#

lty

2025-09-25 8478a159d79bf9ca5da04ab18562f2d7cdddb05c

#

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

@@ -22,6 +22,7 @@
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.RgvModeType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.RgvTaskStatusType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
@@ -89,16 +90,16 @@
            if (rgvProtocol == null) continue;

            vo.setStatusType(rgvProtocol.modeType.desc);   // 模式状态
//            vo.setStatus(rgvProtocol.getMode().desc); // 状态
            vo.setStatus(String.valueOf(rgvProtocol.getMode())); // 状态
            vo.setWorkNo1(rgvProtocol.getTaskNo1());      // 工位1任务号
            vo.setStatus1(rgvProtocol.getStatusType1().desc); // 工位1状态
            vo.setLoading1(rgvProtocol.getLoaded1() ? "有物" : "无物"); // 工位1有物
            vo.setRgvPos(rgvProtocol.getRgvPos());
            vo.setRgvPos1(rgvProtocol.getRgvPosI());
            vo.setRgvPos1(rgvProtocol.getRgvPosI2());
            vo.setWalkPos(Objects.equals(rgvProtocol.getWalkPos(), 1) ? "在定位" : "不在定位");
            vo.setPakMk(rgvThread.isPakMk() ? "无锁" : "锁定");
            vo.setWorkNo2(rgvProtocol.getTaskNo2());      // 工位2任务号
            vo.setStatus2(rgvProtocol.getStatusType2().desc); // 工位2状态
//            vo.setStatus2(rgvProtocol.getStatusType2().desc); // 工位2状态
            vo.setLoading2(rgvProtocol.getLoaded2() ? "有物" : "无物"); // 工位2有物

            // --- 遍历 errX 字段生成 warnCode 和 alarm ---
@@ -152,22 +153,11 @@
                continue;
            }

            vo.setWorkNo(rgvProtocol.getTaskNo1());  //  任务号
            if (rgvProtocol.getTaskNo1()>0) {
                WrkMast wrkMast = wrkMastService.selectById(rgvProtocol.getTaskNo1());
                if (wrkMast != null) {
                    vo.setStatus(RgvStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
                    vo.setSourceStaNo(wrkMast.getSourceStaNo$());    //  源站
                    vo.setStaNo(wrkMast.getStaNo$());   //  目标站
                    vo.setSourceLocNo(wrkMast.getSourceLocNo());    //  源库位
                    vo.setLocNo(wrkMast.getLocNo());    //  目标库位
                }
            } else {
                vo.setStatus(rgvProtocol.modeType.equals(RgvModeType.AUTO)? rgvProtocol.modeType.desc: RgvModeType.HAND.desc);   //  模式状态
            }
            vo.setXspeed(rgvProtocol.getXSpeed());  //  走行速度（m/min)
            vo.setXdistance(rgvProtocol.getXDistance());  //  走行距离(Km)
            vo.setXduration(rgvProtocol.getXDuration());    //  走行时长(H)
            vo.setWorkNo1(rgvProtocol.getTaskNo1());  //  工位1工作号
            vo.setWorkNo2(rgvProtocol.getTaskNo2()); //工位2 工作号
            vo.setStaNo(String.valueOf(rgvProtocol.getRgvPosDestination())); //小车目标站
            vo.setStatus(rgvProtocol.modeType.equals(RgvModeType.AUTO)? rgvProtocol.modeType.desc: RgvModeType.HAND.desc);   //  模式状态

        }
        return R.ok().add(list);
    }
@@ -195,15 +185,15 @@
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1(false);  // 任务完成确认位
        command.setTaskNo1(0); // 工作号
        command.setTaskNo(0); // 工作号
        command.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
        command.setDestinationStaNo1(param.getStaNo1());  // 目标站
//        command.setDestinationStaNo1(param.getStaNo1());  // 目标站
        command.setAckFinish2(false);  // 任务完成确认位
        command.setTaskNo2(0); // 工作号
        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
//        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand(true);

        return rgvControl(command)? R.ok(): R.error();
@@ -214,16 +204,17 @@
    public R rgvFetch(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1(false);  // 任务完成确认位
        command.setTaskNo1(0); // 工作号
        command.setTaskMode1(RgvTaskModeType.FETCH); // 任务模式: 取货
        command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
        command.setDestinationStaNo1(param.getStaNo1());  // 目标站
        command.setAckFinish2(false);  // 任务完成确认位
        command.setTaskNo2( 0); // 工作号
        command.setTaskMode2(RgvTaskModeType.FETCH); // 任务模式: 取放货
        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setWrkTaskPri(param.getWorkSta());  //执行工位
        command.setTaskNo(Math.toIntExact(param.getWorkNo())); // 工作号
        command.setTaskStatus(RgvTaskStatusType.FETCH); // 任务模式: 取货
        command.setTargetPosition(Integer.valueOf(param.getStaNo()));  // 目标站
//        command.setTaskMode2(RgvTaskModeType.FETCH); // 任务模式: 取放货
//        command.setAckFinish1(false);  // 任务完成确认位
//        command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
//        command.setAckFinish2(false);  // 任务完成确认位
//        command.setTaskNo2( 0); // 工作号
//        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
//        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand(true);

        return rgvControl(command)? R.ok(): R.error();
@@ -234,16 +225,17 @@
    public R rgvPut(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1(false);  // 任务完成确认位
        command.setTaskNo1(0); // 工作号
        command.setTaskMode1(RgvTaskModeType.PUT); // 任务模式: 放货
        command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
        command.setDestinationStaNo1(param.getStaNo1());  // 目标站
        command.setAckFinish2(false);  // 任务完成确认位
        command.setTaskNo2( 0); // 工作号
        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setWrkTaskPri(param.getWorkSta());  //执行工位
        command.setTaskNo(Math.toIntExact(param.getWorkNo())); // 工作号
        command.setTaskStatus(RgvTaskStatusType.PUT); // 任务模式: 取货
        command.setTargetPosition(Integer.valueOf(param.getStaNo()));  // 目标站
//        command.setAckFinish1(false);  // 任务完成确认位
//        command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
//        command.setAckFinish2(false);  // 任务完成确认位
//        command.setTaskNo2( 0); // 工作号
//        command.setTaskMode2(RgvTaskModeType.FETCH); // 任务模式: 取放货
//        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
//        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand(true);

        return rgvControl(command)? R.ok(): R.error();
@@ -257,7 +249,7 @@
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1(true);  // 任务完成确认位
        command.setTaskNo1(0); // 工作号
//        command.setTaskNo1(0); // 工作号
        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
        command.setSourceStaNo1((short) 0); // 源站
        command.setDestinationStaNo1((short) 0);  // 目标站
@@ -280,7 +272,7 @@
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1(true);  // 任务完成确认位
        command.setTaskNo1( 0); // 工作号
//        command.setTaskNo1( 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
        command.setSourceStaNo1((short) 0); // 源站
        command.setDestinationStaNo1((short) 0);  // 目标站
@@ -346,7 +338,7 @@
                if (rgvProtocol == null) {
                    throw new CoolException("RGV不在线");
                }
                if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(4, command))) {
                if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(2, command))) {
                    return true;
                } else {
                    throw new CoolException("命令下发失败");

 src/main/java/com/zy/asrs/domain/param/RgvOperatorParam.java

@@ -11,15 +11,20 @@
    // RGV号
    private Integer rgvNo;

    //工作号
    private Long workNo;

    //执行工位
    private Integer workSta;

    // 工位1源站
    private Short sourceStaNo1;

    // 工位1目标站
    private Short staNo1;


    // 工位2源站
    private Short sourceStaNo2;

    // 工位2目标站
    private Short staNo2;
    // 工位目标站
    private Short staNo;
}

 src/main/java/com/zy/asrs/domain/vo/RgvMsgTableVo.java

@@ -12,8 +12,10 @@
        // RGV号
    private Integer rgvNo;

    // 工作号
    private Integer workNo = 0;
    // 工作号1
    private Integer workNo1 = 0;

    private Integer workNo2 = 0;

    // 状态
    private String status = "-";
@@ -21,6 +23,9 @@
    // 源站
    private String sourceStaNo = "-";

    //执行工位
    private Integer workSta = 0;

    // 目标站
    private String staNo = "-";


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

@@ -111,9 +111,9 @@
    private Integer posLev;

    /**
     * 目标站
     * 执行工位
     */
    @ApiModelProperty(value= "目标站")
    @ApiModelProperty(value= "执行工位")
    @TableField("pos_sta")
    private Integer posSta;

@@ -137,6 +137,7 @@
    @ApiModelProperty(value= "修改人员")
    @TableField("update_by")
    private Long updateBy;


    /**
     * 备注
@@ -188,7 +189,7 @@
        this.updateBy = updateBy;
    }

    public BasRgvOpt(Integer wrkNo1,  Integer rgvNo, Date sendTime, String mode, Integer sourceSta, Integer posSta,  Integer response, Date updateTime, Long updateBy) {
    public BasRgvOpt(Integer wrkNo1,  Integer rgvNo, Date sendTime, String mode, Integer sourceSta, Integer posSta, Date updateTime) {
        this.wrkNo1 = wrkNo1;
        this.rgvNo = rgvNo;
        this.sendTime = sendTime;
@@ -197,7 +198,6 @@
        this.posSta = posSta;
        this.response = response;
        this.updateTime = updateTime;
        this.updateBy = updateBy;
    }

//    BasRgvOpt basRgvOpt = new BasRgvOpt(

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

@@ -27,12 +27,14 @@
    * 查询指定工作号任务
    * */
    WrkMastSta selectByWrkNo(@Param("workNo") Integer workNo);
    WrkMastSta selectByWrkNoPut(@Param("workNo") Integer workNo);

    /*
    * 查询不干涉的可执行任务
    * */
    WrkMastSta selectNoInterfere(@Param("staStarts") List<Integer> staStarts, @Param("staEnds") List<Integer> staEnds,@Param("workNo")Long workNo );
    List<WrkMastSta> selectNoInterfereList(@Param("staStarts") List<Integer> staStarts, @Param("staEnds") List<Integer> staEnds);
    WrkMastSta selectNoInterfereToCrn(@Param("staStarts") List<Integer> staStarts, @Param("staEnds") List<Integer> staEnds,@Param("workNo")Long workNo );


    List<WrkMastSta> selectByWorkStaList(@Param("workSta") Integer workSta, @Param("rgvNo") Short rgvNo);

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

New file
@@ -0,0 +1,7 @@
package com.zy.asrs.service;

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

public interface WrkMastStaService extends IService<WrkMastSta> {
}

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

@@ -99,6 +99,8 @@
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private WrkMastStaService wrkMastStaService;
    @Autowired
    private BasRgvMapService basRgvMapService;
    @Autowired
    private BasArmService basArmService;
@@ -114,7 +116,7 @@
    private Integer inventoryNumber;

    public Integer wrkNo = 10000;

    public static final List<Integer> LEFT_POSITION = Arrays.asList(1018,2018);
    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
@@ -973,7 +975,7 @@
            //mark - 3 - ....
            this.locToLoc(crn, crnProtocol,mark);
            //预调度
            this.crnRebackHp(crnProtocol, crnThread);
//            this.crnRebackHp(crnProtocol, crnThread);

        }
//        News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
@@ -1109,7 +1111,7 @@
                News.error(""+mark+" - 1"+" - 2"+" - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                flag = true;
            }
@@ -2794,103 +2796,103 @@
     * 小车上工位左右移动
     *
     */
    public synchronized boolean rgvStaMove(Long workNo) {
        try {
            for (RgvSlave rgv : slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                } else {
                    rgvProtocol = rgvProtocol.clone();
                }
                if(rgvProtocol.isLoaded2ing() && rgvProtocol.isLoaded1ing()){
                    continue;
                }
                if(rgvProtocol.isLoaded1ing() && !rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo1() != 0){
                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
                    Short moveSta =0;

                    if(wrkMastSta.getStaEnd()< 1036 || (2000 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd()<2031)){
                        moveSta = 2;
                        boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),7,wrkMastSta.getWrkNo(),moveSta);
                        if (!rgvComplete){
                            log.error("小车工位移动失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }
                    }
                }
                if(!rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo2() != 0){
                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
                    Short moveSta =0;

                    if(wrkMastSta.getStaEnd()> 2030 || (1036 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd()<2000)){
                        moveSta = 1;
                        boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),8,wrkMastSta.getWrkNo(),moveSta);
                        if (!rgvComplete){
                            log.error("小车工位移动失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }
                    }
                }


