ${wcs-slave.led[2].id}
    # 拣料入库口2
    pickSta[1]:
      staNo: 104
      barcode: ${wcs-slave.barcode[2].id}
      led: ${wcs-slave.led[2].id}
      staNo: 304
      barcode: ${wcs-slave.barcode[0].id}
      led: ${wcs-slave.led[0].id}
    # 出库口1
    outSta[0]:
      staNo: 101
      led: ${wcs-slave.led[2].id}
    # 出库口2
    outSta[1]:
      staNo: 201
      led: ${wcs-slave.led[2].id}
      staNo: 301
      led: ${wcs-slave.led[0].id}
  # 条码扫描仪1
  barcode[0]:
    id: 1
    ip: 10.10.10.102
    port: 51236
  # 条码扫描仪2
  barcode[1]:
    id: 2
    ip: 10.10.10.104
    port: 51236
#  barcode[0]:
#    id: 1
#    ip: 10.10.10.102
#    port: 51236
#  # 条码扫描仪2
#  barcode[1]:
#    id: 2
#    ip: 10.10.10.104
#    port: 51236
  # 条码扫描仪3
  barcode[2]:
  barcode[0]:
    id: 3
    ip: 10.10.10.121
    port: 51236
   # LED1
  led[0]:
    id: 1
    ip: 10.10.10.107
    port: 5005
    devpPlcId: ${wcs-slave.devp[0].id}
    staArr: 2
  # LED2
  led[1]:
    id: 2
    ip: 10.10.10.105
    port: 5005
    devpPlcId: ${wcs-slave.devp[0].id}
    staArr: 11
#  led[0]:
#    id: 1
#    ip: 10.10.10.107
#    port: 5005
#    devpPlcId: ${wcs-slave.devp[0].id}
#    staArr: 101
#  # LED2
#  led[1]:
#    id: 2
#    ip: 10.10.10.105
#    port: 5005
#    devpPlcId: ${wcs-slave.devp[0].id}
#    staArr: 201
  # LED3
  led[2]:
  led[0]:
    id: 3
    ip: 10.10.10.105
    port: 5005
    devpPlcId: ${wcs-slave.devp[0].id}
    staArr: 11
    staArr: 301
#  # LED4
#  led[3]:
#    id: 4
#    ip: 10.10.10.105
#    port: 5005
#    devpPlcId: ${wcs-slave.devp[1].id}
#    staArr: 304

 src/main/resources/mapper/WrkDetlMapper.xml

@@ -27,7 +27,7 @@
    </resultMap>

    <select id="findByWorkNo" resultMap="BaseResultMap">
        select wrk_no, matnr, maktx, anfme ,specs from asr_wrk_detl where 1=1 and wrk_no = #{workNo}
        select wrk_no, mat_no as matnr, mat_name as maktx, qty as anfme ,specs from asr_wrk_detl where 1=1 and wrk_no = #{workNo}
    </select>

    <update id="updateIoTime">

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

@@ -3,207 +3,93 @@
    "rackCount": 16,
    "crnCount": 4,
    "stbCount": 16,
    "hpPosition": 0,
    "hpPosition": 1,
    "minBayNo": 2,
    "floors": 1,
    "racks": [{
        "type": "rack",
        "id": "rack1",
        "top": 45,
        "left": 650,
        "width": 917,
        "top": 225,
        "left": 300,
        "width": 1171,
        "height": 22,
        "minBayNo": 2,
        "maxBayNo": 29
        "minBayNo": 1,
        "maxBayNo": 34
    }, {
        "type": "rack",
        "id": "rack2",
        "top": 67,
        "left": 650,
        "width": 917,
        "top": 278,
        "left": 300,
        "width": 1171,
        "height": 22,
        "minBayNo": 2,
        "maxBayNo": 29
        "minBayNo": 1,
        "maxBayNo": 34

