1.修复拣料回库时拣料出库转历史档 2.生成移动任务修复 3.完善agv搬运入库出库申请

zwl

2025-12-31 759cd0e706e252e907955073eed8e4935b21d9c8

1.修复拣料回库时拣料出库转历史档
2.生成移动任务修复
3.完善agv搬运入库出库申请

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

@@ -61,7 +61,7 @@
    // 反馈任务执行结果
    @GetMapping("/api/robot/reporter/task1")
    public void reporterTask1(){
        Integer sourceStaNo = 401;
        Integer sourceStaNo = 402;
        SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
        boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(3, staProtocol));

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

@@ -25,6 +25,9 @@

    private static final long serialVersionUID = 1L;

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

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

@@ -51,6 +51,9 @@
    @TableField("whs_type")
    private Integer whsType;

    @ApiModelProperty("日志ID")
    private Long logId;

    /**
     * 工作状态
     */

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

@@ -101,6 +101,8 @@

    @Autowired
    private HikUtils hikUtils;
    @Autowired
    private AgvTaskServiceImpl agvTaskService;

    /**
     * 组托
@@ -129,6 +131,38 @@
                //LED
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());

                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                if (staProtocol.isFrontError()) {
                    errMsg = "前超限";
                    back = true;
                }
                if (!back && staProtocol.isBackError()) {
                    errMsg = "后超限";
                    back = true;
                }
                if (!back && staProtocol.isHighError()) {
                    errMsg = "高超限";
                    back = true;
                }
                if (!back && staProtocol.isLeftError()) {
                    errMsg = "左超限";
                    back = true;
                }
                if (!back && staProtocol.isRightError()) {
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.isWeightError()) {
                    errMsg = "超重";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeError()) {
                    errMsg = "扫码失败";
                    back = true;
                }

                // 判断是否满足入库条件
                if (!staProtocol.isLoading()) {
                    continue;
@@ -142,10 +176,25 @@
                        && staProtocol.isPakMk()) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");

                    if (back) {
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = errMsg;
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                        }
                        log.error("输送线异常组托退回={}",errMsg);
                        staProtocol.setWorkNo((short) 9999);

                        staProtocol.setStaNo((short) 0);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        continue;
                    }

                    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)) {
                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)|| "00000000".equals(barcode)) {
//                            staProtocol.setWorkNo((short) 9992);
//                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -541,7 +590,7 @@
                    if (staProtocol.isAutoing()
                            && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && staProtocol.getWorkNo() > 0
                            && staProtocol.getWorkNo() == 9991
                            && staProtocol.isPakMk()) {
                        News.warnNoLog("" + mark + " - 0" + " - 开始执行");

@@ -550,7 +599,21 @@
                        if (barcodeThread == null) {
                            continue;
                        }

                        String name="401";
                        if (staProtocol.getSiteId()==402){
                            name = "402";
                        }
                        String bar = "";
                        Config name1 = configService.selectOne(new EntityWrapper<Config>().eq("name", name));
                        if (!Cools.isEmpty(name1)) {
                            bar = name1.getValue();
                        }

                        String barcode = barcodeThread.getBarcode();
                        if (barcode.equals("00000000")){
                            barcode = bar;
                        }
                        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)) {
@@ -607,7 +670,8 @@
                                throw new CoolException("保存工作明细档历史档失败");
                            }
                            // 保存工作主档历史档
                            if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {

                            if (!wrkMastLogService.save(wrkMast.getWrkNo())) {
                                throw new CoolException("保存工作主档历史档失败");
                            }

@@ -705,12 +769,12 @@
                staProtocol = staProtocol.clone();
            }

            if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
            if (staProtocol.isAutoing() && staProtocol.isLoading()) {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();

                if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
                        && (crnProtocol.statusType == CrnStatusType.PUTTING || crnProtocol.statusType == CrnStatusType.WAITING)) {
                        && crnProtocol.statusType == CrnStatusType.WAITING) {
                    //放货中 或 等待确认
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");