            }
        }catch (Exception e){
            log.error("小车复位线程报错！"+e);
        }
    }
//    public synchronized boolean rgvStaMove(Long workNo) {
//        try {
//            for (RgvSlave rgv : slaveProperties.getRgv()) {
//                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
//                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
//                if (rgvProtocol == null) {
//                    continue;
//                } else {
//                    rgvProtocol = rgvProtocol.clone();
//                }
//                if (rgvProtocol.isLoaded2ing() && rgvProtocol.isLoaded1ing()) {
//                    continue;
//                }
//                if (rgvProtocol.isLoaded1ing() && !rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo1() != 0) {
//                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
//                    Short moveSta = 0;
//
//                    if (wrkMastSta.getStaEnd() < 1036 || (2000 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd() < 2031)) {
//                        moveSta = 2;
//                        boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(), 7, wrkMastSta.getWrkNo(), moveSta);
//                        if (!rgvComplete) {
//                            log.error("小车工位移动失败，小车号{}！", rgvProtocol.getRgvNo());
//                            break;
//                        }
//                    }
//                }
//                if (!rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo2() != 0) {
//                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
//                    Short moveSta = 0;
//
//                    if (wrkMastSta.getStaEnd() > 2030 || (1036 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd() < 2000)) {
//                        moveSta = 1;
//                        boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(), 8, wrkMastSta.getWrkNo(), moveSta);
//                        if (!rgvComplete) {
//                            log.error("小车工位移动失败，小车号{}！", rgvProtocol.getRgvNo());
//                            break;
//                        }
//                    }
//                }
//
//
//            }
//        } catch (Exception e) {
//            log.error("小车复位线程报错！" + e);
//        }
//    }
    /**
     *  完成小车任务
     */
    public synchronized void rgvCompleteWrkMastSta() {
        try{
            for (DevpSlave devp : slaveProperties.getDevp()) {
                List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
            for (RgvSlave rgv : slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }else {
                    rgvProtocol = rgvProtocol.clone();
                }
                BasRgv basRgv = basRgvService.selectById(rgv.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！3", rgv.getId());
                    continue;
                }
                //放货确认
                if(rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
                    boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
                    if (!rgvComplete){
                        log.error("小车放货复位失败，小车号{}！", rgvProtocol.getRgvNo());
                    }
                }
                if(rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
                    boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 6);
                    if (!rgvComplete){
                        log.error("小车放货复位失败，小车号{}！", rgvProtocol.getRgvNo());
                    }
                }

                // 只有当RGV工位1等待WCS确认、自动
                if (rgvProtocol.getStatusType1() == RgvStatusType.WAITING
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                ){

                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType1(),rgvProtocol);
                    if(rgvProtocol.getTaskNo1() == 9999){ // 预调度任务确认
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        Integer staNo = basRgvMap.getNowRoute();
                        switch (staNo){
                            case 1004: staNo = 1042; break;
                            case 1007: staNo = 1105; break;
                        }

                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                        StaProtocol staProtocol = devpThread.getStation().get(staNo);
                        boolean rgvComplete = false;
//    public synchronized void rgvCompleteWrkMastSta() {
//        try{
//            for (DevpSlave devp : slaveProperties.getDevp()) {
//                List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
//            for (RgvSlave rgv : slaveProperties.getRgv()) {
//                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
//                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
//                if (rgvProtocol == null) {
//                    continue;
//                }else {
//                    rgvProtocol = rgvProtocol.clone();
//                }
//                BasRgv basRgv = basRgvService.selectById(rgv.getId());
//                if (basRgv == null) {
//                    log.error("{}号RGV尚未在数据库进行维护！3", rgv.getId());
//                    continue;
//                }
//                //放货确认
//                if(rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
//                    boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
//                    if (!rgvComplete){
//                        log.error("小车放货复位失败，小车号{}！", rgvProtocol.getRgvNo());
//                    }
//                }
//                if(rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
//                    boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 6);
//                    if (!rgvComplete){
//                        log.error("小车放货复位失败，小车号{}！", rgvProtocol.getRgvNo());
//                    }
//                }
//
//                // 只有当RGV工位1等待WCS确认、自动
//                if (rgvProtocol.getStatusType1() == RgvStatusType.WAITING
//                        && rgvProtocol.getModeType() == RgvModeType.AUTO
//                ){
//
//                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType1(),rgvProtocol);
//                    if(rgvProtocol.getTaskNo1() == 9999){ // 预调度任务确认
//                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                        Integer staNo = basRgvMap.getNowRoute();
//                        switch (staNo){
//                            case 1004: staNo = 1042; break;
//                            case 1007: staNo = 1105; break;
//                        }
//
//                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
//                        StaProtocol staProtocol = devpThread.getStation().get(staNo);
//                        boolean rgvComplete = false;

//                        long now = System.currentTimeMillis();
//                        if (staProtocol.isLoading()) {
@@ -2900,43 +2902,31 @@
//                                rgvProtocol.setLoadingStartTime(now);
//                            }
//                        }

                        if (staProtocol.isLoading()) {
                            rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！等待入库取货", rgvProtocol.getRgvNo());
                            }
                        }
                    }
                    if ( rgvProtocol.getTaskNo1()!=9999){
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
                        if(null == wrkMastSta){
                            log.error("小车无任务");
                            continue;
                        }
                        if(wrkMastSta.getWrkSts() == 1){//取货确认
                            if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
                                continue;
                            }
                            wrkMastSta.setUpdateTime(new Date());
                            wrkMastSta.setWrkSts(2);
//                            wrkMastSta.setWorkSta(2);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                                log.error("更新小车任务成功");
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            boolean rgvComplete = false;

                            rgvComplete = rgvStaMove(wrkMastSta.getWrkNo());
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                                break;
                            }
                            break;
                        }
//                        if(wrkMastSta.getWrkSts() == 4){//行走确认
//
//                        if (staProtocol.isLoading()) {
//                            rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
//                            if (!rgvComplete){
//                                log.error("小车复位失败，小车号{}！等待入库取货", rgvProtocol.getRgvNo());
//                            }
//                        }
//                    }
//                    if ( rgvProtocol.getTaskNo1()!=9999 && rgvProtocol.getTaskNo1() != 0){
//                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
//                        if(null == wrkMastSta){
//                            log.error("小车无任务");
//                            continue;
//                        }
//                        if(wrkMastSta.getWrkSts() == 1){//取货确认
////                            if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
////                                continue;
////                            }
//                            boolean rgvComplete = false;
//                            rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),7,wrkMastSta.getWrkNo(),(short)2);
//                            if (!rgvComplete){
//                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
//                                break;
//                            }
//                            wrkMastSta.setUpdateTime(new Date());
//                            wrkMastSta.setWrkSts(2);
//                            try{
//                                wrkMastStaMapper.updateById(wrkMastSta);
@@ -2944,90 +2934,37 @@
//                            }catch (Exception e){
//                                log.error("更新小车任务失败");
//                            }
//                            boolean rgvComplete = false;
//                            break;
//                        }
//                    }
//
//                            rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
//                    else {
//                        log.error("小车复位失败，小车号{},等待wcs确认但是没有工作号！",rgvProtocol.getRgvNo());
//                    }
//                }
//                // 只有当RGV工位2等待WCS确认、自动
//                if (rgvProtocol.getStatusType2() == RgvStatusType.WAITING
//                        && rgvProtocol.getModeType() == RgvModeType.AUTO
//                ){
//                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType2(),rgvProtocol);
//                    if (rgvProtocol.getTaskNo2() !=0 ){
//                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
//                        if(wrkMastSta.getWrkSts() == 1){//取货确认
//                            boolean rgvComplete = false;
//                            rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),8,wrkMastSta.getWrkNo(),(short)1);
//                            if (!rgvComplete){
//                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
//                                break;
//                            }
//                            wrkMastSta.setWrkSts(2);
//                            try{
//                                wrkMastStaMapper.updateById(wrkMastSta);
//                                log.error("更新小车任务成功");
//                            }catch (Exception e){
//                                log.error("更新小车任务失败");
//                            }
//                            break;
//                        }
//                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getWrkSts()!=1){
//                            log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
//                            continue;
//                        }
//
//                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
//                        StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
//                        if (staProtocol == null) {
//                            continue;
//                        } else {
//                            staProtocol = staProtocol.clone();
//                        }
//                        if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
//                            continue;
//                        }
//                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
//                        if (!Cools.isEmpty(wrkMast)){
//                            if (!staProtocol.isPakMk()){
//                                continue;
//                            }
//                            // 下发站点信息
//                            staProtocol.setWorkNo(wrkMast.getWrkNo());
//                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            log.error("rgv任务完成给输送线下发命令："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
//                            if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
//                                continue;
//                            }
//                        }
//                        boolean rgvComplete = false;
//
//                        rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),3);
//                        if (!rgvComplete){
//                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
//                            break;
//                        }
//                        WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1());
//                        wrkMast1.setPdcType("Y");
//
//                        wrkMastService.updateById(wrkMast1);
//
//                        wrkMastSta.setWrkSts(3);
//                        wrkMastStaMapper.updateById(wrkMastSta);
//                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
//                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
                    }

                    else {
                        log.error("小车复位失败，小车号{},等待wcs确认但是没有工作号！",rgvProtocol.getRgvNo());
                    }
                }
                // 只有当RGV工位2等待WCS确认、自动
                if (rgvProtocol.getStatusType2() == RgvStatusType.WAITING
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                ){
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType2(),rgvProtocol);
                    if (rgvProtocol.getTaskNo2() !=0 ){
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
                        if(wrkMastSta.getWrkSts() == 1){//取货确认
                            boolean rgvComplete = false;
                            rgvComplete = rgvComplete2((int) rgvProtocol.getRgvNo(),8,wrkMastSta.getWrkNo());
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                                break;
                            }
                            wrkMastSta.setWrkSts(2);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                                log.error("更新小车任务成功");
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            break;
                        }
//                        if(wrkMastSta.getWrkSts() == 4){//行走后确认
//                            wrkMastSta.setWrkSts(2);
//                            try{
@@ -3082,23 +3019,23 @@
//                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
//                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
                    }
                    else {
                        log.error("小车复位失败，小车号{},等待wcs确认！",rgvProtocol.getRgvNo());
                    }
                }
                //当小车无任务时取消锁定
                if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0){
                    rgvThread.setPakMk(true);
                    rgvThread.setPakIn(true);
                    rgvThread.setPakOut(true);
                }
            }
            }
        }catch (Exception e){
            log.error("小车复位线程报错！"+e);
        }
    }
//                    }
//                    else {
//                        log.error("小车复位失败，小车号{},等待wcs确认！",rgvProtocol.getRgvNo());
//                    }
//                }
//                //当小车无任务时取消锁定
//                if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0){
//                    rgvThread.setPakMk(true);
//                    rgvThread.setPakIn(true);
//                    rgvThread.setPakOut(true);
//                }
//            }
//            }
//        }catch (Exception e){
//            log.error("小车复位线程报错！"+e);
//        }
//    }

    /**
     * rgv放货任务下发
@@ -3117,9 +3054,9 @@
                continue;
            }
            //小车无任务时跳过
//            if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0){
//                continue;
//            }
            if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0){
                continue;
            }
            //入库放货
            if(rgvThread.isPakIn()){
                for(RgvSlave.RgvStn rgvStn : rgv.getRgvInPStn()){//入库放货站点
@@ -3140,8 +3077,7 @@
                        continue;
                    }

                    if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isInEnable()
                            && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                    if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                        flag = true;
                    }
                    if (!flag) {
@@ -3152,40 +3088,23 @@
                        continue;
                    }
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
//                    Integer wrkNo = 0;
                    if(rgvProtocol.getTaskNo2() != 0){
                        wrkNo = rgvProtocol.getTaskNo2();
                    }
//                    else{
//                        wrkNo = rgvProtocol.getTaskNo1();
//                    }
                    if(!rgvProtocol.isLoaded2ing()){
                        continue;
                    }
                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());//根据站点工作号和小车工作范围检索任务档
                    Integer workNo = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2() : rgvProtocol.getTaskNo1(); //入库放货优先工位2执行
                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNoPut(workNo);
                    if( null == wrkMastSta ) {
                        News.infoNoLog( " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                        continue;
                    }
                    if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
                        continue;
                    }

