#

zjj

2024-01-18 890d6a4531a85375571885f7f4e9399bbcab99c6

#

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

@@ -23,7 +23,7 @@
     * ID
     */
    @ApiModelProperty(value= "ID")
    @TableId(value = "id", type = IdType.INPUT)
    @TableId(value = "id", type = IdType.AUTO)
    private Long id;

    /**

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

@@ -92,6 +92,8 @@
    private BasRgvService basRgvService;
    @Autowired
    private BasRgvMapMapper basRgvMapMapper;
    @Autowired
    private WrkMastService wrkMastService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -103,17 +105,14 @@
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
     */
    public synchronized void generateStoreWrkFile(Integer mark) {
        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                if (barcodeThread == null) {
                    continue;
                }

                // 获取入库站信息
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) {
@@ -122,6 +121,10 @@
                    staProtocol = staProtocol.clone();
                }

                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
@@ -156,7 +159,7 @@
                // 退回
                if (back) {
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));

                    if (!staProtocol.isLoading()){
                        continue;
@@ -172,102 +175,33 @@
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                }

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

                // 判断是否满足入库条件
                if (!staProtocol.isLoading()){
                    continue;
                }
                String barcode11 = barcodeThread.getBarcode();
                if (Cools.isEmpty(barcode11)){
                    if (staProtocol.isAutoing()&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 9999 && staProtocol.isPakMk() && staProtocol.getStamp()==2){
                        staProtocol.setStamp(3);
                        News.info(""+mark+" - 7"+" - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode11, inSta.getStaNo());
                        staProtocol.setWorkNo(9989);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "扫码失败，请重试";
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                        }
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && staProtocol.isPakMk()) {
                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
                        News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);

                        continue;
                    }
                }
                if (staProtocol.isAutoing() && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
                        && staProtocol.isPakMk() && staProtocol.getStamp()>=2 && staProtocol.getStamp()!=3) {// && !Cools.isEmpty(barcode)) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行");
//                    try {
//                        Thread.sleep(300);
//                    }catch (Exception e){}

                    String barcode = barcodeThread.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                            staProtocol.setWorkNo( 9999);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

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

                        News.info(""+mark+" - 3"+" - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "扫码失败，请重试";
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                        }
                        continue;
                    }

                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    //过滤判断，防止拣料再入库货物，经过入库站再入库时，被退回到退库站
                    WrkMast wrkMast1 = wrkMastMapper.selectPakInStepBarcode(barcode);
                    if (wrkMast1 !=null){
                        if (wrkMast1.getIoType()==103 || wrkMast1.getIoType()==107 || wrkMast1.getIoType()==104){
                            continue;
                        }
                    }
                    if (wrkMast != null) {
                        News.error(""+mark+" - 4"+" - 工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        staProtocol.setWorkNo(9999);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
                        }

                        // led 异常显示
                        News.error(methodName + ":工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        if (ledThread != null) {
                            String errorMsg = "工作档已存在该条码号===>>" + barcode;
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                            News.error(methodName + ":扫码失败，请重试");
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={" + wrkMast.getWrkNo() + "}, 请手动取消已存在工作档"));
                        }
                        continue;
                    }

                    WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                            .eq("barcode", barcode)
                            .in("io_type", 107,103));
                    if (!Cools.isEmpty(checkPick)) {
                        continue;
                    }
                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

@@ -285,58 +219,40 @@
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                                News.error(methodName + ":更新plc站点信息失败");

                            // led 入库信息显示
                            if (ledThread != null) {
                                // 命令集合
                                List<LedCommand> commands = new ArrayList<>();
                                // 组装命令
                                LedCommand ledCommand = new LedCommand();
                                ledCommand.setWorkNo(dto.getWorkNo());
                                ledCommand.setIoType(1);
                                ledCommand.setTitle("全板入库");
                                ledCommand.setLocNo(dto.getLocNo());
                                ledCommand.setStaNo(dto.getStaNo());
                                commands.add(ledCommand);
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, commands));
//                                ledThread.errorReset();
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            News.error(""+mark+" - 5"+" - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            staProtocol.setWorkNo(9999);
                            staProtocol.setWorkNo(wrkNo);
                            wrkNo++;
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = jsonObject.getString("msg");
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                                if (!Cools.isEmpty(errorMsg)) {
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                }
                            }
                            News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }


                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }

                }else {
                    News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isAutoing()+"、可入信号：" + staProtocol.isInEnable()
                            +"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
                            +"、锁定标记"+ staProtocol.isPakMk()+"、入库印记：" + staProtocol.getStamp());
                }


            }
        }
@@ -1475,22 +1391,22 @@
//                                ledThread.errorReset();
                            }
                        } else {
                            staProtocol.setWorkNo(9999);
                            staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                News.errorNoLog(""+mark+" - 2"+" - 更新plc站点信息失败");
                                throw new CoolException("更新plc站点信息失败");
                            }

                            if (ledThread != null) {
                                String errorMsg = jsonObject.getString("msg");
                                if (!Cools.isEmpty(errorMsg)) {
                                    MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
                                }
                            }
                            News.error(""+mark+" - 3"+" - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
//                            staProtocol.setWorkNo(wrkNo++);
//                            staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            if (!result) {
//                                News.errorNoLog(""+mark+" - 2"+" - 更新plc站点信息失败");
//                                throw new CoolException("更新plc站点信息失败");
//                            }
//
//                            if (ledThread != null) {
//                                String errorMsg = jsonObject.getString("msg");
//                                if (!Cools.isEmpty(errorMsg)) {
//                                    MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
//                                }
//                            }
//                            News.error(""+mark+" - 3"+" - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
@@ -2268,7 +2184,7 @@
                // 只有当RGV等待WCS确认、自动
                if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && (rgvProtocol.getStatusType() == RgvStatusType.WORKING)
                        && (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
                ){
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    if (rgvProtocol.getTaskNo1()!=0){
@@ -2288,9 +2204,25 @@
                            continue;
                        }
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
//                        boolean rgvComplete = true;
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }
                        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                        StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
                        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);
                            if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
                                continue;
                            }
                        }
                        wrkMastSta.setWrkSts(3);
                        wrkMastStaMapper.updateById(wrkMastSta);
@@ -2298,33 +2230,7 @@
                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                    }
//                    else if (rgvProtocol.getTaskNo2()!=0){
//                        if (rgvProtocol.getTaskNo2()==9999){
//                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
//                            if (!rgvComplete){
//                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
//                            }
//                            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
//                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
//                            break;
//                        }
//                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().intValue());
//                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=2){
//                            log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
//                            continue;
//                        }
//                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
//                        if (!rgvComplete){
//                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
//                            break;
//                        }
//                        wrkMastSta.setWrkSts(3);
//                        wrkMastStaMapper.updateById(wrkMastSta);
//                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
//                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
//                    }

                    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());
                    }
@@ -2569,24 +2475,52 @@
     * 小车XY移动  避让
     * */
    public synchronized boolean rgvAvoidanceXY(Integer rgvId){
        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)9999); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 工位1任务模式:  回原点
            rgvCommand.setCommand((short) 1);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(9, 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));
        if (rgvId==1){
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  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( (short)100);
                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 {
                return true;
            }
        }catch (Exception e){
            return false;

            }
        }else {
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  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( (short)161);
                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;

            }
        }
    }

@@ -2723,7 +2657,7 @@
    public synchronized boolean rgvComplete(Integer rgvId){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(3, new RgvCommand()))) {
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new 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={}",rgvId);
                return false;

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

@@ -6,6 +6,7 @@
    IDLE(0, "空闲"),
    WORKING(1, "作业中"),
    SOS(2, "报警"),
    WORKING1(3, "作业中"),
    FETCHING(11, "取货中"),
    PUTTING(12, "放货中"),
    WAITING(90, "任务完成等待WCS确认"),

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

@@ -6,7 +6,7 @@
    FETCH(1),    // 取货
    PUT(2),    // 放货
    FETCH_PUT(3),    // 取放货
//    X_MOVE(4),    // 站位移转
    X_MOVE(4),    // 站位移转
//    Y_MOVE(5),    // 站位移转
//    XY_MOVE(6),    // 站位移转
    GO_ORIGIN(7),    // 回原点