@@ -719,9 +783,6 @@
                            .eq("loc_no", wrkMast.getSourceLocNo()));

                    short staNo = wrkMast.getStaNo().shortValue();
                    if (wrkMast.getStaNo() == 1004) {
                        staNo = 2003;
                    }

                    // 下发站点信息
                    staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
@@ -1169,7 +1230,7 @@
                }
                //查询在库信息
                LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                        .eq("loc_sts", "R")
                        .in("loc_sts", "R","P")
                        .eq("loc_no", wrkMast.getSourceLocNo()));
                if (Cools.isEmpty(locMast)) {
                    News.error("出库 ===>> 库位中没有这笔资料", wrkMast.getSourceLocNo());
@@ -1200,11 +1261,16 @@
                    }
                }

                // 判断堆垛机出库站状态
                // 判断堆垛机出库站状态&& staProtocol.isOutEnable()
                if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                        && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable() && staProtocol.isEmptyOutType()) {
                        && staProtocol.isEmptyOutType()) {
                    // 命令下发区 --------------------------------------------------------------------------

                    //判断是否有正在执行中的AGV任务
                    List<AgvTask> agvTasks = agvTaskService.selectList(new EntityWrapper<AgvTask>().eq("wrk_sts", 302).eq("source_sta_no", staProtocol.getSiteId()));
                    if (agvTasks != null && agvTasks.size() > 0) {
                        continue;
                    }
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
@@ -2007,9 +2073,8 @@
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
            // 命令集合
            List<LedCommand> commands = new ArrayList<>();
//            // 工作档集合
//            List<WrkMast> wrkMasts = new ArrayList<>();
            List<Integer> workNoList = new ArrayList<>();
            // 工作档集合
            List<WrkMast> wrkMasts = new ArrayList<>();
            for (Integer staNo : led.getStaArr()) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -2018,48 +2083,20 @@
                } else {
                    staProtocol = staProtocol.clone();
                }
                Integer wrkNo = null;
                Integer ioType = null;
                Integer targetStaNo = null;
                String sourceLocNo = null;
                String locNo = null;
                String barcode = null;

                // 获取工作档数据
                WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
//                if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
                if (null == wrkMast) {
                    List<WrkMastLog> wrkMastLogs = wrkMastLogService.selectList(new EntityWrapper<WrkMastLog>()
                            .eq("wrk_no", staProtocol.getWorkNo())
                            .orderBy("modi_time", false)
                    );
                    if (wrkMastLogs.isEmpty()) {
                        continue;
                    }

                    WrkMastLog wrkMastLog = wrkMastLogs.get(0);
                    wrkNo = wrkMastLog.getWrkNo();
                    ioType = wrkMastLog.getIoType();
                    sourceLocNo = wrkMastLog.getSourceLocNo();
                    locNo = wrkMastLog.getLocNo();
                    targetStaNo = wrkMastLog.getStaNo();
                    barcode = wrkMastLog.getBarcode();
                }else {
                    wrkNo = wrkMast.getWrkNo();
                    ioType = wrkMast.getIoType();
                    sourceLocNo = wrkMast.getSourceLocNo();
                    locNo = wrkMast.getLocNo();
                    targetStaNo = wrkMast.getStaNo();
                    barcode = wrkMast.getBarcode();
                    continue;
                }
                News.warnNoLog("" + mark + " - 0" + " - 开始执行:出库  ===>> 工作档信息写入led显示器");
                workNoList.add(wrkNo);
                News.warnNoLog(""+mark+" - 0"+" - 开始执行:出库  ===>> 工作档信息写入led显示器");
                wrkMasts.add(wrkMast);
                // 组装命令
                LedCommand ledCommand = new LedCommand();
                ledCommand.setWorkNo(wrkNo);
                ledCommand.setIoType(ioType);
                ledCommand.setWorkNo(wrkMast.getWrkNo());
                ledCommand.setIoType(wrkMast.getIoType());
                // 出库模式
                switch (ioType) {
                switch (wrkMast.getIoType()) {
                    case 1:
                        ledCommand.setTitle("全板入库");
                        break;
@@ -2092,104 +2129,34 @@
                        ledCommand.setTitle("并板入库");
                        break;
                    default:
                        News.error("" + mark + " - 1" + " - 任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkNo, ioType);
                        News.error(""+mark+" - 1"+" - 任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                        break;
                }
                ledCommand.setSourceLocNo(sourceLocNo);
                ledCommand.setLocNo(locNo);
                ledCommand.setStaNo(targetStaNo);
                ledCommand.setBarcode(barcode);
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                ledCommand.setLocNo(wrkMast.getLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
//                ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
                if (ioType != 110 && ioType != 10) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkNo);