                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null,2); //命令下发
                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
                    if (sign){
                        try{
                            wrkMastSta.setWrkSts(3);
                            wrkMastSta.setWrkSts(2);
                            wrkMastStaMapper.updateById(wrkMastSta);
                            log.error("更新小车任务成功");
                        }catch (Exception e){
                            log.error("更新小车任务失败");
                        }
//                        boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
//                        if (!signMap){
//                            log.error("货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
//                        }
                    } else {
                        log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                    }
@@ -3212,8 +3131,7 @@
                        continue;
                    }

                    if (staProtocol.isAutoing() && !staProtocol.isLoading()   && staProtocol.isOutEnable()
                            && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
                    if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
                        flag = true;
                    }
                    if (!flag) {
@@ -3225,24 +3143,20 @@
                    }
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
//                    Integer wrkNo = 0;
                    if(rgvProtocol.getTaskNo1() != 0){
                        wrkNo = rgvProtocol.getTaskNo1();
                    Integer workNo = 0;
                    if(rgvThread.isPakToCrn()){
                        workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1():rgvProtocol.getTaskNo2();  //正常情况出库放货优先工位1放
                    }else{
                        workNo = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2():rgvProtocol.getTaskNo1();  //接驳情况优先工位2放
                    }
//                    else{
//                        wrkNo = rgvProtocol.getTaskNo2();
//                    }
                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());//根据站点工作号和小车工作范围检索任务档

                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNoPut(workNo);//根据站点工作号和小车工作范围检索任务档

                    if( null == wrkMastSta ) {
                        News.infoNoLog( " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                        News.infoNoLog( " - 1" + " - 4" + " - 查询无待出库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                        continue;
                    }
                    if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
                        continue;
                    }
                    Integer pos = 2;
                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null,pos); //命令下发
                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
                    if (sign){
                        try{
                            wrkMastSta.setWrkSts(3);
@@ -3261,15 +3175,49 @@
            rgvThread.setPakRgv(true);//优先放货完成，开启预调度
        }
    }
    /**
     * rgv任务完成
     */
    public synchronized void rgvTaskComplete(){
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取堆垛机信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }
            Long taskNo1 = Long.valueOf(rgvProtocol.getTaskNo1());
            Long taskNo2 = Long.valueOf(rgvProtocol.getTaskNo2());
            List<WrkMastSta> wrkMastStaList = wrkMastStaService.selectList(
                    new EntityWrapper<WrkMastSta>()
                            .eq("wrk_sts" ,2)
            );
            for(WrkMastSta wrkMastSta : wrkMastStaList){
                if(!Objects.equals(wrkMastSta.getWrkNo(), taskNo1) && !Objects.equals(wrkMastSta.getWrkNo(), taskNo2)){
                    try{
                        wrkMastSta.setWrkSts(3);
                        wrkMastStaMapper.updateById(wrkMastSta);
                        log.info("更新小车工作档至完成成功");
                    }catch (Exception e){
                        log.error("更新小车工作档至完成失败");
                    }
                }
            }
            if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0 && !rgvProtocol.isLoaded1ing() && !rgvProtocol.isLoaded2ing()){
                rgvThread.setPakRgv(true);
                rgvThread.setPakIn(true);
                rgvThread.setPakOut(true);
                rgvThread.setPakToCrn(true);
            }

        }
    }


        /**
         * rgv出入库任务下发
         */
    public synchronized void rgvIoExecute(Integer mark) {
        List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());

        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取堆垛机信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
@@ -3282,11 +3230,8 @@
                log.error("{}号RGV尚未在数据库进行维护！4", rgv.getId());
                continue;
            }

            // 只有当RGV空闲 并且 无任务时才继续执行
            if ((rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE)
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvThread.isPakMk()) {
            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk() && rgvThread.isPakToCrn()) {
                News.warnNoLog(""+mark+" - 0"+" - 开始执行RGV入出库作业下发");
                // 如果最近一次是入库模式
//                rgvRunWrkMastInTest();
@@ -3312,18 +3257,20 @@
                        rgvProtocol.setLastIo("O");
                    }
                }
                WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
                WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
                if(wrkMastSta1 != null && wrkMastSta2 != null){
                    rgvThread.setPakMk(false);  //小车双工位锁定
                }
            }
            if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakIn() && rgvThread.isPakRgv()){
                rgvPreScheduling();//若暂无下发任务预调度提前到取货点
            WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
            WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
            if(wrkMastSta1 != null && wrkMastSta2 != null){
                rgvThread.setPakMk(false);  //小车双工位锁定
            }
            if(!rgvThread.isPakToCrn()){
                rgvRunWrkToCrn(rgv, rgvProtocol,mark); //若小车取到一个接驳任务，第二个工位只能取接驳任务
            }
//            if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakIn() && rgvThread.isPakRgv()){
//                rgvPreScheduling();//若暂无下发任务预调度提前到取货点
//            }

            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO) {
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
                //小车执行放货任务
                rgvOutExecute();

@@ -3374,12 +3321,10 @@
    public synchronized void rgvRunWrkMastIn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark) {
        for (RgvSlave.RgvStn rgvStn : slave.getRgvInTStn()) {//rgv入库取货站点
            boolean flag = false;
            boolean ds = false;
            //遍历rgv入库取货站点
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
            StaProtocol staProtocol2 = null;

            StaProtocol staProtocol2 = null;  //连续取货任务站点
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
            if(rgvStn.getStaNo2()!= null ){
                staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
@@ -3401,15 +3346,12 @@
            } else {
                staProtocol = staProtocol.clone();
            }

            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
            if (staDetl == null) {
                News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
                continue;
            }


            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                flag = true;
@@ -3417,21 +3359,25 @@
            if (!flag) {
                News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv入库取货站信息(以下需要全true):"
                        + "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
                        + "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isInEnable()
                        + "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
                        + "工作号>0" + staProtocol.getWorkNo() + "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
                continue;
            }
            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//            List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
//            WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getWorkNo());//根据站点工作号和小车工作范围检索任务档

            List<Integer> route = new ArrayList<>();
            switch (rgvProtocol.getRgvNo()){
                case 1: route = RouteUtils.getRouteOne();break;
                case 2: route = RouteUtils.getRouteTwo();break;
            }
            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
            if( null == wrkMastSta ) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                continue;
            }
            WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
            WrkMastSta wrkMastSta2 = null;
            if(rgvProtocol.getTaskNo2() != null){
                wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
            }
            boolean result = false;
            if(wrkMastSta2 != null && rgvProtocol.getRgvNo() == 1){ //距离计算   2楼单入库口不需要计算
                 result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta2.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
@@ -3442,31 +3388,20 @@
            }
            wrkMastSta.setWorkSta(wrkMastSta2 !=null ? 1 : 2);
            wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
            Short direction = 2;//双工位最终抵达位置
            boolean sign = false;
//            if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
//                continue;
//            }
            if(Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd()) && wrkMastSta.getWrkSts() == 4){
                wrkMastSta.setWrkSts(1);
            sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
            if (sign){
                if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
                    rgvThread.setPakToCrn(false); //锁定小车只能接接驳任务
                }
                rgvThread.setPakOut(false);//出库不允许
                try{
                    wrkMastSta.setWrkSts(1);
                    wrkMastStaMapper.updateById(wrkMastSta);
                    log.error("更新小车任务成功");
                }catch (Exception e){
                    log.error("更新小车任务失败");
                }
            }
            //若取货为工位2且取货口前一站点有物，给双工位同时下发指令
            if(wrkMastSta.getWorkSta() == 2 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0 && sign){
//                WrkMastSta wrkMastSta3 = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol2.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
//                wrkMastSta3.setWorkSta(1);
//                wrkMastSta3.setRgvNo((int) rgvProtocol.getRgvNo());
//                sign =  rgvTakeFullAll2(basRgvMap.getRgvNo(), wrkMastSta, wrkMastSta3);
            }else{
                sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction,1); //命令下发
            }
            if (sign){
                rgvThread.setPakOut(false);//出库不允许
            } else {
                log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
            }
@@ -3525,47 +3460,131 @@
                continue;
            }
            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//            List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getWorkNo());//根据站点工作号和小车工作范围检索任务档
            List<Integer> route = new ArrayList<>();
            switch (rgvProtocol.getRgvNo()){
                case 1: route = RouteUtils.getRouteOne();break;
                case 2: route = RouteUtils.getRouteTwo();break;
            }
            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
            if( null == wrkMastSta ) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                continue;
            }
            WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
            WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
            boolean result = false;
            if(wrkMastSta2 != null && rgvProtocol.getRgvNo() == 1){ //距离计算   2楼单入库口不需要计算
                result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta2.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
            if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //距离计算   2楼单入库口不需要计算
                result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
            }
            if(result){//若小车距离放货点距离近于取货点则跳过取货 true跳过取货/false优先取货
                rgvThread.setPakRgv(false);
                continue;
            }
            WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
            wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//若1号工位有任务给2号工位
            wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
            boolean sign = false;
            Short direction = 1;//工位1方向
            //若取货为工位2且取货口前一站点有物，给双工位同时下发指令
            if(Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd()) && wrkMastSta.getWrkSts() == 4){
                wrkMastSta.setWrkSts(1);
            sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
            if (sign){
                rgvThread.setPakIn(false);//入库不允许
                try{
                    wrkMastSta.setWrkSts(1);
                    wrkMastStaMapper.updateById(wrkMastSta);
                    log.error("更新小车任务成功");
                }catch (Exception e){
                    log.error("更新小车任务失败");
                }
            } else {
                log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
            }
            if(wrkMastSta.getWorkSta() == 1 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0 && sign){
//                WrkMastSta wrkMastSta3 = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol2.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
//                wrkMastSta3.setWorkSta(2);
//                wrkMastSta3.setRgvNo((int) rgvProtocol.getRgvNo());
//                sign =  rgvTakeFullAll2(basRgvMap.getRgvNo(), wrkMastSta, wrkMastSta3);
            }else{
                sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction,2); //命令下发


        }
    }

    /**
     * 小车出库接驳任务取货下发
     */
    public synchronized void rgvRunWrkToCrn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
        for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv出库取货站点
            boolean flag = false;
            //遍历rgv入库取货站点
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
            StaProtocol staProtocol2 = null;
            if(rgvStn.getStaNo2()!= null ){
                staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
                if (staProtocol2 == null) {
                    News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
                    continue;
                } else {
                    staProtocol2 = staProtocol2.clone();
                }
                BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
                if (staDetl2 == null) {
                    News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
                    continue;
                }
            }
            if (staProtocol == null) {
                News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv出库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }

            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
            if (staDetl == null) {
                News.error("" + mark + " - 1" + " - 2" + " - 出库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
                continue;
            }

            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
                    && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
                flag = true;
            }
            if (!flag) {
                News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv出库取货站信息(以下需要全true):"
                        + "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
                        + "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isOutEnable()
                        + "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanouting());
                continue;
            }
            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
            List<Integer> route = new ArrayList<>();
            switch (rgvProtocol.getRgvNo()){
                case 1: route = RouteUtils.getRouteOne();break;
                case 2: route = RouteUtils.getRouteTwo();break;
            }
            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfereToCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
            if( null == wrkMastSta ) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                continue;
            }
            WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
            boolean result = false;
            if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //距离计算   2楼单入库口不需要计算
                result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
            }
            if(result){//若小车距离放货点距离近于取货点则跳过取货 true跳过取货/false优先取货
                rgvThread.setPakRgv(false);
                continue;
            }
            wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//若1号工位有任务给2号工位
            wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
            boolean sign = false;
            sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
            if (sign){
                rgvThread.setPakIn(false);//入库不允许
                try{
                    wrkMastSta.setWrkSts(1);
                    wrkMastStaMapper.updateById(wrkMastSta);
                    log.error("更新小车任务成功");
                }catch (Exception e){
                    log.error("更新小车任务失败");
                }
            } else {
                log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
            }
@@ -3701,219 +3720,11 @@
//        }
//        return wrkEnable;
//    }
    /**
     * 小车预调度
     */
    public synchronized  void rgvPreScheduling(){
        try{
            List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
            for (BasRgvMap rgvSlave:basRgvMaps) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }else {
                    rgvProtocol = rgvProtocol.clone();
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！4", rgvSlave.getRgvNo());
                    continue;
                }