    }, {
        "type": "rack",
        "id": "rack3",
        "top": 115,
        "left": 650,
        "width": 917,
        "top": 308,
        "left": 300,
        "width": 1200,
        "height": 22,
        "minBayNo": 2,
        "maxBayNo": 29
        "minBayNo": 1,
        "maxBayNo": 39
    }, {
        "type": "rack",
        "id": "rack4",
        "top": 137,
        "left": 650,
        "width": 917,
        "top": 365,
        "left": 300,
        "width": 1200,
        "height": 22,
        "minBayNo": 2,
        "maxBayNo": 29
        "minBayNo": 1,
        "maxBayNo": 39
    }, {
        "type": "rack",
        "id": "rack5",
        "top": 159,
        "left": 650,
        "width": 917,
        "top": 393,
        "left": 300,
        "width": 1200,
        "height": 22,
        "minBayNo": 2,
        "maxBayNo": 29
        "minBayNo": 1,
        "maxBayNo": 39
    }, {
        "type": "rack",
        "id": "rack6",
        "top": 181,
        "left": 650,
        "width": 917,
        "top": 448,
        "left": 300,
        "width": 1200,
        "height": 22,
        "minBayNo": 2,
        "maxBayNo": 29
        "minBayNo": 1,
        "maxBayNo": 39
    }, {
        "type": "rack",
        "id": "rack7",
        "top": 229,
        "left": 650,
        "width": 917,
        "top": 475,
        "left": 300,
        "width": 1200,
        "height": 22,
        "minBayNo": 2,
        "maxBayNo": 29
    }, {
        "type": "rack",
        "id": "rack8",
        "top": 251,
        "left": 650,
        "width": 917,
        "height": 22,
        "minBayNo": 2,
        "maxBayNo": 29
    }, {
        "type": "rack",
        "id": "rack9",
        "top": 273,
        "left": 650,
        "width": 917,
        "height": 22,
        "minBayNo": 2,
        "maxBayNo": 29
    }, {
        "type": "rack",
        "id": "rack10",
        "top": 295,
        "left": 650,
        "width": 917,
        "height": 22,
        "minBayNo": 2,
        "maxBayNo": 29
    }, {
        "type": "rack",
        "id": "rack11",
        "top": 343,
        "left": 650,
        "width": 917,
        "height": 22,
        "minBayNo": 2,
        "maxBayNo": 29
    }, {
        "type": "rack",
        "id": "rack12",
        "top": 365,
        "left": 650,
        "width": 917,
        "height": 22,
        "minBayNo": 2,
        "maxBayNo": 29
        "minBayNo": 1,
        "maxBayNo": 39
    }],
    "rackDescs": [{
        "type": "rackDescs",
        "id": "lb_desc16",
        "text": "#1",
        "top": 45,
        "left": 1570,
        "width": 30,
        "height": 23
        "type": "rackDescs", "id": "lb_desc16", "text": "#7", "top": 227, "left": 240, "width": 30, "height": 23
    }, {
        "type": "rackDescs",
        "id": "lb_desc1",
        "text": "#12",
        "top": 365,
        "left": 1570,
        "width": 41,
        "height": 23
        "type": "rackDescs", "id": "lb_desc1", "text": "#1", "top": 475, "left": 240, "width": 30, "height": 23
    }, {
        "type": "rackDescs",
        "id": "lb_desc100",
        "text": "<=出库<=",
        "top": 48,
        "left": 550,
        "width": 100,
        "height": 23
    }, {
        "type": "rackDescs",
        "id": "lb_desc103",
        "text": "=>入库=>",
        "top": 138,
        "left": 550,
        "width": 100,
        "height": 23
    }, {
        "type": "rackDescs",
        "id": "lb_desc103",
        "text": "<=出库<=",
        "top": 162,
        "left": 550,
        "width": 100,
        "height": 23
        "type": "rackDescs", "id": "lb_desc100", "text": "=>出库=>=>", "top": 475, "left": 1470, "width": 120, "height": 23
    }],
    "crns": [{
        "type": "crane",
        "id": "crn-1",
        "text": "1",
        "top": 96,
        "left": 739,
        "width": 93,
        "height": 22
        "type": "crane", "id": "crn-1", "text": "1", "top": 423, "left": 300, "width": 93, "height": 22
    }, {
        "type": "track",
        "id": "lb_track1",
        "text": "",
        "top": 106,
        "left": 573,
        "width": 1042,
        "height": 2
        "type": "track", "id": "lb_track1", "text": "", "top": 430, "left": 300, "width": 1170, "height": 2
    }, {
        "type": "crane",
        "id": "crn-2",
        "text": "2",
        "top": 210,
        "left": 739,
        "width": 93,
        "height": 22
        "type": "crane", "id": "crn-2", "text": "2", "top": 340, "left": 300, "width": 93, "height": 22
    }, {
        "type": "track",
        "id": "lb_track2",
        "text": "",
        "top": 220,
        "left": 573,
        "width": 1042,
        "height": 2
        "type": "track", "id": "lb_track2", "text": "", "top": 350, "left": 300, "width": 1170, "height": 2
    }, {
        "type": "crane",
        "id": "crn-3",
        "text": "3",
        "top": 324,
        "left": 739,
        "width": 93,
        "height": 22
        "type": "crane", "id": "crn-3", "text": "3", "top": 256, "left": 300, "width": 93, "height": 22
    }, {
        "type": "track",
        "id": "lb_track3",
        "text": "",
        "top": 334,
        "left": 573,
        "width": 1042,
        "height": 2
        "type": "track", "id": "lb_track3", "text": "", "top": 263, "left": 300, "width": 1170, "height": 2
    }],
    "areas": [{