                    if (!wrkDetls.isEmpty()) {
                        WrkDetl wrkDetl = wrkDetls.get(0);
                        double anfme = 0D;
                        double weight = 0D;
                        for (WrkDetl detl : wrkDetls) {
                            anfme += detl.getAnfme();
                            weight += detl.getWeight();
                            wrkDetl.setAnfme(anfme);
                            wrkDetl.setWeight(weight);
                        }

                        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>()
                                .eq("loc_no", wrkMast.getSourceLocNo()));
                        double totalAnfme = 0D;
                        double totalWeight = 0D;
                        for (LocDetl locDetl : locDetls) {
                            totalAnfme += locDetl.getAnfme();
                            totalWeight += locDetl.getWeight();
                        }
                        wrkDetl.setStockNum(totalAnfme);
                        wrkDetl.setStockNum2(totalWeight);

                        ledCommand.getMatDtos().add(new MatDto(
                                wrkDetl.getMatnr()
                                , wrkDetl.getMaktx()
                                , wrkDetl.getAnfme()
                                , wrkDetl.getWeight()
                                , wrkDetl.getStockNum()
                                , wrkDetl.getStockNum2()
                                , wrkDetl.getSpecs()
                                , wrkDetl.getSku()
                                , wrkDetl.getZpallet()
                                , wrkDetl.getModel()
                                , wrkDetl.getSupp()
                                , wrkDetl.getKpCstmrName()
                                , wrkDetl.getOrderNo()
                                , wrkDetl.getCstateid$()
                        ));

                    }else {
                        List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectTodayByWrkNo(wrkNo);
                        if(!wrkDetlLogs.isEmpty()) {
                            WrkDetlLog wrkDetlLog = wrkDetlLogs.get(0);

                            double anfme = 0D;
                            double weight = 0D;
                            for (WrkDetlLog detl : wrkDetlLogs) {
                                anfme += detl.getAnfme();
                                weight += detl.getWeight();
                                wrkDetlLog.setAnfme(anfme);
                                wrkDetlLog.setWeight(weight);
                if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                    try{
                        if (wrkMast.getIoType()>100){
                            for (WrkDetl wrkDetl : wrkDetls){
                                LocDetl locDetl = locDetlService.selectMatnrSpecs(wrkDetl.getMatnr(), wrkDetl.getSpecs(), wrkMast.getSourceLocNo());
                                wrkDetl.setWeight(locDetl.getAnfme());
                            }

                            List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>()
                                    .eq("loc_no", sourceLocNo));
                            double totalAnfme = 0D;
                            double totalWeight = 0D;
                            for (LocDetl locDetl : locDetls) {
                                totalAnfme += locDetl.getAnfme();
                                totalWeight += locDetl.getWeight();
                        }else {
                            for (WrkDetl wrkDetl : wrkDetls){
                                wrkDetl.setWeight(wrkDetl.getAnfme());
                            }
                            wrkDetlLog.setStockNum(totalAnfme);
                            wrkDetlLog.setStockNum2(totalWeight);

                            ledCommand.getMatDtos().add(new MatDto(
                                    wrkDetlLog.getMatnr()
                                    , wrkDetlLog.getMaktx()
                                    , wrkDetlLog.getAnfme()
                                    , wrkDetlLog.getWeight()
                                    , wrkDetlLog.getStockNum()
                                    , wrkDetlLog.getStockNum2()
                                    , wrkDetlLog.getSpecs()
                                    , wrkDetlLog.getSku()
                                    , wrkDetlLog.getZpallet()
                                    , wrkDetlLog.getModel()
                                    , wrkDetlLog.getSupp()
                                    , wrkDetlLog.getKpCstmrName()
                                    , wrkDetlLog.getOrderNo()
                                    , wrkDetlLog.getCstateid$()
                            ));
                        }
                    }catch (Exception e){
                        log.error("工作档案明细输入电视机失败1：异常信息==》"+e);
                    }