                // 只有当RGV空闲、自动,工位一无物//rgv可用  才进行预调度
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && !rgvProtocol.isLoaded1ing()
                        && rgvProtocol.getTaskNo1() == 0
                        && !rgvProtocol.isLoaded2ing()
                        && rgvProtocol.getTaskNo2() == 0
                        && rgvThread.isPakMk()
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        continue;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    // 根据输送线plc遍历
                    for (DevpSlave devp : slaveProperties.getDevp()) {
                        // 遍历入库口  入库预调度
                        List<Integer> staNos = Arrays.asList( 1043, 1104,1037);
                        for (Integer staNo : staNos) {
                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                            StaProtocol staProtocol = devpThread.getStation().get(staNo);
                            if(staProtocol.isLoading()){
                                RgvCommand rgvCommand = new RgvCommand();
                                rgvCommand.setRgvNo((int) rgvProtocol.getRgvNo()); // RGV编号
                                rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
                                rgvCommand.setTaskNo1(9999); // 工位1工作号
                                rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  移动
                                rgvCommand.setEndStaNo1(0);   //工位1 放货后要去的位置
                                switch (staNo){
                                    case 1043: rgvCommand.setTargetPosition1(1042);break;  //工位1目标站点
                                    case 1104: rgvCommand.setTargetPosition1(1105);break;
                                    case 1037: rgvCommand.setTargetPosition1(1036);break;

                                }
                                if(Objects.equals(basRgvMap.getNowRoute(), staNo)){
                                    continue;
                                }
                                rgvCommand.setCommand(true);   //工位1任务确认
                                if (!MessageQueue.offer(SlaveType.Rgv, (int) rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
                                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", (int) rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
                                }
                            }
                        }

                    }

                }
            }
        }catch (Exception e){
            log.error("执行小车移动下发失败");
        }
    }
    /**
     * 执行小车搬运任务
     */
//    public synchronized void rgvRunWrkMastEmptyStaPut() {//放
//    /**
//     * 小车预调度
//     */
//    public synchronized  void rgvPreScheduling(){
//        try{
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
//                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
//                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
//                if (rgvProtocol == null) {
//                    continue;
//                }
//                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
//                if (basRgv == null) {
//                    log.error("{}号RGV尚未在数据库进行维护！5", rgvSlave.getId());
//                    continue;
//                }
//
//                // 只有当RGV空闲、自动,工位二有物//rgv可用
//                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
//                        && rgvProtocol.getModeType() == RgvModeType.AUTO
//                        && rgvProtocol.getLoaded1()==1  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
//                ) {
//                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                    if (basRgvMap == null) {
//                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
//                        continue;
//                    }
//                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
//                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
//                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
//                    for (WrkMastSta wrkMastSta : wrkMastStaList){
//                        if (wrkMastSta.getType()!=2 || (wrkMastSta.getWrkType()!=2 && wrkMastSta.getWrkType()!=4)){// 2:空板  2:放 4：拆盘
//                            continue;
//                        }
//                        boolean sign = false;
//                        if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//放
//                            sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
//                        }else {
//                            continue;
//                        }
//                        if (sign){
//                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
//                            if (signMap){
//                                wrkMastSta.setWrkSts(2);
//                                try{
//                                    wrkMastStaMapper.updateById(wrkMastSta);
//                                }catch (Exception e){
//                                    log.error("更新小车任务失败");
//                                }
//                                return;
//                            }else {
//                                log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
//                            }
//                        }else {
//                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
//                        }
//                        break;
//                    }
//                }
//            }
//        }catch (Exception e){
//            log.error("3933行执行小车放空板任务下发失败");
//            log.error("3933行"+e);
//        }
//    }

//    public synchronized void rgvRunWrkMastEmptyStaTake() {//取
//        try{
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
//                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
//                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
//                if (rgvProtocol == null) {
//                    continue;
//                }
//                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
//                if (basRgv == null) {
//                    log.error("{}号RGV尚未在数据库进行维护！6", rgvSlave.getId());
//                    continue;
//                }
//
//                // 只有当RGV空闲、自动,工位二无物//rgv可用
//                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
//                        && rgvProtocol.getModeType() == RgvModeType.AUTO
//                        && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
//                ) {
//                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                    if (basRgvMap == null) {
//                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
//                        continue;
//                    }
//                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
//                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
//                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
//                    for (WrkMastSta wrkMastSta : wrkMastStaList){
//                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=1){// 2:空板  1:取
//                            continue;
//                        }
//                        boolean sign = false;
//                        if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//取
//                            sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
//                        } else {
//                            continue;
//                        }
//                        if (sign){
//                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
//                            if (signMap){
//                                wrkMastSta.setWrkSts(1);
//                                try{
//                                    wrkMastStaMapper.updateById(wrkMastSta);
//                                }catch (Exception e){
//                                    log.error("更新小车任务失败");
//                                }
//                                return;
//                            }else {
//                                log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
//                            }
//                        }else {
//                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
//                        }
//                        break;
//                    }
//                }
//            }
//        }catch (Exception e){
//            log.error("3989行执行小车取空板任务下发失败");
//            log.error("3989行"+e);
//        }
//    }

    /*
     * 有任务但未执行  此时需要调整小车位置
     * */
//    public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
//        try{
//            Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
//            if (integer==0){
//                return;
//            }
//            List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
//            for (BasRgvMap rgvSlave:basRgvMaps) {
//                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
@@ -3925,396 +3736,101 @@
//                }
//                BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
//                if (basRgv == null) {
//                    log.error("{}号RGV尚未在数据库进行维护！1", rgvSlave.getRgvNo());
//                    log.error("{}号RGV尚未在数据库进行维护！4", rgvSlave.getRgvNo());
//                    continue;
//                }
//
//                // 只有当RGV空闲、自动,工位一无物//rgv可用
//                // 只有当RGV空闲、自动,工位一无物//rgv可用  才进行预调度
//                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
//                        && rgvProtocol.getModeType() == RgvModeType.AUTO
//                        && !rgvProtocol.isLoaded1ing()  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
//                        && rgvProtocol.getTaskNo1()==0
//                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
//                        && !rgvProtocol.isLoaded1ing()
//                        && rgvProtocol.getTaskNo1() == 0
//                        && !rgvProtocol.isLoaded2ing()
//                        && rgvProtocol.getTaskNo2() == 0
//                        && rgvThread.isPakMk()
////                        && rgvProtocol.getTaskNo2()==0
//                ){
//                ) {
//                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
//                    if (basRgvMap == null) {
//                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
//                        continue;
//                    }
////                    if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
////                        continue;
////                    } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157)  ){
////                        continue;
////                    }
//                    rgvAvoidanceXY((int) rgvProtocol.getRgvNo());
//                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
//                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
//                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
//                    // 根据输送线plc遍历
//                    for (DevpSlave devp : slaveProperties.getDevp()) {
//                        // 遍历入库口  入库预调度
//                        List<Integer> staNos = Arrays.asList( 1043, 1104,1037);
//                        for (Integer staNo : staNos) {
//                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
//                            StaProtocol staProtocol = devpThread.getStation().get(staNo);
//                            if(staProtocol.isLoading()){
//                                RgvCommand rgvCommand = new RgvCommand();
//                                rgvCommand.setRgvNo((int) rgvProtocol.getRgvNo()); // RGV编号
//                                rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
//                                rgvCommand.setTaskNo1(9999); // 工位1工作号
//                                rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  移动
//                                rgvCommand.setEndStaNo1(0);   //工位1 放货后要去的位置
//                                switch (staNo){
//                                    case 1043: rgvCommand.setTargetPosition1(1042);break;  //工位1目标站点
//                                    case 1104: rgvCommand.setTargetPosition1(1105);break;
//                                    case 1037: rgvCommand.setTargetPosition1(1036);break;
//
//                                }
//                                if(Objects.equals(basRgvMap.getNowRoute(), staNo)){
//                                    continue;
//                                }
//                                rgvCommand.setCommand(true);   //工位1任务确认
//                                if (!MessageQueue.offer(SlaveType.Rgv, (int) rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
//                                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
//                                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", (int) rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
//                                }
//                            }
//                        }
//
//                    }
//
//                }
//            }
//        }catch (Exception e){
//            log.error("4109行执行小车初始化任务下发失败");
//            log.error("4109行"+e);
//            log.error("执行小车移动下发失败");
//        }
//    }

    /*
     * 小车XY移动  避让
     * */
//    public synchronized boolean rgvAvoidanceXY(Integer rgvId){
//        BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo(rgvId);
//        if (basRgvMap.getStartRoute() == 100 || basRgvMap.getStartRoute() == 101){
//            try{
//
//                //  命令下发区 --------------------------------------------------------------------------
//                RgvCommand rgvCommand = new RgvCommand();
//                rgvCommand.setRgvNo(rgvId); // RGV编号
//                rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
//                rgvCommand.setTaskNo1((short)32222); // 工位1工作号
//                rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  回原点
//                //basRgvMap.getLockStartRoute().shortValue()
//                rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
//                rgvCommand.setCommand((short) 1);   //工位1任务确认
//                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
//                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务   step=9，回原点 9999任务号
//                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                    return false;
//                } else {
//                    return true;
//                }
//            }catch (Exception e){
//                return false;
//
//            }
//        }else {
//            try{
//                //  命令下发区 --------------------------------------------------------------------------
//                RgvCommand rgvCommand = new RgvCommand();
//                rgvCommand.setRgvNo(rgvId); // RGV编号
//                rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
//                rgvCommand.setTaskNo1((short)32222); // 工位1工作号
//                rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  回原点
//                //basRgvMap.getLockStartRoute().shortValue()
//                rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
//                rgvCommand.setCommand((short) 1);   //工位1任务确认
//                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
//                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务   step=9，回原点 9999任务号
//                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                    return false;
//                } else {
//                    return true;
//                }
//            }catch (Exception e){
//                return false;
//
//            }
//        }
//    }


    /*
     * 小车取货至工位任务
     * */
    public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta,Short direction,Integer pos){
    public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            boolean pakIn1 = true;
            boolean pakIn2 = true;
            rgvCommand.setRgvNo(rgvId); // RGV编号
            if(wrkMastSta.getWrkSts() == 0){//初始后行走
                    rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位1工作号
                    rgvCommand.setTaskStatus1(RgvTaskStatusType.X_MOVE); // 工位1任务模式:  取放货
                    rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd());   //工位1 放货后要去的位置
                    rgvCommand.setTargetPosition1(wrkMastSta.getStaStart());   //工位1目标站点
                    rgvCommand.setCommand(true);   //工位1任务确认
//                }
                wrkMastSta.setWrkSts(4);
                try{
                    wrkMastStaMapper.updateById(wrkMastSta);
                    log.error("更新小车任务成功");
                }catch (Exception e){
                    log.error("更新小车任务失败");
                }
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                    return false;
                } else {
                    return true;
                }
            RgvTaskStatusType type;
            Integer targetPosition = 0;
            if(wrkMastSta.getWrkSts() == 0){
                type = RgvTaskStatusType.FETCH; //取货
                targetPosition = wrkMastSta.getStaStart();
            }else{
                type = RgvTaskStatusType.PUT; //放货
                targetPosition = wrkMastSta.getStaEnd();
            }
            if(wrkMastSta.getWrkSts() == 1){//取货
                if(pos == 2){//出库RGV取货
                    rgvCommand.setAckFinish2(false);  // 工位2任务完成确认位
                    rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位2工作号
                    rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 工位2任务模式:  取放货
                    rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd());   //工位2 放货后要去的位置
                    rgvCommand.setTargetPosition1(wrkMastSta.getStaStart());   //工位2目标站点
                    rgvCommand.setDirection2((short)2);
//                    rgvCommand.setWrkTaskMove2(direction);
                    rgvCommand.setCommand(true);   //工位1任务确认
                    pakIn1 = false;
                }else{  //入库RGV取货
                    rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位1工作号
                    rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 工位1任务模式:  取放货
                    rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd());   //工位1 放货后要去的位置
                    rgvCommand.setTargetPosition1(wrkMastSta.getStaStart());   //工位1目标站点
                    rgvCommand.setDirection1((short)1);
//                    rgvCommand.setWrkTaskMove1(direction);
                    rgvCommand.setCommand(true);   //工位1任务确认
                }
                if(!pakIn1){
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
                        //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                        return false;
                    } else {
                        return true;
                    }
                }else{
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                        //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                        return false;
                    } else {
                        return true;
                    }
                }
            rgvCommand.setTaskNo(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位工作号
            rgvCommand.setTaskStatus(type); // 工位任务模式:  取货
            rgvCommand.setTargetPosition(targetPosition);   //工位目标站点
            rgvCommand.setWrkTaskPri(wrkMastSta.getWorkSta());
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(2, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
            if(wrkMastSta.getWrkSts() == 2) {//放货
                if((pos == 2)){ //工位2任务放货
                    rgvCommand.setAckFinish2(false);  // 工位2任务完成确认位
                    rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位2工作号
                    rgvCommand.setTaskStatus2(RgvTaskStatusType.PUT); // 工位2任务模式:  放货
                    rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd());   //工位2 放货后要去的位置
                    rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd());   //工位2目标站点
                    rgvCommand.setDirection2((short)2);
                    rgvCommand.setCommand(true);   //工位1任务确认
                    pakIn2 = false;
                }else{  //工位1任务放货
                    rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位1工作号
                    rgvCommand.setTaskStatus1(RgvTaskStatusType.PUT); // 工位1任务模式:  放货
                    rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd());   //工位1 放货后要去的位置
                    rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd());   //工位1目标站点
                    rgvCommand.setDirection1((short)1);
                    rgvCommand.setCommand(true);   //工位1任务确认
                }
                if(pakIn2){
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                        //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                        return false;
                    } else {
                        return true;
                    }
                }else{
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
                        //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                        return false;
                    } else {
                        return true;
                    }
                }
            }
            return true;