        "type": "Control_floor",
@@ -222,125 +108,35 @@
            "width": 1374,
            "height": 672,
            "stns": [{
                "type": "stn",
                "id": "site-100",
                "text": "100",
                "top": 69,
                "left": 601,
                "width": 49,
                "height": 20
                "type": "stn", "id": "site-100", "text": "100", "top": 450, "left": 1470, "width": 70, "height": 20
            }, {
                "type": "stn",
                "id": "site-101",
                "text": "101",
                "top": 69,
                "left": 550,
                "width": 49,
                "height": 20
                "type": "stn", "id": "site-101", "text": "101", "top": 450, "left": 1550, "width": 70, "height": 20
            }, {
                "type": "stn",
                "id": "site-102",
                "text": "102",
                "top": 90,
                "left": 550,
                "width": 49,
                "height": 24
                "type": "stn", "id": "site-102", "text": "102", "top": 420, "left": 1550, "width": 70, "height": 24
            }, {
                "type": "stn",
                "id": "site-103",
                "text": "103",
                "top": 115,
                "left": 550,
                "width": 49,
                "height": 20
                "type": "stn", "id": "site-103", "text": "103", "top": 395, "left": 1550, "width": 70, "height": 20
            }, {
                "type": "stn",
                "id": "site-104",
                "text": "104",
                "top": 115,
                "left": 601,
                "width": 49,
                "height": 20
                "type": "stn", "id": "site-104", "text": "104", "top": 395, "left": 1470, "width": 70, "height": 20
            }, {
                "type": "stn",
                "id": "site-200",
                "text": "200",
                "top": 183,
                "left": 601,
                "width": 49,
                "height": 20
                "type": "stn", "id": "site-200", "text": "200", "top": 367, "left": 1470, "width": 70, "height": 20
            }, {
                "type": "stn",
                "id": "site-201",
                "text": "201",
                "top": 183,
                "left": 550,
                "width": 49,
                "height": 20
                "type": "stn", "id": "site-201", "text": "201", "top": 367, "left": 1550, "width": 70, "height": 20
            }, {
                "type": "stn",
                "id": "site-202",
                "text": "202",
                "top": 204,
                "left": 550,
                "width": 49,
                "height": 26
                "type": "stn", "id": "site-202", "text": "202", "top": 335, "left": 1550, "width": 70, "height": 26
            }, {
                "type": "stn",
                "id": "site-203",
                "text": "203",
                "top": 231,
                "left": 550,
                "width": 49,
                "height": 20
                "type": "stn", "id": "site-203", "text": "203", "top": 310, "left": 1550, "width": 70, "height": 20
            }, {
                "type": "stn",
                "id": "site-204",
                "text": "204",
                "top": 231,
                "left": 601,
                "width": 49,
                "height": 20
                "type": "stn", "id": "site-204", "text": "204", "top": 310, "left": 1470, "width": 70, "height": 20
            }, {
                "type": "stn",
                "id": "site-300",
                "text": "300",
                "top": 297,
                "left": 601,
                "width": 49,
                "height": 20
                "type": "stn", "id": "site-300", "text": "300", "top": 280, "left": 1470, "width": 70, "height": 20
            }, {
                "type": "stn",
                "id": "site-301",
                "text": "301",
                "top": 297,
                "left": 550,
                "width": 49,
                "height": 20
                "type": "stn", "id": "site-301", "text": "301", "top": 280, "left": 1550, "width": 70, "height": 20
            }, {
                "type": "stn",
                "id": "site-302",
                "text": "302",
                "top": 318,
                "left": 550,
                "width": 49,
                "height": 26
                "type": "stn", "id": "site-302", "text": "302", "top": 252, "left": 1550, "width": 70, "height": 26
            }, {
                "type": "stn",
                "id": "site-303",
                "text": "303",
                "top": 345,
                "left": 550,
                "width": 49,
                "height": 20
                "type": "stn", "id": "site-303", "text": "303", "top": 227, "left": 1550, "width": 70, "height": 20
            }, {
                "type": "stn",
                "id": "site-304",
                "text": "304",
                "top": 345,
                "left": 601,
                "width": 49,
                "height": 20
                "type": "stn", "id": "site-304", "text": "304", "top": 227, "left": 1470, "width": 70, "height": 20
            }]
        }]
    }]