                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getWeight(),wrkDetl.getSpecs(),wrkDetl.getSku())));
                }
                commands.add(ledCommand);
            }
            Set<Integer> workNos = new HashSet<>(workNoList);
            Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
            // 获取LED线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
            // 相同工作号集合则过滤
@@ -2220,22 +2187,19 @@
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
                    News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    continue;
                } else {
                }else {
                    ledThread.setLedMk(false);
                }
            }

            try {
                // 修改主档led标记
                for (Integer wrkNo : workNoList) {
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", wrkNo));
                    if (wrkMast != null) {
                        wrkMast.setOveMk("Y");
                        wrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.errorNoLog("" + mark + " - 4" + " - 更新工作档失败");
                            throw new CoolException("更新工作档失败");
                        }
                for (WrkMast wrkMast : wrkMasts) {
                    wrkMast.setOveMk("Y");
                    wrkMast.setModiTime(new Date());
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        News.errorNoLog(""+mark+" - 4"+" - 更新工作档失败");
                        throw new CoolException("更新工作档失败");
                    }
                }

@@ -2248,7 +2212,7 @@
            }

        }
        News.infoNoLog("" + mark + " - 0" + " - 出库  ===>> 工作档信息写入led显示器执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 出库  ===>> 工作档信息写入led显示器执行完成");
    }

    /**
@@ -2256,7 +2220,7 @@
     */
    public synchronized void ledReset(Integer mark) {

        News.warnNoLog("" + mark + " - 0" + " - 开始执行:其他  ===>> LED显示器复位，显示默认信息");
        News.warnNoLog(""+mark+" - 0"+" - 开始执行:其他  ===>> LED显示器复位，显示默认信息");
        for (LedSlave led : slaveProperties.getLed()) {

            // 获取输送线plc线程
@@ -2280,13 +2244,13 @@
            if (reset && !ledThread.isLedMk()) {
                ledThread.setLedMk(true);
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
                    News.error("" + mark + " - 1" + " - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    News.error(""+mark+" - 1"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                } else {

                }
            }
        }
        News.infoNoLog("" + mark + " - 0" + " - 执行完成：其他  ===>> LED显示器复位，显示默认信息");
        News.infoNoLog(""+mark+" - 0"+" - 执行完成：其他  ===>> LED显示器复位，显示默认信息");
    }

    /**

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

@@ -77,26 +77,44 @@
                        StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
                        //wcs反馈rcs继续执行
                        if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType()) {
                            RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                            rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
                            rcsTaskContinue.setTriggerType("TASK");
                            rcsTaskContinue.setTriggerCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
                                if(task.getTaskType().equals("AGV补空料架")){
                                    RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                                    rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
                                    rcsTaskContinue.setTriggerType("TASK");
                                    rcsTaskContinue.setTriggerCode(task.getTaskNo()+"-"+(task.getCtnType()-1));

                            String url = HIK_URL + "api/robot/controller/task/extend/continue";
                            String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
                            if (!StringUtils.isEmpty(response) && response.contains("code")) {
                                RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
                                if ("SUCCESS".equals(rcsReturn1.getCode())) {
                                    String url = HIK_URL + "api/robot/controller/task/extend/continue";
                                    String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
                                    if (!StringUtils.isEmpty(response) && response.contains("code")) {
                                        log.info("允许AGV放货成功");
                                    }
                                    // 返回RCS
                                    rcsReturn.setCode("SUCCESS");
                                    rcsReturn.setMessage("");
                                    JSONObject data = new JSONObject();
                                    data.put("robotTaskCode", robotTaskCode);
                                    rcsReturn.setData(data);
                                }else {
                                    //出发PLC站点的扫码器扫码
                                    boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(3, staProtocol));
                                    log.info("AGV放货完成，给站点写9991工作号,下发任务:{},站点:{},agv任务号:{}", result, task.getStaNo(), task.getTaskNo());
                                    if (result) {
                                        log.info("入库站点={}触发扫码成功", staProtocol.getSiteId());
                                        // 返回RCS
                                        rcsReturn.setCode("SUCCESS");
                                        rcsReturn.setMessage("");
                                        JSONObject data = new JSONObject();
                                        data.put("robotTaskCode", robotTaskCode);
                                        rcsReturn.setData(data);
                                        RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                                        rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
                                        rcsTaskContinue.setTriggerType("TASK");
                                        rcsTaskContinue.setTriggerCode(task.getTaskNo()+"-"+(task.getCtnType()-1));