        }catch (Exception e){
            return false;
        }
    }


    /*
     * 小车取货至双工位任务
     * */
    public synchronized boolean rgvTakeFullAll2(Integer rgvId,WrkMastSta wrkMastSta,WrkMastSta wrkMastSta2){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            boolean pakIn1 = true;
            boolean pakIn2 = true;
            rgvCommand.setRgvNo(rgvId); // RGV编号
            if(wrkMastSta.getWrkSts() == 0) {//取货
                if (wrkMastSta.getWorkSta() == 2) {//入库RGV取货
                    rgvCommand.setAckFinish2(false);  // 工位2任务完成确认位
                    rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位2工作号
                    rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 工位2任务模式:  取放货
                    rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd());   //工位2 放货后要去的位置
                    rgvCommand.setTargetPosition2(wrkMastSta.getStaStart());   //工位2目标站点
                    rgvCommand.setCommand(true);   //工位1任务确认
                    rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta2.getWrkNo())); // 工位1工作号
                    rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 工位1任务模式:  取放货
                    rgvCommand.setEndStaNo1(wrkMastSta2.getWrkEnd());   //工位1 放货后要去的位置
                    rgvCommand.setTargetPosition1(wrkMastSta2.getStaStart());   //工位1目标站点
                    rgvCommand.setCommand(true);   //工位1任务确认
                    rgvCommand.setWrkTaskPri((short) 2); //优先执行工位2任务
                } else {  //出库RGV取货
                    rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位1工作号
                    rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 工位1任务模式:  取放货
                    rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd());   //工位1 放货后要去的位置
                    rgvCommand.setTargetPosition1(wrkMastSta.getStaStart());   //工位1目标站点
                    rgvCommand.setAckFinish2(false);  // 工位2任务完成确认位
                    rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位2工作号
                    rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 工位2任务模式:  取放货
                    rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd());   //工位2 放货后要去的位置
                    rgvCommand.setTargetPosition2(wrkMastSta.getStaStart());   //工位2目标站点
                    rgvCommand.setWrkTaskPri((short) 1); //出库取货优先执行工位1任务
                    rgvCommand.setCommand(true);   //工位1任务确认
                }
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(2, rgvCommand))) {
                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                    return false;
                } else {
                    return true;
                }
            }

//            if(wrkMastSta.getWrkSts() == 2) {//放货
//                if((wrkMastSta.getWorkSta() == 2)){ //工位2任务放货
//                    rgvCommand.setAckFinish2(false);  // 工位2任务完成确认位
//                    rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位2工作号
//                    rgvCommand.setTaskStatus2(RgvTaskStatusType.PUT); // 工位2任务模式:  放货
//                    rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd());   //工位2 放货后要去的位置
//                    rgvCommand.setTargetPosition2(wrkMastSta.getStaEnd());   //工位2目标站点
//                    rgvCommand.setCommand(true);   //工位1任务确认
//                    pakIn2 = false;
//                }else{  //工位1任务放货
//                    rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
//                    rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位1工作号
//                    rgvCommand.setTaskStatus1(RgvTaskStatusType.PUT); // 工位1任务模式:  放货
//                    rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd());   //工位1 放货后要去的位置
//                    rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd());   //工位1目标站点
//                    rgvCommand.setCommand(true);   //工位1任务确认
//                }
//                if(!pakIn2){
//                    if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
//                        //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
//                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                        return false;
//                    } else {
//                        return true;
//                    }
//                }else{
//                    if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
//                        //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
//                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                        return false;
//                    } else {
//                        return true;
//                    }
//                }
//            }
            return true;
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 小车取货至工位任务
     * */
//    public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
//        try{
//            //  命令下发区 --------------------------------------------------------------------------
//            RgvCommand rgvCommand = new RgvCommand();
//            rgvCommand.setRgvNo(rgvId); // RGV编号
//            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
//            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
//            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式:  取货
//            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
//            rgvCommand.setCommand((short) 1);   //工位1任务确认
//            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
//                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
//                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                return false;
//            } else {
//                return true;
//            }
//        }catch (Exception e){
//            return false;
//        }
//    }

    /*
     * 小车放货至输送线任务
     * */
//    public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
//        try{
//            //  命令下发区 --------------------------------------------------------------------------
//            RgvCommand rgvCommand = new RgvCommand();
//            rgvCommand.setRgvNo(rgvId); // RGV编号
//            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
//            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
//            rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
//            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
//            rgvCommand.setCommand((short) 1);   //工位1任务确认
//            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
//                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
//                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                return false;
//            } else {
//                return true;
//            }
//        }catch (Exception e){
//            return false;
//        }
//    }

    /*
     * 小车取空板至工位任务
     * */
//    public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
//        try{
//            //  命令下发区 --------------------------------------------------------------------------
//            RgvCommand rgvCommand = new RgvCommand();
//            rgvCommand.setRgvNo(rgvId); // RGV编号
//            rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
//            rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
//            rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式:  取货
//            rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue());   //工位2起点
//            rgvCommand.setCommand((short) 2);   //工位2任务确认
//            if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(5, rgvCommand))) {
//                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
//                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                return false;
//            } else {
//                return true;
//            }
//        }catch (Exception e){
//            return false;
//        }
//    }

    /*
     * 小车放空板至输送线任务
     * */
//    public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
//        try{
//            //  命令下发区 --------------------------------------------------------------------------
//            RgvCommand rgvCommand = new RgvCommand();
//            rgvCommand.setRgvNo(rgvId); // RGV编号
//            rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
//            rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
//            rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式:  放货
//            rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue());   //工位2目标站点
//            rgvCommand.setCommand((short) 2);   //工位2任务确认
//            if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(5, rgvCommand))) {
//                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
//                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                return false;
//            } else {
//                return true;
//            }
//        }catch (Exception e){
//            return false;
//        }
//    }

    /**
     *  取放取路径计算
@@ -4366,44 +3882,6 @@
            return false;
        }
    }

    /*
     * 小车复位
     * */
    public synchronized boolean rgvComplete2(Integer rgvId,Integer step,Long workNo){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(step, new RgvCommand(),workNo))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}",rgvId);
                return false;
            } else {
                log.info("RGV命令下发成功，RGV号={}",rgvId);
                return true;
            }
        }catch (Exception e){
            log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
            return false;
        }
    }

    public synchronized boolean rgvComplete3(Integer rgvId,Integer step,Long workNo,Short moveSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(step, new RgvCommand(),workNo,moveSta))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}",rgvId);
                return false;
            } else {
                log.info("RGV命令下发成功，RGV号={}",rgvId);
                return true;
            }
        }catch (Exception e){
            log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
            return false;
        }
    }





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

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

import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import com.zy.asrs.entity.WrkMastSta;
import com.zy.asrs.mapper.WrkMastStaMapper;
import com.zy.asrs.service.WrkMastStaService;
import org.springframework.stereotype.Service;

@Service("wrkMastStaService")
public class WrkMastStaServiceImpl extends ServiceImpl<WrkMastStaMapper, WrkMastSta> implements WrkMastStaService {

}

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

@@ -47,6 +47,15 @@
    static {
        Collections.reverse(TRACK_POSITION_REVERSE_SEQUENCE);
    }
    //1楼战站点
    public static final List<Integer> TRACK_POSITION_ONE = Arrays.asList(
            1004, 1007, 1010, 1014, 1018, 1021, 1024, 1028, 1031, 1035,1042,1105,1106,1041,
            1038,1036
    );
    //2楼战站点
    public static final List<Integer> TRACK_POSITION_TWO = Arrays.asList(
            2003,2006,2009,2012,2015,2018,2021,2024,2027,2030,2037,2031
    );

    // 轨道映射（把映射站点替换成主站点）
    public static final Map<Integer, Integer> SITE_MAPPING = new HashMap<>();
@@ -157,6 +166,20 @@
        }
        return result;
    }
    public static List<Integer> getRouteOne(){

        List<Integer> groupRoute = new ArrayList<>();
        groupRoute = TRACK_POSITION_ONE;

        return groupRoute;
    }
    public static List<Integer> getRouteTwo(){

        List<Integer> groupRoute = new ArrayList<>();
        groupRoute = TRACK_POSITION_TWO;

        return groupRoute;
    }

    /*
    * 获取最远站点

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

@@ -135,8 +135,8 @@
                }catch (Exception e){
                    log.error("RGV  ===>>  小车任务作业下发异常"+e);
                }
                //完成小车任务
                mainService.rgvCompleteWrkMastSta();
//                //完成小车任务
                mainService.rgvTaskComplete();

                //工位移动
//                mainService.rgvStaMove();

 src/main/java/com/zy/core/model/command/RgvCommand.java

@@ -22,7 +22,7 @@
    private Boolean ackFinish1 = true;

    // 工位1任务号
    private Integer taskNo1 = 0;
    private Integer taskNo = 0;

    /**
     * 任务模式：
@@ -35,14 +35,18 @@

    /**
     * 作业模式
     * 0 空闲
     * 1 行走
     * 2 取货
     * 3 放货
     */
    private Short taskStatus1 = 0;
    private Short taskStatus = 0;

    @JSONField(serialize = false)
    private RgvTaskModeType taskModeType1;

    @JSONField(serialize = false)
    private RgvTaskStatusType taskStatusType1;
    private RgvTaskStatusType taskStatusType;

    /*
    工位1源站
@@ -55,9 +59,9 @@
    private Short destinationStaNo1 = 0;

    /**
     * 工位1目标位置
     * 工位目标位置
     */
    private Integer targetPosition1 = 0;
    private Integer targetPosition = 0;
    /**
     * RGV放货后货物要去的目的地
     */
@@ -135,10 +139,10 @@
    /**
     * 同时下发时作业顺序
     * 0：无（不判断）
     * 1：工位1先执行
     * 2：工位2先执行
     * 1：工位1执行
     * 2：工位2执行
     */
    Short wrkTaskPri = 0;
    Integer wrkTaskPri = 0;

    Short wrkTaskMove1 = 0;
    Short wrkTaskMove2 = 0;
@@ -163,14 +167,14 @@
        this.taskMode2 = RgvTaskModeType.get(type2).id.shortValue();
    }

    public void setTaskStatus1(Short taskStatus1){
        this.taskStatus1 = taskStatus1;
        this.taskStatusType1 = RgvTaskStatusType.get(taskStatusType1);
    public void setTaskStatus(Short taskStatus){
        this.taskStatus = taskStatus;
        this.taskStatusType = RgvTaskStatusType.get(taskStatusType);
    }

    public void setTaskStatus1(RgvTaskStatusType type1) {
        this.taskStatusType1 = type1;
        this.taskStatus1 = RgvTaskStatusType.get(type1).id.shortValue();
    public void setTaskStatus(RgvTaskStatusType type) {
        this.taskStatusType = type;
        this.taskStatus = RgvTaskStatusType.get(type).id.shortValue();
    }

    public void setTaskStatus2(Short taskStatus2){

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

@@ -327,8 +327,6 @@
    }

    public Integer getRgvPosI2() {
        if (RgvPos == null) return 0;

        // key: 站点号  value: 基准物理位置
        Map<Integer, Integer> posMap = new HashMap<>();
        posMap.put(1004, 6534);
@@ -341,7 +339,7 @@
        posMap.put(1028, 246724);
        posMap.put(1031, 288194);
        posMap.put(1035, 315204);
        int tolerance = 50; // 允许误差范围
        int tolerance = 200; // 允许误差范围

        for (Map.Entry<Integer, Integer> entry : posMap.entrySet()) {
            int site = entry.getKey();

