#

1

2025-05-08 62dd8d27361ae16c45c227c87a3d0feb4c8248a8

#

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

@@ -389,7 +389,7 @@
                if(Cools.isEmpty(staDesc)){
                    return R.error("入库路劲不存在");
                }
                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo()));
                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo(),staDesc.getCrnStn()));

            }else if(param.getIoType() == 2){
                //出库任务创建
@@ -400,7 +400,7 @@
                if(Cools.isEmpty(staDesc)){
                    return R.error("出库路劲不存在");
                }
                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo()));
                r = openService.taskCreate(new TaskCreateParam(param,staDesc.getCrnNo(),staDesc.getCrnStn()));
            }else if (param.getIoType() == 3){
                LocMast locMast2 = locMastService.selectByLocNo(param.getTargetPoint());
                if(Cools.isEmpty(locMast2)){

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

@@ -221,7 +221,7 @@
                        basDevp.setOutEnable(outEnable ? "Y" : "N");
                    }
                    basDevpService.updateById(basDevp);
                    boolean result = CommandUtils.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    if (result) {
                        return R.ok();
                    } else {

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

@@ -101,7 +101,7 @@
    @TableField("ORIGIN_START_POINT")
    private String originStartPoint;

    @ApiModelProperty(value = "原始起点")
    @ApiModelProperty(value = "原始终点")
    @TableField("ORIGIN_TARGET_POINT")
    private String originTargetPoint;

@@ -355,7 +355,7 @@


    public Integer getTargetPointConvert(){
        switch (targetPoint){
        switch (originTargetPoint){
            case "11":
                return 11;
            default:

 src/main/java/com/zy/asrs/entity/param/TaskCreateParam.java

@@ -14,12 +14,14 @@

    //起点
    private String startPoint;
    private Integer startPointSta;

    //优先级
    private Integer taskPriority;

    //终点
    private String targetPoint;
    private Integer targetPointSta;

    //是否空托盘            Y:是 N：否
    private String emptyContainer;
@@ -77,6 +79,19 @@
        this.crn = crn;
    };

    public TaskCreateParam(CarryParam param, Integer crn,Integer crnSta){
        this.taskNo = param.getTaskNo();
        this.ioType = param.getIoType();
        this.barcode = param.getBarcode();
        this.taskPriority = param.getTaskPriority();
        this.startPoint = param.getStartPoint();
        this.targetPoint = param.getTargetPoint();
        this.emptyContainer = "N";
        this.crn = crn;
        this.startPointSta = crnSta;
        this.targetPointSta = crnSta;
    };


    public static Integer convertParamIoType(String paramIoType){
        switch (paramIoType){

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

@@ -12,10 +12,7 @@
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.CommandUtils;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.TrackRangeUtils;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.*;
import com.zy.common.model.MatDto;
import com.zy.common.service.CommonService;
import com.zy.common.utils.CollectionUtils;
@@ -465,7 +462,8 @@

                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading()
                            && staProtocol.isInEnable() && (workNo == 0 || (workNo>9000 && workNo<10000))
//                            && staProtocol.isInEnable()
                            && (workNo == 0 || (workNo>9000 && workNo<10000))
                            && staProtocol.isPakMkWalk()
                    ) {
                        if (inSta.isBarcodeSign()){
@@ -529,9 +527,21 @@
                                        return;
                                    } else {
                                        staProtocol.setWorkNo(taskWrk1.getWrkNo());
                                        staProtocol.setStaNo(staDesc.getCrnStn());
                                        staProtocol.setStaNo(BarcodeUtils.getStaNo(staProtocol.getSiteId()));
                                        devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                                        Date now = new Date();
//                                        taskWrk1.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
//                taskWrk.setAssignTime(now);//派发时间
                                        taskWrk1.setExecuteTime(now);
                                        taskWrk1.setWrkSts(2);//工作状态 3.吊车入库
                                        taskWrk1.setCrnNo(staDesc.getCrnNo());//堆垛机号
                                        taskWrk1.setModiTime(now);
                                        taskWrk1.setModiUser(9988L);
                                        taskWrkService.updateById(taskWrk1);