                                        String url = HIK_URL + "api/robot/controller/task/extend/continue";
                                        String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
                                        if (!StringUtils.isEmpty(response) && response.contains("code")) {
                                            log.info("允许AGV放货成功");
                                        }
                                    } else {
                                        // 返回RCS
                                        rcsReturn.setCode("Err_Internal");
@@ -106,7 +124,6 @@
                                        rcsReturn.setData(data);
                                    }
                                }
                            }
                        }
                    }
                    break;
@@ -116,10 +133,19 @@
                        Integer sourceStaNo = Integer.valueOf(task.getStaNo());
                        SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                        StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
                        Boolean boo=false;
                        Short wrkNo = 9991;
                        //放货完成 --》agv已经离开 --》给PLC站点写9991工作号
                        if (staProtocol != null && staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0) {
                            staProtocol.setWorkNo((short) 9991);
                            staProtocol.setStaNo(Short.valueOf(task.getStaNo()));
                        //补空料架 --》agv已经立库 --》给PLC站点写9995工作号
                        if(task.getTaskType().equals("AGV补空料架") && staProtocol != null && !staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0){
                            boo=true;
                            wrkNo = 9995;
                        }else if(!task.getTaskType().equals("AGV补空料架") && staProtocol != null && staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0){
                            boo=true;
                        }
                        if (boo) {
                            staProtocol.setWorkNo(wrkNo);//空料架到位信号点
                            staProtocol.setStaNo(Short.valueOf("0"));
                            boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
                            log.info("AGV放货完成，给站点写9991工作号,下发任务:{},站点:{},agv任务号:{}", result, task.getStaNo(), task.getTaskNo());
                            if (result) {
@@ -141,6 +167,13 @@
                                data.put("robotTaskCode", robotTaskCode);
                                rcsReturn.setData(data);
                            }
                        }else {
                            // 返回RCS
                            rcsReturn.setCode("Err_Internal");
                            rcsReturn.setMessage("");
                            JSONObject data = new JSONObject();
                            data.put("robotTaskCode", robotTaskCode);
                            rcsReturn.setData(data);
                        }
                    }
                    break;
@@ -150,9 +183,8 @@
                        SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                        StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
                        //判断站点是否有料架和托盘
                        if (staProtocol != null && staProtocol.isLoading()
                                && staProtocol.isEmptyOutType()
                                && staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
                        if (staProtocol != null && (staProtocol.isLoading()||task.getTaskType().equals("AGV空料架回缓存区"))
                                && staProtocol.isEmptyOutType()) {
                            RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                            rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
                            rcsTaskContinue.setTriggerType("TASK");
@@ -187,7 +219,7 @@
                        SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                        StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
                        //放货完成 --》agv已经离开 --》给PLC站点写9991工作号
                        if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType() && staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
                        if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType()) {
                            staProtocol.setWorkNo((short) 0);
                            staProtocol.setStaNo((short) 0);
                            boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));

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

@@ -1,17 +1,40 @@
package com.zy.asrs.service.impl;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.exception.CoolException;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.mapper.WrkMastLogMapper;
import com.zy.asrs.entity.WrkMastLog;
import com.zy.asrs.service.WrkMastLogService;
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import com.zy.asrs.service.WrkMastService;
import org.springframework.beans.BeanUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.Objects;