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

@@ -59,6 +59,8 @@
    private boolean PakOut = true;
    //根据距离跳过取货
    private boolean PakRgv = true;
    //接驳标记
    private boolean PakToCrn = true;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
@@ -80,17 +82,9 @@
                    case 1:
                        readStatus();
                        break;
                    // 工位1、2写入数据
                    // 小车工位写入数据
                    case 2:
                        write12((RgvCommand) task.getData());
                        break;
                    //工位1写入数据
                    case 4:
                        write1((RgvCommand) task.getData());
                        break;
//                    //工位2写入数据
                    case 5:
                        write2((RgvCommand) task.getData());
                        write((RgvCommand) task.getData());
                        break;
                    // 复位
                    case 3:
@@ -99,81 +93,11 @@
                            command = new RgvCommand();
                        }
                        command.setRgvNo(slave.getId()); // RGV编号
                        command.setTaskNo1(0); // 工作号
                        command.setAckFinish1(false);  // 任务完成确认位
                        command.setTaskStatus1(RgvTaskStatusType.NONE); // 任务模式
                        command.setTargetPosition1( 0);     // 源站
                        command.setEndStaNo1(0);     // 目标站
                        command.setWrkTaskMove1((short) 0);
                        command.setWrkTaskPri((short)0);
                        command.setCommand(false);
                        write1(command);
                        break;
                    case 6:
                        RgvCommand command2 = (RgvCommand) task.getData();
                        if (null == command2) {
                            command2 = new RgvCommand();
                        }
                        command2.setRgvNo(slave.getId()); // RGV编号
                        command2.setTaskNo2(0); // 工作号
                        command2.setAckFinish2(false);  // 任务完成确认位
                        command2.setTaskStatus2(RgvTaskStatusType.NONE); // 任务模式
                        command2.setTargetPosition2(0);     // 源站
                        command2.setEndStaNo2(0);     // 目标站
                        command2.setWrkTaskPri((short)0);
                        command2.setWrkTaskMove2((short)0);
                        command2.setCommand(false);
                        write2(command2);
                        break;
                    case 7: //工位1取货确认
                        RgvCommand command3 = (RgvCommand) task.getData();
                        if (null == command3) {
                            command3 = new RgvCommand();
                        }
                        command3.setRgvNo(slave.getId()); // RGV编号
                        command3.setAckFinish1(false);  // 任务完成确认位
                        command3.setTaskStatus1(RgvTaskStatusType.NONE); // 任务模式
                        command3.setTargetPosition1( 0);     // 源站
                        command3.setWrkTaskMove1(task.getMoveSta() !=null ? task.getMoveSta() : 0);
                        command3.setCommand(false);
                        command3.setWrkTaskPri((short)0);
                        command3.setTaskNo1(Math.toIntExact(task.getWorkNo()));
                        write1(command3);
                        break;
                    case 8 :
                        RgvCommand command4 = (RgvCommand) task.getData();
                        if (null == command4) {
                            command4 = new RgvCommand();
                        }
                        command4.setRgvNo(slave.getId()); // RGV编号
                        command4.setAckFinish2(false);  // 任务完成确认位
                        command4.setTaskStatus2(RgvTaskStatusType.NONE); // 任务模式
                        command4.setTargetPosition2(0);     // 小车目标站清零
                        command4.setWrkTaskMove2(task.getMoveSta() !=null ? task.getMoveSta() : 0);
                        command4.setCommand(false);
                        command4.setWrkTaskPri((short)0);
                        command4.setTaskNo2(Math.toIntExact(task.getWorkNo()));
                        write2(command4);
                        break;
                    // 回原点  避让
                    case 9:
//                        RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
//                        if (null == commandAvoidanceXY) {
//                            commandAvoidanceXY = new RgvCommand();
//                        }
//                        commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号
//                        commandAvoidanceXY.setTaskNo1((short) 9999); // 工作号
//                        commandAvoidanceXY.setAckFinish1((short) 1);  // 任务完成确认位
//                        commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 任务模式
//                        commandAvoidanceXY.setSourceStaNo1((short)0);     // 源站
//                        commandAvoidanceXY.setDestinationStaNo1((short)0);     // 目标站
////                        commandAvoidanceXY.setTaskNo2((short) 0); // 工作号
////                        commandAvoidanceXY.setAckFinish2((short) 1);  // 任务完成确认位
////                        commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 任务模式
////                        commandAvoidanceXY.setSourceStaNo2((short)0);     // 源站
////                        commandAvoidanceXY.setDestinationStaNo2((short)0);     // 目标站
//                        commandAvoidanceXY.setCommand((short)0);
//                        write(commandAvoidanceXY);
                        command.setTaskNo(0); // 工作号
                        command.setTaskStatus(RgvTaskStatusType.NONE); // 任务模式
                        command.setTargetPosition(0);     // 源站
                        command.setWrkTaskPri(0);     // 目标站
                        write(command);
                        break;
                    default:
                        break;
@@ -266,10 +190,8 @@
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 4));
                rgvProtocol.setRgvPosDestination( siemensNet.getByteTransform().TransInt32(result.Content, 8));
                rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 16));
                rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 20));

                boolean[] status1 = siemensNet.getByteTransform().TransBool(result.Content, 24, 2);
                rgvProtocol.setLoaded1(status1[0]);
                rgvProtocol.setLoaded2(status1[1]);
@@ -281,58 +203,7 @@
                rgvProtocol.setErr5(status2[4]);
                rgvProtocol.setErr6(status2[5]);
                rgvProtocol.setErr7(status2[6]);
//                boolean[] status3 = siemensNet.getByteTransform().TransBool(result.Content, 27, 1);
//                rgvProtocol.setErr1(status3[0]);
//                rgvProtocol.setErr2(status3[1]);
//                rgvProtocol.setErr3(status3[2]);
//                rgvProtocol.setErr4(status3[3]);
//                rgvProtocol.setErr5(status3[4]);
//                rgvProtocol.setErr6(status3[5]);
//                rgvProtocol.setErr7(status3[6]);


//                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
//                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
//                rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 4));
//                rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 8));
//                rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
//                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));
//                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
//                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 22));
//                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
//                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
//                rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));
//                rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));
//                rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));
//                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
//                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
//                rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));

                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
                if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag1) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish1(true);
                        if (write1(rgvCommand)) {
                            resetFlag1 = false;
                        }
                    }
                }

//                 工位2复位信号
                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag2) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish2(true);
                        if (write2(rgvCommand)) {
                            resetFlag2 = false;
                        }
                    }
                }

                try {
                    // 根据实时信息更新数据库
@@ -359,53 +230,29 @@
            initRgv();
        }
    }

    /**
     * 工位1、2同时写入数据
     * 小车工位写入写入数据
     */
    private boolean write12(RgvCommand command) throws InterruptedException {
    private boolean write(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

        OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 34);
//        OperateResultExOne<byte[]> result4 = siemensNet.Read("DB100.10", (short) 2);
        OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 39);
        if (result1.IsSuccess){
            RgvCommand one = new RgvCommand();
            one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(result1.Content, 0));
            one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 4));
            one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(result1.Content, 8));
            one.setTaskNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 10));
            one.setDirection1(siemensNet.getByteTransform().TransInt16(result1.Content, 14));
            one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(result1.Content, 16));
            one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 20));
            one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(result1.Content, 24));
            one.setTaskNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 26));
            one.setDirection2(siemensNet.getByteTransform().TransInt16(result1.Content, 30));

            News.error("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
            one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(result1.Content, 0));//执行工位
            one.setTargetPosition(siemensNet.getByteTransform().TransInt32(result1.Content, 4));//行走目标站
            one.setTaskStatus(siemensNet.getByteTransform().TransInt16(result1.Content, 8));//小车状态
            one.setTaskNo(siemensNet.getByteTransform().TransInt32(result1.Content, 10));//下发工作号
            News.info("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
        }
        OperateResult result2 = siemensNet.Write("DB100.34", false);
        if (result2.IsSuccess){
            News.error("下发前把车子确认位置为false");
        }
        byte[] writeBytes = new byte[36];
        byte[] writeBytes = new byte[14];
        command.setRgvNo(slave.getId());
        siemensNet.getByteTransform().TransInt32(writeBytes, 0, command.getTargetPosition1());
        siemensNet.getByteTransform().TransInt32(writeBytes, 4, command.getEndStaNo1());
        siemensNet.getByteTransform().TransInt16(writeBytes, 8, command.getTaskStatus1());
        siemensNet.getByteTransform().TransInt32(writeBytes, 10, command.getTaskNo1());
        siemensNet.getByteTransform().TransInt16(writeBytes, 14, command.getDirection1());
        setBool(writeBytes, 32, 0, command.getAckFinish1());
        siemensNet.getByteTransform().TransInt32(writeBytes, 16, command.getTargetPosition2());
        siemensNet.getByteTransform().TransInt32(writeBytes, 20, command.getEndStaNo2());
        siemensNet.getByteTransform().TransInt16(writeBytes, 24, command.getTaskStatus2());
        siemensNet.getByteTransform().TransInt32(writeBytes, 26, command.getTaskNo2());
        siemensNet.getByteTransform().TransInt16(writeBytes, 30, command.getDirection2());
        setBool(writeBytes, 32, 1, command.getAckFinish2());
        siemensNet.getByteTransform().TransInt16(writeBytes, 36, command.getWrkTaskPri());

        writeInt32(writeBytes, 0, command.getWrkTaskPri());
        writeInt32(writeBytes, 4, command.getTargetPosition());
        writeInt16(writeBytes, 8, (short)command.getTaskStatus());
        writeInt32(writeBytes, 10, command.getTaskNo());
        OperateResult result = siemensNet.Write("DB100.0", writeBytes);

        if (!result.IsSuccess){
@@ -419,31 +266,18 @@
        //RGV任务写入后，回读一次，看是否成功
        Thread.sleep(400);
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 36);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 14);
            if (resultRead.IsSuccess){
                RgvCommand one = new RgvCommand();
                one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
                one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));
                one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));
                one.setWrkTaskPri(siemensNet.getByteTransform().TransInt16(resultRead.Content, 36));
                one.setDirection2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
                one.setTaskNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 26));
                one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
                one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 20));
                one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 16));
                one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));//执行工位
                one.setTargetPosition(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));//行走目标站
                one.setTaskStatus(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));//小车状态
                one.setTaskNo(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));//下发工作号
                if (
                        !command.getDirection1().equals(one.getDirection1()) ||
                                !command.getTaskNo1().equals(one.getTaskNo1()) ||
                                !command.getTaskStatus1().equals(one.getTaskStatus1()) ||
                                !command.getEndStaNo1().equals(one.getEndStaNo1()) ||
                                !command.getTargetPosition1().equals(one.getTargetPosition1()) ||
                                !command.getDirection2().equals(one.getDirection2()) ||
                                !command.getTaskNo2().equals(one.getTaskNo2()) ||
                                !command.getTaskStatus2().equals(one.getTaskStatus2()) ||
                                !command.getEndStaNo2().equals(one.getEndStaNo2()) ||
                                !command.getTargetPosition2().equals(one.getTargetPosition2())
                        !command.getTaskNo().equals(one.getTaskNo()) ||
                        !command.getTaskStatus().equals(one.getTaskStatus()) ||
                        !command.getWrkTaskPri().equals(one.getWrkTaskPri()) ||
                        !command.getTargetPosition().equals(one.getTargetPosition())
                ) {
                    try{
                        News.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
@@ -455,7 +289,7 @@
                        }
                    }
                    News.error("Rgv命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                    MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(4, command));
                    MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
                    Thread.sleep(100);
                    readStatus();
                    return false;
@@ -467,54 +301,46 @@
            News.error("RGV命令地址写入后回读出错");
        }

        if (command.getAckFinish1() || command.getAckFinish2()) {
            if (result.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
                int writeCount2 = 0;

                do {
                    writeCount2++;
                    boolean commandFinish = false;
                    boolean commandFinish2 = false;
                    result = siemensNet.Write("DB100.DBX32.0", commandFinish);
                    OperateResult result3 = siemensNet.Write("DB100.DBX32.1", commandFinish);

                    if(result.IsSuccess && result3.IsSuccess){
                        //RGV任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
                            commandFinish2=siemensNet.getByteTransform().TransBool(resultRead.Content, 1);