                                    }
                                }
                                return;
@@ -595,7 +605,7 @@
                            log.info("下发输送线任务：taskWrk:" + JSON.toJSONString(taskWrk));
//                            R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
                            staProtocol.setWorkNo(taskWrk.getWrkNo());
                            staProtocol.setStaNo(staDesc.getCrnStn());
                            staProtocol.setStaNo(BarcodeUtils.getStaNo(staProtocol.getSiteId()));
                            boolean offer = false;
                            try {
                                offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
@@ -1345,7 +1355,7 @@
        if (rgvProtocol == null || rgvTaskProtocol == null) {
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 || rgvProtocol.getRgvPosDestination() == 0L
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }
@@ -1373,8 +1383,9 @@
        // 判断是否满足取货条件
        if (staProtocol.isAutoing()
//                && staProtocol.isLoading()
                && staProtocol.isStaOk()
                && staProtocol.getWorkNo() != 0) {
            TaskWrk taskWrk = taskWrkService.selectByTaskNo(staProtocol.getWorkNo().toString());
            TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo());
            if (taskWrk != null) {
                return taskWrk;
            }
@@ -1596,7 +1607,8 @@
                if (taskWrk == null) {
                    return false;
                }
                Integer targetPointConvert = taskWrk.getTargetPointConvert();
//                Integer targetPointConvert = taskWrk.getTargetPointConvert();
                Integer targetPointConvert = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
                if (targetPointConvert == null) {
                    return false;
                }
@@ -1609,7 +1621,7 @@
                BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
                //执行
                issuedTake.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
                issuedTake.setTaskStatus(1);
                issuedTake.setTaskStatus(2);
                issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
                issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
                issuedTake.setIsRunning(1);
@@ -1617,7 +1629,7 @@


                issuedPut.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
                issuedPut.setTaskStatus(2);
                issuedPut.setTaskStatus(3);
                issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
                issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
                issuedPut.setIsRunning(1);

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

@@ -107,7 +107,8 @@
//                taskWrk.setTargetPoint(Utils.getWcsLocNo(param.getTargetPoint()));//终点  转换下
                taskWrk.setTargetPoint(param.getTargetPoint());//终点
                taskWrk.setStartPoint(param.getStartPoint());
                taskWrk.setOriginStartPoint(param.getStartPoint());
                taskWrk.setOriginStartPoint(param.getStartPointSta().toString());
                taskWrk.setOriginTargetPoint(param.getTargetPointSta().toString());
            }

        } else if (param.getIoType() == 2) {
@@ -117,11 +118,15 @@
                taskWrk.setTargetPoint(param.getTargetPoint());
            }
            taskWrk.setTargetPoint(param.getTargetPoint());
            taskWrk.setOriginStartPoint(param.getStartPointSta().toString());
            taskWrk.setOriginTargetPoint(param.getTargetPointSta().toString());
        }else if (param.getIoType() == 3){
            taskWrk.setWrkSts(11);
            if (!Cools.isEmpty(param.getStartPoint())) {
                taskWrk.setStartPoint(param.getStartPoint());//起点
                taskWrk.setTargetPoint(param.getTargetPoint());
                taskWrk.setOriginStartPoint(param.getStartPointSta().toString());
                taskWrk.setOriginTargetPoint(param.getTargetPointSta().toString());
            }
        }


 src/main/java/com/zy/asrs/utils/BarcodeUtils.java

New file
@@ -0,0 +1,55 @@
package com.zy.asrs.utils;

import java.util.ArrayList;

public class BarcodeUtils {

    public static final ArrayList<Integer> staNos1 = new ArrayList<Integer>() {{
        add(1001);add(1002);add(1003);add(1004);add(1005);add(1006);add(1007);
        add(1008);add(1009);add(1010);add(1011);add(1012);add(1013);add(1014);add(1015);
        add(1016);add(1017);add(1018);add(1019);add(1020);add(1021);add(1022);add(1023);
    }};

    public static final ArrayList<Integer> staNos2 = new ArrayList<Integer>() {{
        add(1001);add(1002);add(1003);add(1004);add(1005);add(1006);add(1007);
        add(1008);add(1009);add(1010);add(1011);add(1012);add(1013);add(1014);add(1015);
        add(1016);add(1017);add(1018);add(1019);add(1020);add(1021);add(1022);add(1023);
    }};