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

@@ -91,13 +91,8 @@
                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo1((short)0);     // 源站
                        command.setDestinationStaNo1((short)0);     // 目标站
//                        command.setTaskNo2((short) 0); // 工作号
//                        command.setAckFinish2((short) 1);  // 任务完成确认位
//                        command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
//                        command.setSourceStaNo2((short)0);     // 源站
//                        command.setDestinationStaNo2((short)0);     // 目标站
                        command.setCommand((short)0);
                        write(command);
                        write1(command);
                        break;
                    // 回原点  避让
                    case 9:
@@ -349,7 +344,7 @@

        if (command.getAckFinish1() == 0) {
            short commandFinish = 1;  //工位1任务写入
            Thread.sleep(100L);
            Thread.sleep(200);
            result = siemensNet.Write("DB100.10", commandFinish);
        }

@@ -371,7 +366,9 @@
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}
        } catch (Exception ignore) {
            log.error(ignore.getMessage());
        }

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);

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

@@ -342,21 +342,13 @@
        }
        ArrayList<Integer> staNos = getStaNo();
        int index = staNos.indexOf(staProtocol.getSiteId());
//        short[] array = new short[2];
//        array[0] = staProtocol.getWorkNo();
//        array[1] = staProtocol.getStaNo();
//        OperateResult write = siemensS7Net.Write("DB100." + index*4, array);

        OperateResult write = null;
        OperateResult write1 = null;
        //任务下发次数
        int writeCount = 0;
        do {
//            write = siemensS7Net.Write("DB100.0" + index*2, staProtocol.getWorkNo());    // 工作号
//            Thread.sleep(500);
//            write1 = siemensS7Net.Write("DB100.0" + index*2+2, staProtocol.getStaNo());    // 目标站
            write = siemensS7Net.Write("DB100." + index*6, staProtocol.getWorkNo());    // 工作号
            Thread.sleep(500);
            Thread.sleep(200);
            write1 = siemensS7Net.Write("DB100." + (index*6+4), staProtocol.getStaNo().shortValue());    // 目标站
            if(write.IsSuccess && write1.IsSuccess){
                break;

 src/main/resources/application.yml

@@ -81,14 +81,14 @@
    # 堆垛机入库站点
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 128
      staNo: 127
      row: 6
      bay: 1
      lev: 1
    # 堆垛机出库站点
    crnOutStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 132
      staNo: 131
      row: 7
      bay: 1
      lev: 1
@@ -105,14 +105,14 @@
    # 堆垛机入库站点
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 136
      staNo: 135
      row: 12
      bay: 1
      lev: 1
    # 堆垛机出库站点
    crnOutStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 140
      staNo: 139
      row: 11
      bay: 1
      lev: 1

 src/main/resources/mapper/WrkMastStaMapper.xml

@@ -33,7 +33,7 @@
    <select id="selectByWrkNo" resultMap="BaseResultMap">
        select top 1 * from asr_wrk_mast_sta
        where 1=1
        and wrk_no = #{wrkNo}
        and wrk_no = #{workNo}
    </select>

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

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

@@ -419,19 +419,11 @@
                "height": 42
            }, {
                "type": "stn",
                "id": "site-140",
                "text": "140",
                "top": 304,
                "left": 468,
                "width": 60,
                "height": 19
            }, {
                "type": "stn",
                "id": "site-139",
                "text": "139",
                "top": 304,
                "left": 406,
                "width": 60,
                "width": 120,
                "height": 19
            }, {
                "type": "stn",
@@ -455,17 +447,9 @@
                "text": "135",
                "top": 352,
                "left": 406,
                "width": 60,
                "width": 120,
                "height": 19
            }, {
                "type": "stn",
                "id": "site-136",
                "text": "136",
                "top": 352,
                "left": 468,
                "width": 60,
                "height": 19
            }, {
            },  {
                "type": "stn",
                "id": "site-137",
                "text": "137",
@@ -495,15 +479,7 @@
                "text": "131",
                "top": 417,
                "left": 406,
                "width": 60,
                "height": 19
            }, {
                "type": "stn",
                "id": "site-132",
                "text": "132",
                "top": 417,
                "left": 468,
                "width": 60,
                "width": 120,
                "height": 19
            }, {
                "type": "stn",
@@ -527,17 +503,9 @@
                "text": "127",
                "top": 464.5,
                "left": 406,
                "width": 60,
                "width": 120,
                "height": 19
            }, {
                "type": "stn",
                "id": "site-128",
                "text": "128",
                "top": 464.5,
                "left": 468,
                "width": 60,
                "height": 19
            }, {
            },  {
                "type": "stn",
                "id": "site-125",
                "text": "125",