                            if (!commandFinish && !commandFinish2) {
                                News.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                            }else{
                                //任务命令写入成功
                                News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
                            News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
        if (result.IsSuccess) {  //任务下发确认
            Thread.sleep(300);
            //任务下发次数
            int writeCount2 = 0;
            do {
                writeCount2++;
                boolean commandFinish = true;
                result = siemensNet.Write("DB100.34.0", commandFinish);
                if(result.IsSuccess){
                    //RGV任务写入后，回读一次，看是否成功
                    Thread.sleep(200);
                    OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.34", (short) 2);
                    if (resultRead.IsSuccess) {
                        commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
                        if (!commandFinish){
                            News.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                        }else{
                            //任务命令写入成功
                            News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                            break;
                        }
                    } else {
                        News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                    }else {
                        News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                    }
                }while (writeCount2<5);
            }
                } else {
                    News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                }
            }while (writeCount2<5);
        }


        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1(),
                    command.getTaskNo2(),
                    command.getTaskNo(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTargetPosition1()
                    command.getTaskStatus().toString(),
                    command.getTargetPosition(),
                    command.getWrkTaskPri(),
                    new Date()
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {
@@ -524,337 +350,12 @@
        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位12命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            log.info("RGV 工位命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位12数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位1数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    /**
     * 工位1写入数据
     */
    private boolean write1(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

        OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 39);
//        OperateResultExOne<byte[]> result4 = siemensNet.Read("DB100.10", (short) 2);
        if (result1.IsSuccess){
            RgvCommand one = new RgvCommand();
            one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(result1.Content, 0));
            one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 4));
            one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(result1.Content, 8));
            one.setTaskNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 10));
            one.setDirection1(siemensNet.getByteTransform().TransInt16(result1.Content, 14));
            one.setWrkTaskMove1(siemensNet.getByteTransform().TransInt16(result1.Content, 36));
            News.error("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
        }


        OperateResult result2 = siemensNet.Write("DB100.34", false);
        if (result2.IsSuccess){
            News.error("下发前把车子确认位置为false");
        }
        byte[] writeBytes = new byte[40];
        command.setRgvNo(slave.getId());

        writeInt32(writeBytes, 0, command.getTargetPosition1());
        writeInt32(writeBytes, 4, command.getEndStaNo1());
        writeInt16(writeBytes, 8, (short)command.getTaskStatus1());
        writeInt32(writeBytes, 10, command.getTaskNo1());
        writeInt16(writeBytes, 14, (short)command.getDirection1());
        writeBool(writeBytes, 32, 0, command.getAckFinish1());
        writeInt16(writeBytes, 38, (short)command.getWrkTaskMove1());

        OperateResult result = siemensNet.Write("DB100.0", writeBytes);


        if (!result.IsSuccess){
            News.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(4,command));
            Thread.sleep(100);
            readStatus();
            return false;
        }

        //RGV任务写入后，回读一次，看是否成功
        Thread.sleep(400);
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 39);
            if (resultRead.IsSuccess){
                RgvCommand one = new RgvCommand();
                one.setWrkTaskMove1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 38));
                one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
                one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));
                one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));
                if (
                        !command.getDirection1().equals(one.getDirection1()) ||
                                !command.getTaskNo1().equals(one.getTaskNo1()) ||
                                !command.getTaskStatus1().equals(one.getTaskStatus1()) ||
                                !command.getEndStaNo1().equals(one.getEndStaNo1()) ||
                                !command.getTargetPosition1().equals(one.getTargetPosition1()) ||
                                !command.getWrkTaskMove1().equals(one.getWrkTaskMove1())
                ) {
                    try{
                        News.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    }catch (Exception e){
                        try{
                            News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                        }catch (Exception e1){
                            News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                        }
                    }
                    News.error("Rgv命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                    MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(4, command));
                    Thread.sleep(100);
                    readStatus();
                    return false;
                }else {
                    News.info("RGV命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                }
            }
        }catch (Exception e){
            News.error("RGV命令地址写入后回读出错");
        }

        if (!command.getAckFinish1()) {
            if (result.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
                int writeCount2 = 0;

                do {
                    writeCount2++;
                    boolean commandFinish = true;
                    if(command.getCommand()){
                        commandFinish = false;
                    }
                    result = siemensNet.Write("DB100.32.0", commandFinish);
                    if(result.IsSuccess){
                        //RGV任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
                            if (commandFinish){
                                News.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                            }else{
                                //任务命令写入成功
                                News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
                            News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                        }
                    } else {
                        News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                    }
                }while (writeCount2<5);
            }
        }

//        if (command.getAckFinish1() == 0) {
//            short commandFinish = 1;  //工位1任务写入
//            Thread.sleep(200);
//            result = siemensNet.Write("DB100.10", commandFinish);
//        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskStatus1().toString(),
                    command.getTargetPosition1(),
                    command.getEndStaNo1(),
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {
            log.error(ignore.getMessage());
        }

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位1数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位1数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    /**
     * 工位2写入数据
     */
    private boolean write2(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

        OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 40);
        if (result1.IsSuccess){
            RgvCommand one = new RgvCommand();
            one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(result1.Content, 0));
            one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 20));
            one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(result1.Content, 24));
            one.setTaskNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 26));
            one.setDirection2(siemensNet.getByteTransform().TransInt16(result1.Content, 30));
            one.setWrkTaskMove2(siemensNet.getByteTransform().TransInt16(result1.Content, 38));
            News.error("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
        }


        OperateResult result2 = siemensNet.Write("DB100.34", false);
        if (result2.IsSuccess){
            News.error("下发前把车子确认位置为0");
        }


        byte[] writeBytes = new byte[42];
        command.setRgvNo(slave.getId());

        writeInt32(writeBytes, 0, command.getTargetPosition1());
        writeInt32(writeBytes, 20, command.getEndStaNo2());
        writeInt16(writeBytes, 24, (short)command.getTaskStatus2());
        writeInt32(writeBytes, 26, command.getTaskNo2());
        writeInt16(writeBytes, 30, (short)command.getDirection2());
        writeBool(writeBytes, 32, 0, command.getAckFinish2());
        writeInt16(writeBytes, 38, (short)command.getWrkTaskMove2());


        OperateResult result = siemensNet.Write("DB100.0", writeBytes);



        if (!result.IsSuccess){
            News.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(5,command));
            Thread.sleep(100);
            readStatus();
            return false;
        }

        //RGV任务写入后，回读一次，看是否成功
        Thread.sleep(400);
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 42);
            if (resultRead.IsSuccess){
                RgvCommand one = new RgvCommand();
                one.setWrkTaskMove2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 38));
                one.setDirection2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
                one.setTaskNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 26));
                one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
                one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 20));
                one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));
                if (
                        !command.getDirection2().equals(one.getDirection2()) ||
                                !command.getTaskNo2().equals(one.getTaskNo2()) ||
                                !command.getTaskStatus2().equals(one.getTaskStatus2()) ||
                                !command.getEndStaNo2().equals(one.getEndStaNo2()) ||
                                !command.getTargetPosition1().equals(one.getTargetPosition1()) ||
                                !command.getWrkTaskMove2().equals(one.getWrkTaskMove2())
                ) {
                    try{
                        News.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    }catch (Exception e){
                        try{
                            News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                        }catch (Exception e1){
                            News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                        }
                    }
                    News.error("Rgv命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                    MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(5, command));
                    Thread.sleep(100);
                    readStatus();
                    return false;
                }else {
                    News.info("RGV命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                }
            }
        }catch (Exception e){
            News.error("RGV命令地址写入后回读出错");
        }

        if (!command.getAckFinish2()) {
            if (result.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
                int writeCount2 = 0;

                do {
                    writeCount2++;
                    boolean commandFinish = true;
                    if(command.getCommand()){
                        commandFinish = false;
                    }
                    result = siemensNet.Write("DB100.32.1", commandFinish);
                    if(result.IsSuccess){
                        //RGV任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 1);
                            if (commandFinish){
                                News.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                            }else{
                                //任务命令写入成功
                                News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
                            News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                        }
                    } else {
                        News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                    }
                }while (writeCount2<5);
            }
        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo2(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskStatus2().toString(),
                    command.getTargetPosition2(),
                    command.getEndStaNo2(),
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位2命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位2命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位2数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位2数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

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

@@ -158,6 +158,7 @@
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
                    crnProtocol.setCrnNo(slave.getId());

                }
                crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));

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

@@ -261,8 +261,9 @@
        ArrayList<Integer> staNos = getStaNo();
        int staNoSize = staNos.size();
        OperateResultExOne<byte[]> result = null;
        OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB100.0", (short) (2764));
        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.0", (short) (1264));
        OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB100.0", (short) (2764));//1001-1028
        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.0", (short) (1264));//1029-1037
        OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB104.0", (short) (1264));//1042-1053

        if (result1.IsSuccess && result2.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
@@ -275,8 +276,10 @@
                }
                if(siteId < 1029){
                    result = result1;
                }else{
                }else if(siteId < 1042){
                    result = result2;
                }else if(siteId < 1054){
                    result = result3;
                }
                // 获取该站点对应的偏移量
                Integer offset = siteOffsetMap.get(siteId);
@@ -294,13 +297,9 @@
                boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result.Content, offset + offset3 - 4, 3);

                staProtocol.setLoading(!status1[0]);  // 有物
                if(staProtocol.isLoading()){
                    staProtocol.setInEnable(false); // 可入
                    staProtocol.setOutEnable(false);// 可出
                }else{
                    staProtocol.setInEnable(true); // 可入
                    staProtocol.setOutEnable(true);// 可出
                }

                staProtocol.setInEnable(true); // 可入
                staProtocol.setOutEnable(true);// 可出
//                staProtocol.setInEnable(status1[1]); // 可入
//                staProtocol.setOutEnable(status1[3]);// 可出
//                staProtocol.setEmptyMk(status[4]);  // 空板信号
@@ -528,11 +527,11 @@
            if(siteId > 1028){
                write = siemensS7Net.Write("DB101." + (offset + offset2), staProtocol.getWorkNo());    // 工作号
                Thread.sleep(200);
                write1 = siemensS7Net.Write("DB101." + (offset + offset2 + 12), staProtocol.getStaNo());    // 目标站
                write1 = siemensS7Net.Write("DB101." + (offset + offset2 + 12), staProtocol.getStaNo().intValue());    // 目标站
            }else{
                write = siemensS7Net.Write("DB100." + (offset + offset2), staProtocol.getWorkNo());    // 工作号
                Thread.sleep(200);
                write1 = siemensS7Net.Write("DB100." + (offset + offset2 + 12), staProtocol.getStaNo());    // 目标站
                write1 = siemensS7Net.Write("DB100." + (offset + offset2 + 12), staProtocol.getStaNo().intValue());    // 目标站
            }
            if(write.IsSuccess && write1.IsSuccess){
                log.error("写入输送线命令成功。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);

 src/main/resources/application.yml

@@ -48,13 +48,13 @@
  # 双深
  doubleDeep: true
  # 双深库位排号
  doubleLocs: 1,4,5,8,9,12,13,16
  doubleLocs: 1,4,5,8,9,12,13,16,17,20
  # 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
    ip: 10.10.10.100
    port: 102
    rack: 0
    slot: 0
@@ -64,21 +64,33 @@
    # 堆垛机入库站点
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 123
      staNo: 1001
      row: 2
      bay: 1
      bay: 52
      lev: 1
    crnInStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 2004
      row: 3
      bay: 52
      lev: 2
    # 堆垛机出库站点
    crnOutStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 118
      staNo: 1005
      row: 3
      bay: 1
      bay: 52
      lev: 1
    crnOutStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 2001
      row: 2
      bay: 52
      lev: 2
  # 堆垛机2
  crn[1]:
    id: 2
    ip: 10.10.10.20
    ip: 10.10.10.110
    port: 102
    rack: 0
    slot: 0
@@ -88,21 +100,33 @@
    # 堆垛机入库站点
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 131
      staNo: 1011
      row: 7
      bay: 1
      bay: 52
      lev: 1
    crnInStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 2010
      row: 7
      bay: 52
      lev: 2
    # 堆垛机出库站点
    crnOutStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 127
      staNo: 1008
      row: 6
      bay: 1
      bay: 52
      lev: 1
    crnOutStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 2007
      row: 6
      bay: 52
      lev: 2
  # 堆垛机3
  crn[2]:
    id: 3
    ip: 10.10.10.30
    ip: 10.10.10.120
    port: 102
    rack: 0
    slot: 0
@@ -112,21 +136,45 @@
    # 堆垛机入库站点
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 135
      staNo: 1015
      row: 10
      bay: 1
      bay: 52
      lev: 1
    crnInStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 2016
      row: 10
      bay: 52
      lev: 2
    crnInStn[2]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 4001
      row: 10
      bay: 52
      lev: 4
    # 堆垛机出库站点
    crnOutStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 139
      staNo: 1019
      row: 11
      bay: 1
      bay: 52
      lev: 1
    crnOutStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 2013
      row: 11
      bay: 52
      lev: 2
    crnOutStn[2]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 4004
      row: 11
      bay: 52
      lev: 4
  # 堆垛机4
  crn[3]:
    id: 4
    ip: 10.10.10.40
    ip: 10.10.10.130
    port: 102
    rack: 0
    slot: 0
@@ -136,21 +184,33 @@
    # 堆垛机入库站点
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 144
      staNo: 1025
      row: 15
      bay: 1
      bay: 52
      lev: 1
    crnInStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 2022
      row: 15
      bay: 52
      lev: 2
    # 堆垛机出库站点
    crnOutStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 148
      staNo: 1022
      row: 14
      bay: 1
      bay: 52
      lev: 1
    crnOutStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 1022
      row: 14
      bay: 52
      lev: 2
  # 堆垛机4
  crn[4]:
    id: 5
    ip: 10.10.10.41
    ip: 10.10.10.140
    port: 102
    rack: 0
    slot: 0
@@ -160,17 +220,29 @@
    # 堆垛机入库站点
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 144
      staNo: 1032
      row: 19
      bay: 1
      bay: 52
      lev: 1
    crnInStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 2028
      row: 19
      bay: 52
      lev: 2
    # 堆垛机出库站点
    crnOutStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 148
      staNo: 1029
      row: 18
      bay: 1
      bay: 52
      lev: 1
    crnOutStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 2025
      row: 18
      bay: 52
      lev: 2