    public static Integer getStaNo(Integer staNo) {
        switch (staNo){
            case 1021:
                return 1020;
            case 1012:
                return 1014;
            case 1005:
                return 1004;
            default:
                return staNo;
        }
    }
    public static Integer getStartStaNo(String staNo) {
        switch (staNo){
            case "1021":
                return 1020;
            case "1012":
                return 1014;
            case "1005":
                return 1004;
            default:
                return Integer.getInteger(staNo);
        }
    }
    public static Integer getOutStaNo(String staNo) {
        switch (staNo){
            case "1021":
                return 1020;
            case "1012":
                return 1009;
            case "1005":
                return 1004;
            default:
                return Integer.parseInt(staNo);
        }
    }
}

 src/main/java/com/zy/asrs/utils/RouteUtils.java

@@ -127,6 +127,7 @@
            for (BasDevpPosition basDevpPosition : basDevpPositions) {
                if (basDevpPosition.getPlcPosition().equals(position)) {
                    basDevpPositionSort.add(basDevpPosition);
                    basDevpPositions.remove(basDevpPosition);
                    break;
                }
            }

 src/main/java/com/zy/core/cache/TaskProtocolCache.java

@@ -71,7 +71,7 @@
        try {
            List<TaskProtocol> allTakeTaskProtocol = new ArrayList<>();
            for (TaskProtocol task : cache.values()) {
                if (task.getTaskStatus()==1) {
                if (task.getTaskStatus()==2) {
                    allTakeTaskProtocol.add(task);
                }
            }
@@ -89,7 +89,7 @@
        try {
            List<TaskProtocol> allPutTaskProtocol = new ArrayList<>();
            for (TaskProtocol task : cache.values()) {
                if (task.getTaskStatus()==2) {
                if (task.getTaskStatus()==3) {
                    allPutTaskProtocol.add(task);
                }
            }
@@ -107,7 +107,7 @@
        try {
            List<TaskProtocol> allWalkTaskProtocol = new ArrayList<>();
            for (TaskProtocol task : cache.values()) {
                if (task.getTaskStatus()==0) {
                if (task.getTaskStatus()==1) {
                    allWalkTaskProtocol.add(task);
                }
            }

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

@@ -3,10 +3,10 @@
public enum RgvModeType {

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


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

@@ -45,6 +45,7 @@

    // 低
    private boolean low;
    private boolean staOk;

    // 锁定标记
    private boolean pakMk = true;

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

@@ -15,7 +15,7 @@

    private volatile int taskStatus = 0; //作业模式  1：行走  2：取  3：放  0:无

    private volatile boolean direction; // 执行方向（面朝轨道 定位值左小右大）  true:左   false:右
    private volatile boolean direction; // 执行方向（面朝轨道 定位值左小右大）  true:左   false:右  执行方向（面朝轨道  1:自己  2 轨道   true:自己   false:轨道

    public TaskProtocol(){}

@@ -40,8 +40,10 @@
        switch (taskStatus){
            case 1:
                taskStatusStr = "Tack";
                break;
            case 2:
                taskStatusStr = "Put";
                break;
        }
        return taskNo+"_"+taskStatusStr;
    }

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

@@ -83,7 +83,7 @@
            new Thread(this::taskWalkIssued).start();

            // 启动任务完成线程
//            new Thread(this::taskComplete).start();
            new Thread(this::taskComplete).start();
        }
    }

@@ -108,6 +108,21 @@
     * 完成
     */
    private void taskComplete() {
        while (true) {
            try {
                Thread.sleep(100);
                OperateResultExOne<byte[]> result = siemensNet.Read("DB100.12", (short) 1);
                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);
                if (status[0]){
                    OperateResult result4 = siemensNet.Write("DB100.12.0", true);
                }
            } catch (Exception e) {
                log.error("RGV数据读取线程异常！！！" + e.getMessage());
                initRgv();
//                e.printStackTrace();
            }

        }

    }

@@ -168,6 +183,9 @@
                if (rgvTaskProtocol.getAvoid() != 0) {
                    continue;
                }
                if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)){
                    continue;
                }

                List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getTakeOrPutTaskProtocol(rgvProtocol.getLoaded());
                for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
@@ -183,7 +201,7 @@
                        Thread.sleep(100);
                        TaskProtocol issued = new TaskProtocol(taskProtocol);
                        write(issued);
                        taskProtocol.setIsRunning(taskProtocol.getIsRunning() + 1);
                        taskProtocol.setIsRunning(4);
                        taskProtocolCache.updateTaskProtocol(taskProtocol);
                        break;
                    }
@@ -390,7 +408,7 @@
            rgvTaskProtocol = new RgvTaskProtocol();
            rgvTaskProtocol.setRgvNo(slave.getId());
        }
        rgvTaskProtocol.setAvoid(-1);
        rgvTaskProtocol.setAvoid(0);
        rgvTaskProtocol.setAvoidingTheDestination(0L);