@Service("wrkMastLogService")
public class WrkMastLogServiceImpl extends ServiceImpl<WrkMastLogMapper, WrkMastLog> implements WrkMastLogService {
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private WrkMastLogService wrkMastLogService;

    @Override
    public boolean save(Integer workNo) {
        return this.baseMapper.save(workNo) > 0;
        WrkMast mast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", workNo));
        if (Objects.isNull(mast)) {
            throw new CoolException("数据错误：任务不存在！！");
        }
        WrkMastLog mastLog = new WrkMastLog();
        BeanUtils.copyProperties(mast, mastLog);
        mastLog.setLogId(mast.getId());

        if (!wrkMastLogService.insert(mastLog)) {
            throw new CoolException("任务日志保存失败！！");
        }
        return true;
    }

}

 src/main/java/com/zy/common/model/MatDto.java

@@ -71,4 +71,14 @@
        this.orderNo = orderNo;
        this.cstateid = cstateid;
    }

    public MatDto(String matNo, String maktx, Double count,Double total,String specs,String sku) {
        this.specs = specs;
        this.matnr = matNo;
        this.maktx = maktx;
        this.maknx = maktx;
        this.count = count;
        this.total = total;
        this.sku = sku;
    }
}

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

@@ -42,12 +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);
@@ -66,7 +66,7 @@


                    // 空托盘入库-立库  ===>> 空栈板初始化入库,叉车入库站放货
                    mainService.storeEmptyPlt(8);
//                    mainService.storeEmptyPlt(8);
                    // 空托盘入库-产线
//                    mainService.storeEmptyPltLine(13);

@@ -83,9 +83,9 @@
//                    mainService.rgvFinished2(14);

                    //堆垛机无任务两分钟，回入库口待机
                    mainService.crnMove();
//                    mainService.crnMove();
                    //堆垛机有入库任务时，回入库口待机
                    mainService.crnMoveByInTask();
//                    mainService.crnMoveByInTask();

                } catch (Exception e) {
                    e.printStackTrace();

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

@@ -181,10 +181,10 @@
                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.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
                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.setxDistance((short) siemensNet.getByteTransform().TransSingle(result.Content, 40));
                crnProtocol.setyDistance((short) siemensNet.getByteTransform().TransSingle(result.Content, 44));
                crnProtocol.setxDuration((short) siemensNet.getByteTransform().TransSingle(result.Content, 48));
                crnProtocol.setyDuration((short) siemensNet.getByteTransform().TransSingle(result.Content, 52));
//                if (slave.getId() == 1) {
//                    crnProtocol.setCrnLane((int) siemensNet.getByteTransform().TransInt16(result.Content, 56));
//                }

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

@@ -238,7 +238,7 @@

        //外形检测
        Integer[] arr={401,402};
        OperateResultExOne<byte[]> resultErr1 = siemensS7Net.Read("DB101.700.0", (short) (arr.length*6));
        OperateResultExOne<byte[]> resultErr1 = siemensS7Net.Read("DB101.702.0", (short) (arr.length*6));
        for (int i = 0; i < arr.length; i++) {
            StaProtocol staProtocol1 = station.get(arr[i]);
            if(resultErr1.IsSuccess){

 src/main/resources/application.yml

@@ -147,7 +147,7 @@
    # 出库口1
    outSta[1]:
      staNo: 402
      led: ${wcs-slave.led[0].id}
      led: ${wcs-slave.led[1].id}
  # 输送线2
#  devp[1]:
#    id: 2

 src/main/resources/mapper/WrkMastMapper.xml

@@ -104,7 +104,7 @@
    </select>

    <select id="selectPickStep" resultMap="BaseResultMap">
        select top 1 * from asr_wrk_mast where barcode=#{barcode} and wrk_sts=14 and (io_type=103 or io_type=107 or io_type=104)
        select top 1 * from asr_wrk_mast where barcode=#{barcode} and wrk_sts=20 and (io_type=103 or io_type=107 or io_type=104)
    </select>

    <select id="selectPakOutStep1" resultMap="BaseResultMap">