 src/main/webapp/views/crn.html

@@ -65,6 +65,12 @@
                    <!--            <span>&nbsp;</span>-->
                    <input id="crn2" disabled="disabled">
                </div>
                <div class="crn-command-item">
                    <label>3#</label>
                    <button id="demoBtn-3" class="demoBtn" onclick="demoSwitch(this.id)"> - </button>
                    <!--            <span>&nbsp;</span>-->
                    <input id="crn3" disabled="disabled">
                </div>
            </div>
            <!-- 堆垛机状态位信息 -->
            <div class="crn-state">
@@ -128,11 +134,12 @@
            <!-- 设备任务选择 -->
            <div class="task-select">
                <!-- 堆垛机选择 -->
                <div id="crn-select" class="operator-item" style="width: 55%">
                <div id="crn-select" class="operator-item" style="width: 38%">
                    <span class="select-title">堆垛机号</span>
                    <div class="select-container" style="padding: 20px 0;">
                        <label><input type="radio" name="crnSelect" value="1" checked>&nbsp;1号堆垛机</label>
                        <label><input type="radio" name="crnSelect" value="2">&nbsp;2号堆垛机</label>
                        <label><input type="radio" name="crnSelect" value="3">&nbsp;3号堆垛机</label>
                    </div>
                </div>
                <!-- 源站/源库位 选择 -->
@@ -179,6 +186,28 @@
                        </div>
                    </div>
                </div>
                <!-- 目标站/目标库位 选择 -->
                <div id="end-select" class="operator-item">
                    <span class="select-title">目标站/目标库位</span>
                    <div class="select-container">
                        <div class="select-container-item">
                            <span>站</span>
                            <label><input id="endStaNo" type="number" name="points" min="0" /></label>
                        </div>
                        <div class="select-container-item">
                            <span>排</span>
                            <label><input id="endRow" type="number" name="points" min="1" style="background-color: #a9eeff" value="1" /></label>
                        </div>
                        <div class="select-container-item">
                            <span>列</span>
                            <label><input id="endBay" type="number" name="points" min="0" style="background-color: #a9eeff" value="0" /></label>
                        </div>
                        <div class="select-container-item">
                            <span>层</span>
                            <label><input id="endLev" type="number" name="points" min="1" style="background-color: #a9eeff" value="1" /></label>
                        </div>
                    </div>
                </div>
            </div>

            <!-- 设备任务操作 -->