  # RGV穿梭车1
  rgv[0]:

 src/main/resources/mapper/WrkMastStaMapper.xml

@@ -38,24 +38,31 @@
        and wrk_no = #{workNo}
    </select>

    <select id="selectNoInterfere" resultMap="BaseResultMap">
    <select id="selectByWrkNoPut" resultMap="BaseResultMap">
        select top 1 * from asr_wrk_mast_sta
        where 1=1
        and (sta_start in
        <foreach item="item" collection="staStarts" index="index" separator="," open="(" close=")">
            #{item}
        </foreach>
        or sta_start = 0
        )
        and (sta_end in
        <foreach item="item" collection="staEnds" index="index" separator="," open="(" close=")">
            #{item}
        </foreach>
        or sta_end = 0
        )
        and wrk_sts=0
        order by line_number,id
          and wrk_no = #{workNo}
          and wrk_sts = 2
    </select>

<!--    <select id="selectNoInterfere" resultMap="BaseResultMap">-->
<!--        select top 1 * from asr_wrk_mast_sta-->
<!--        where 1=1-->
<!--        and (sta_start in-->
<!--        <foreach item="item" collection="staStarts" index="index" separator="," open="(" close=")">-->
<!--            #{item}-->
<!--        </foreach>-->
<!--        or sta_start = 0-->
<!--        )-->
<!--        and (sta_end in-->
<!--        <foreach item="item" collection="staEnds" index="index" separator="," open="(" close=")">-->
<!--            #{item}-->
<!--        </foreach>-->
<!--        or sta_end = 0-->
<!--        )-->
<!--        and wrk_sts=0-->
<!--        order by line_number,id-->
<!--    </select>-->

    <select id="selectNoInterfereList" resultMap="BaseResultMap">
        select * from asr_wrk_mast_sta
@@ -95,6 +102,23 @@
        and wrk_no = #{workNo}
        order by line_number,id
    </select>

    <select id="selectNoInterfereToCrn" resultMap="BaseResultMap">
        select * from asr_wrk_mast_sta
        where 1=1
        and (sta_start in
        <foreach item="item" collection="staStarts" index="index" separator="," open="(" close=")">
            #{item}
        </foreach>
        or sta_start = 0
        )
        or sta_end = 0
        )
        and sta_end in (2018,1018)
        and wrk_sts=0
        and wrk_no = #{workNo}
        order by line_number,id
    </select>
    <select id="selectByWorkSta" resultMap="BaseResultMap">
        select top 1 * from asr_wrk_mast_sta
        where work_sta = #{workSta}

 src/main/webapp/static/css/rgv.css

@@ -125,7 +125,7 @@
.task-select {
    height: 50%;
    overflow: hidden;
    padding: 20px 0 10px 20px;
    padding: 20px 0 10px 10px;
}
.operator-item {
    display: inline-block;

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

@@ -66,7 +66,7 @@
        }
        bayWidth = rackss[i].width / bLen
        // hpPosition 0 表示货架序号 左->右 1 表示货架序号 左<-右
        if (mapInfo.hpPosition == 0) {
        if (mapInfo.hpPosition == 1) {
            bNum = maxBayNo
            for (let j = bLen; j > 0; j--) {
                bay = "<button class='item' style='width: "+ bayWidth +"px'>" + bNum + "</button>"

 src/main/webapp/views/console.html

@@ -602,7 +602,7 @@
                        }
                        // crnEl.animate({left: (crns[i].bay * unit) + 'px'}, 1000);
                        // crns[i].bay = 15;
                        var offSet = 800;
                        var offSet = 120;
                        unit = 52;
                        // switch (i) {
                        //     case 0:
@@ -624,9 +624,9 @@
                        // }

                        if(crns[i].bay === 1){
                            crnEl.animate({left: offSet + 'px'}, 1000);
                            crnEl.animate({left: offSet + 'px'}, 19);
                        } else {
                            crnEl.animate({left: (offSet - unit + (crns[i].bay * unit)) + 'px'}, 1000);
                            crnEl.animate({left: (offSet - unit + (crns[i].bay * unit)) + 'px'}, 19);
                        }

                    }

 src/main/webapp/views/rgv.html

@@ -116,12 +116,12 @@
                <thead>
                <tr>
                    <th>RGV</th>
                    <th>工作号</th>
                    <th>工位1工作号</th>
                    <th>工位2工作号</th>
                    <th>状态</th>
                    <th>源站</th>
                    <th>目标站</th>
                    <th>源库位</th>
                    <th>目标库位</th>
<!--                    <th>源库位</th>-->
<!--                    <th>目标库位</th>-->
<!--                    <th>走行速度（m/min)</th>-->
<!--                    <th>升降速度（m/min)</th>-->
<!--                    <th>叉牙速度（m/min)</th>-->
@@ -148,7 +148,7 @@
            <!-- 设备任务选择 -->
            <div class="task-select">
                <!-- 堆垛机选择 -->
                <div id="rgv-select" class="operator-item" style="width: 55%">
                <div id="rgv-select" class="operator-item" style="width: 30%">
                    <span class="select-title">RGV号</span>
                    <div class="select-container" style="padding: 20px 0;">
                        <label><input type="radio" name="rgvSelect" value="1" checked>&nbsp;1号RGV</label>
@@ -157,12 +157,12 @@
                    </div>
                </div>
                <!-- 源站/源库位 选择 -->
                <div id="source-select" class="operator-item">
                    <span class="select-title">源站</span>
                <div id="source-select1" class="operator-item">
                    <span class="select-title">工位</span>
                    <div class="select-container">
                        <div class="select-container-item">
                            <span>工位1源站</span>
                            <label><input id="sourceStaNo" type="number" name="points" min="0" /></label>
                            <span>工位</span>
                            <label><input id="workSta" type="number" name="points" min="0" /></label>
                        </div>
<!--                        <div class="select-container-item">-->
<!--                            <span>排</span>-->
@@ -179,11 +179,11 @@
                    </div>
                </div>
                <!-- 目标站/目标库位 选择 -->
                <div id="target-select" class="operator-item">
                <div id="target-select2" class="operator-item">
                    <span class="select-title">目标站</span>
                    <div class="select-container">
                        <div class="select-container-item">
                            <span>工位1目标站</span>
                            <span>目标站</span>
                            <label><input id="staNo" type="number" name="points" min="0" /></label>
                        </div>
<!--                        <div class="select-container-item">-->
@@ -200,6 +200,27 @@
<!--                        </div>-->
                    </div>
                </div>
                <div id="target-select" class="operator-item">
                    <span class="select-title">工作号</span>
                    <div class="select-container">
                        <div class="select-container-item">
                            <span>工作号</span>
                            <label><input id="workNo" type="number" name="points" min="0" /></label>
                        </div>
                        <!--                        <div class="select-container-item">-->
                        <!--                            <span>排</span>-->
                        <!--                            <label><input id="row" type="number" name="points" min="1" style="background-color: #a9eeff" value="1" /></label>-->
                        <!--                        </div>-->
                        <!--                        <div class="select-container-item">-->
                        <!--                            <span>工位2目标站</span>-->
                        <!--                            <label><input id="bay" 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="lev" type="number" name="points" min="1" style="background-color: #a9eeff" value="1" /></label>-->
                        <!--                        </div>-->
                    </div>
                </div>
            </div>

            <!-- 设备任务操作 -->
@@ -207,15 +228,15 @@
                <fieldset>
                    <legend>手动操作</legend>
                    <div class="button-group">
                        <button class="item" onclick="put()">取放货</button>
<!--                        <button class="item" onclick="take()">取货</button>-->
<!--                        <button class="item" onclick="stockMove()">放货</button>-->
<!--                        <button class="item" onclick="put()">取放货</button>-->
                        <button class="item" onclick="take()">取货</button>
                        <button class="item" onclick="stockMove()">放货</button>
<!--                        <button class="item" onclick="siteMove()">站到站</button>-->
                        <!--                <button class="item" onclick="bacOrigin()">回原点</button>-->
                        <!--                <button class="item" onclick="reverseOrigin()">反原点</button>-->
                        <!--                <button class="item" onclick="coorMove()">坐标移行</button>-->
                        <button class="item" onclick="taskComplete()">任务完成</button>
                        <button class="item" onclick="lock()">解锁</button>
<!--                        <button class="item" onclick="taskComplete()">任务完成</button>-->
<!--                        <button class="item" onclick="lock()">解锁</button>-->
                        <!--                <button class="item" onclick="pause()">暂停</button>-->
                        <!--                <button class="item" onclick="boot()">启动</button>-->
<!--                        <button class="item" onclick="clearCommand()">清除命令</button>-->
@@ -353,12 +374,10 @@
                    for (var i=1;i<=table.length;i++){
                        var tr = tableEl.find("tr").eq(i);
                        setVal(tr.children("td").eq(0), table[i-1].rgvNo);
                        setVal(tr.children("td").eq(1), table[i-1].workNo);
                        setVal(tr.children("td").eq(2), table[i-1].status);
                        setVal(tr.children("td").eq(3), table[i-1].sourceStaNo);
                        setVal(tr.children("td").eq(1), table[i-1].workNo1);
                        setVal(tr.children("td").eq(2), table[i-1].workNo2);
                        setVal(tr.children("td").eq(3), table[i-1].status);
                        setVal(tr.children("td").eq(4), table[i-1].staNo);
                        setVal(tr.children("td").eq(5), table[i-1].sourceLocNo);
                        setVal(tr.children("td").eq(6), table[i-1].locNo);
                        // setVal(tr.children("td").eq(7), table[i-1].xspeed);
                        // setVal(tr.children("td").eq(8), table[i-1].yspeed);
                        // setVal(tr.children("td").eq(9), table[i-1].zspeed);
@@ -384,6 +403,8 @@
        var sourceRow = $('#sourceRow').val();
        var sourceBay = $('#sourceBay').val();
        var sourceLev = $('#sourceLev').val();
        var workSta = $('#workSta').val();
        var workNo = $('#workNo').val();
        var staNo = $('#staNo').val();
        var row = $('#row').val();
        var bay = $('#bay').val();
@@ -395,6 +416,8 @@
            sourceBay: sourceBay,
            sourceLev: sourceLev,
            staNo: staNo,
            workSta: workSta,
            workNo: workNo,
            row: row,
            bay: bay,
            lev: lev
@@ -408,14 +431,14 @@
        });
    }

    // 出库
    // 取货
    function take() {
        http.post(baseUrl+"/rgv/operator/take", getReqParam(), function (res) {
            layer.msg(res.msg);
        });
    }

    // 库位转移
    // 放货
    function stockMove() {
        http.post(baseUrl+"/rgv/operator/stockMove", getReqParam(), function (res) {
            layer.msg(res.msg);