        RgvStatusCache.updateRgvStatus(rgvProtocol);
@@ -425,7 +443,7 @@
     */
    private void readStatus() {
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 18);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 19);
            if (result.IsSuccess) {
                // 构建设备状态对象
                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
@@ -436,6 +454,9 @@

                rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 0));
                rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result.Content, 4));
                if (rgvProtocol.getRgvPosDestination()==0L){
                    rgvProtocol.setRgvPosDestination(rgvProtocol.getRgvPos());
                }
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 8));
                rgvProtocol.setTaskNo((long)siemensNet.getByteTransform().TransInt32(result.Content, 10));

@@ -445,6 +466,10 @@
//                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
//                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
//                rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));

//                OperateResultExOne<byte[]> result11 = siemensNet.Read("DB100.12", (short) 1);
                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 18, 1);
                rgvProtocol.setLoaded(status[0]? (short)1:(short)0);

                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId()));
//                // 工位1复位信号
@@ -511,9 +536,14 @@
//        array[2] = taskProtocol.getTaskMode();
//        array[4] = command.getDestinationStaNo();
//        array[10] = taskProtocol.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", taskProtocol.getTaskNo());
        OperateResult result1 = siemensNet.Write("DB100.1", taskProtocol.isDirection()); // 执行方向（面朝轨道 定位值左小右大）    true:左   false:右
        int taskStatus = taskProtocol.getTaskStatus();

        OperateResult result = siemensNet.Write("DB100.0", taskProtocol.getTargetPosition().intValue());
        OperateResult result1 = siemensNet.Write("DB100.4", (short) taskStatus);
        OperateResult result2 = siemensNet.Write("DB100.6", taskProtocol.getTaskNo().intValue());
        OperateResult result3 = siemensNet.Write("DB100.10", taskProtocol.isDirection()? (short) 1 :  (short) 2); // 执行方向（面朝轨道 定位值左小右大）    true:左   false:右

        OperateResult result4 = siemensNet.Write("DB100.12.0", true);
//        if (taskProtocol.getAckFinish1() == 0) {
//            short commandFinish = 3;  //工位1、2任务同时写入
//            Thread.sleep(100L);

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

@@ -155,7 +155,7 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 58);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
@@ -182,7 +182,7 @@
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));
                crnProtocol.setLaneNo((int)siemensNet.getByteTransform().TransInt16(result.Content, 54));//巷道号
                crnProtocol.setLaneNo((int)siemensNet.getByteTransform().TransInt16(result.Content, 56));//巷道号

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


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

@@ -54,7 +54,7 @@
    /**
     * 条码数量
     */
    private int barcodeSize = 2;
    private int barcodeSize = 3;

    /**
     * 入出库模式
@@ -191,11 +191,12 @@
                staProtocol.setInEnable(status[2]); // 可入
//                staProtocol.setInEnable(true); // 可入
                staProtocol.setOutEnable(status[3]);// 可出
//                staProtocol.setOutEnable(true);// 可出
                staProtocol.setOutEnable(true);// 可出
                staProtocol.setEmptyMk(status[4]);  // 空板信号
                staProtocol.setFullPlt(status[5]);  // 满托盘
                staProtocol.setHigh(status[6]);     // 高库位
                staProtocol.setLow(status[7]);      // 低库位
                staProtocol.setStaOk(status[8]);      // 就绪



@@ -212,7 +213,7 @@

        //条码
        Thread.sleep(200);
        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.100.0",(short) (barcodeSize*8));
        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.840.0",(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");
@@ -266,26 +267,26 @@

        int index = staNos.indexOf(staProtocol.getSiteId());

        //更新命令日志
        CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
        CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
        CommandInfo commandInfo = commandInfoService.selectById(staProtocol.getCommandId());
        CommandInfoLog commandInfoLog = new CommandInfoLog();
        if (commandInfo != null) {
            commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
            commandInfoLog.setId(null);
        }else {
            Date now = new Date();
            commandInfoLog.setCommand(JSON.toJSONString(staProtocol));
            commandInfoLog.setCommandStatus(3);
            commandInfoLog.setStartTime(now);
            commandInfoLog.setExecuteTime(now);
            commandInfoLog.setCompleteTime(now);
            commandInfoLog.setDevice(SlaveType.Devp.toString());
            commandInfoLog.setWrkNo(9999);
            commandInfoLog.setTaskNo("9999");
            commandInfoLog.setCommandDesc("手动命令");
        }
//        //更新命令日志
//        CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
//        CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
//        CommandInfo commandInfo = commandInfoService.selectById(staProtocol.getCommandId());
//        CommandInfoLog commandInfoLog = new CommandInfoLog();
//        if (commandInfo != null) {
//            commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
//            commandInfoLog.setId(null);
//        }else {
//            Date now = new Date();
//            commandInfoLog.setCommand(JSON.toJSONString(staProtocol));
//            commandInfoLog.setCommandStatus(3);
//            commandInfoLog.setStartTime(now);
//            commandInfoLog.setExecuteTime(now);
//            commandInfoLog.setCompleteTime(now);
//            commandInfoLog.setDevice(SlaveType.Devp.toString());
//            commandInfoLog.setWrkNo(9999);
//            commandInfoLog.setTaskNo("9999");
//            commandInfoLog.setCommandDesc("手动命令");
//        }

        OperateResult writeResult;
        //任务下发次数
@@ -293,15 +294,15 @@
        //任务下发成功标识
        boolean writeFlag = false;
        while(writeCount < 5){
            OperateResult writeResult1 = siemensS7Net.Write("DB100." + index*6, staProtocol.getWorkNo());    // 工作号
            OperateResult writeResult2 = siemensS7Net.Write("DB100." + (index*6+4), staProtocol.getStaNo());    // 目标站
            OperateResult writeResult1 = siemensS7Net.Write("DB101." + index*8, staProtocol.getWorkNo());    // 工作号
            OperateResult writeResult2 = siemensS7Net.Write("DB101." + (index*8+4), staProtocol.getStaNo().shortValue());    // 目标站
            if(writeResult1.IsSuccess && writeResult2.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> readResult = siemensS7Net.Read("DB101.0" + index*8, (short)4);

                //更新指令日志
                commandInfoLog.setDeviceLog("指令下发成功");
                commandInfoLogService.insert(commandInfoLog);
//                commandInfoLog.setDeviceLog("指令下发成功");
//                commandInfoLogService.insert(commandInfoLog);

                if(readResult.IsSuccess){
                    Integer workNo = siemensS7Net.getByteTransform().TransInt32(readResult.Content, 0);
@@ -330,8 +331,8 @@
                log.error("写入输送线命令失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);

                //更新指令日志
                commandInfoLog.setDeviceLog("指令下发失败");
                commandInfoLogService.insert(commandInfoLog);
//                commandInfoLog.setDeviceLog("指令下发失败");
//                commandInfoLogService.insert(commandInfoLog);
            }
            Thread.sleep(200);
        }

 src/main/resources/application-prod.yml

@@ -16,7 +16,7 @@
    # 入库口2
    inSta[1]:
      staNo: 1020
      barcode: ${wcs-slave.barcode[1].id}
      barcode: ${wcs-slave.barcode[2].id}
      backSta: 1021
#      led: ${wcs-slave.led[0].id}
    # 空板入库口1
@@ -27,7 +27,7 @@
    # 入库口2
    emptyInSta[1]:
      staNo: 1020
      barcode: ${wcs-slave.barcode[1].id}
      barcode: ${wcs-slave.barcode[2].id}
      backSta: 1021
#      led: ${wcs-slave.led[0].id}
    # 拣料入库口1
@@ -38,24 +38,24 @@
    # 拣料入库口2
    pickSta[1]:
      staNo: 1020
      barcode: ${wcs-slave.barcode[1].id}
      barcode: ${wcs-slave.barcode[2].id}
      backSta: 1021
    # 入库下发口1
    inWalkSta[0]:
      staNo: 1021
      barcode: ${wcs-slave.barcode[0].id}
      barcode: ${wcs-slave.barcode[2].id}
      backSta: 1021
      barcodeSign: false
    # 入库下发口1
    inWalkSta[1]:
      staNo: 1004
      staNo: 1005
      barcode: ${wcs-slave.barcode[0].id}
      backSta: 1004
      backSta: 1005
      barcodeSign: false
    # 入库下发口1
    inWalkSta[2]:
      staNo: 1012
      barcode: ${wcs-slave.barcode[0].id}
      barcode: ${wcs-slave.barcode[1].id}
      backSta: 1012
      barcodeSign: false

@@ -78,21 +78,31 @@
  # RGV穿梭车1
  rgv[0]:
    id: 1
    ip: 10.10.10.49
    ip: 10.10.10.70
    port: 502
    rack: 0
    slot: 0
    otherId: 2
    carBodyJiaoMing: 100
    carBodyKunPeng: 100
    carBodyJiaoMing: 4100
    carBodyKunPeng: 4100
    #RGV源站点
    rgvInSta[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 100
      staNo: 1004
      direction: true
    rgvInSta[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 101
      staNo: 1001
      #执行方向（面朝轨道 定位值左小右大）  true:左   false:右
      direction: false
    rgvInSta[2]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 1014
      #执行方向（面朝轨道 定位值左小右大）  true:左   false:右
      direction: true
    rgvInSta[3]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 1007
      #执行方向（面朝轨道 定位值左小右大）  true:左   false:右
      direction: false
    #RGV目标站点
@@ -108,13 +118,13 @@
  # RGV穿梭车2
  rgv[1]:
    id: 2
    ip: 10.10.10.65
    ip: 10.10.10.71
    port: 502
    rack: 0
    slot: 0
    otherId: 1
    carBodyJiaoMing: 100
    carBodyKunPeng: 100
    carBodyJiaoMing: 4100
    carBodyKunPeng: 4100
    #RGV源站点
    rgvInSta[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
@@ -136,14 +146,18 @@
      #执行方向（面朝轨道 定位值左小右大）  true:左   false:右
      direction: false

  barcode[0]: #条码扫描仪1
  barcode[0]: #条码扫描仪1004
    port: 51236
    ip: 10.10.10.52
    ip: 10.10.101.52
    id: 1
  barcode[1]: #条码扫描仪1
  barcode[1]: #条码扫描仪1无
    port: 51236
    ip: 10.10.10.52
    ip: 10.10.101.52
    id: 2
  barcode[2]: #条码扫描仪1020
    port: 51236
    ip: 10.10.101.52
    id: 3
    # 磅秤
  scale[0]:
    id: 1

 src/main/resources/application.yml

@@ -49,13 +49,13 @@

constant-parameters:
  # 轨道总长
  trackEntireLength: 1737000
  trackEntireLength: 190000
  # 轨道基准点
  trackBenchmark: 1
  # 轨道转换为米比例
  trackProportion: 10000
  # 避让距离
  avoidDistance: 100
  avoidDistance: 4100

wms:
  # 是否开启上报

 src/main/resources/mapper/TaskWrkMapper.xml

@@ -52,6 +52,7 @@
    <select id="selectPakIn" resultMap="BaseResultMap">
        select top 1 * from "SOURCE"."wcs_task_wrk"
        where "STATUS"=1
        and "WRK_STS"=2
        and "CRN_NO"=#{crnNo}
        and "WRK_NO"=#{workNo}
        and "START_POINT"=#{startPoint}

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

@@ -249,7 +249,7 @@
                "id": "site-1004",
                "text": "1004",
                "top": 344,
                "left": 240,
                "left": 287,
                "width": 45,
                "height": 23
            }, {
@@ -257,7 +257,7 @@
                "id": "site-1005",
                "text": "1005",
                "top": 344,
                "left": 287,
                "left": 240,
                "width": 45,
                "height": 23
            }, {
@@ -376,7 +376,7 @@
                "type": "stn",
                "id": "site-1023",
                "text": "1023",
                "top": 59,
                "top": 0,
                "left": 240,
                "width": 92,
                "height": 23
@@ -392,7 +392,7 @@
                "type": "stn",
                "id": "site-1021",
                "text": "1021",
                "top": 0,
                "top": 59,
                "left": 240,
                "width": 45,
                "height": 23
@@ -400,7 +400,7 @@
                "type": "stn",
                "id": "site-1020",
                "text": "1020",
                "top": 0,
                "top": 59,
                "left": 287,
                "width": 45,
                "height": 23