1.rcs请求wcs放货申请 2.wcs反馈rcs继续执行 3.rcs放货完成，已退出输送线，反馈end到wcs 4.rcs请求wcs取货申请 5.w...

zwl

2025-12-27 930dc44a8c0e7fb61cc18184fa810868328da0ee

1.rcs请求wcs放货申请
2.wcs反馈rcs继续执行
3.rcs放货完成，已退出输送线，反馈end到wcs
4.rcs请求wcs取货申请
5.wcs反馈rcs继续执行
6.rcs取货完成，已退出输送线,重置站点工作号和目标站

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

@@ -13,10 +13,7 @@
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
import org.springframework.web.bind.annotation.*;

@Slf4j
@RestController
@@ -61,4 +58,16 @@
        return rcsService.reporterTask(param);
    }

    // 反馈任务执行结果
    @GetMapping("/api/robot/reporter/task1")
    public void reporterTask1(){
        Integer sourceStaNo = 401;
        SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
        boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(3, staProtocol));
//        log.info("AGV放货完成，给站点写9991工作号,下发任务:{},站点:{},agv任务号:{}", result, task.getStaNo(), task.getTaskNo());
    }



}

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

@@ -81,7 +81,8 @@
            vo.setEmptyMk(staProtocol.isEmptyMk()?"Y":"N");     // 空板信号
            vo.setStaNo(staProtocol.getStaNo());                // 目标站
//            vo.setLocType1(staProtocol.isHigh() != staProtocol.isLow() && staProtocol.isLow() ? "低" : "高");     //高低库位
            vo.setLocType1(devp.getDevNo()==102 ? "高" : "低");
            vo.setLocType1(staProtocol.isHigh() ? "高" : "低");
            vo.setEmptyOutType(staProtocol.isEmptyOutType() ? "Y" : "N");
        }
        return R.ok().add(list);
    }

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

@@ -37,4 +37,6 @@

    //高低库位
    private String locType1 = "-";

    private String emptyOutType = "-";
}

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

File was renamed from src/main/java/com/zy/asrs/entity/Task.java
@@ -4,7 +4,6 @@
import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.annotations.TableName;
import com.baomidou.mybatisplus.enums.IdType;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.SpringUtils;
import com.zy.asrs.service.BasCrnpService;
@@ -22,7 +21,7 @@
@Data
@TableName("agv_task")
@Accessors(chain = true)
public class Task implements Serializable {
public class AgvTask implements Serializable {

    private static final long serialVersionUID = 1L;

@@ -345,7 +344,7 @@
    @TableField("task_no")
    private String taskNo;

    public Task() {}
    public AgvTask() {}

    public String getYmd$(){
        if (Cools.isEmpty(this.ymd)){

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

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

import com.baomidou.mybatisplus.mapper.BaseMapper;
import com.zy.asrs.entity.AgvTask;
import org.apache.ibatis.annotations.Mapper;
import org.springframework.stereotype.Repository;

@Mapper
@Repository
public interface AgvTaskMapper extends BaseMapper<AgvTask> {

}

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

File was deleted

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

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

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

public interface AgvTaskService extends IService<AgvTask> {
}

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

File was deleted

 src/main/java/com/zy/asrs/service/impl/AgvTaskServiceImpl.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.AgvTask;
import com.zy.asrs.mapper.AgvTaskMapper;
import com.zy.asrs.service.AgvTaskService;
import org.springframework.stereotype.Service;

@Service("agvTaskService")
public class AgvTaskServiceImpl extends ServiceImpl<AgvTaskMapper, AgvTask> implements AgvTaskService {

}

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

@@ -137,7 +137,8 @@
                if (staProtocol.isAutoing()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && staProtocol.getWorkNo() == 9999
                        && staProtocol.getWorkNo() == 9991
                        && staProtocol.isEmptyOutType()
                        && staProtocol.isPakMk()) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");


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

@@ -4,11 +4,10 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.R;
import com.zy.asrs.entity.*;
import com.zy.asrs.enums.RcsRetMethodEnum;
import com.zy.asrs.service.AgvTaskService;
import com.zy.asrs.service.RcsService;
import com.zy.asrs.service.TaskService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
@@ -28,12 +27,8 @@
import java.net.URL;
import java.net.URLConnection;
import java.nio.charset.StandardCharsets;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Objects;
import java.util.regex.Matcher;
import java.util.regex.Pattern;

@Slf4j
@Service
@@ -43,7 +38,7 @@
    private String HIK_URL;

    @Autowired
    private TaskService taskService;
    private AgvTaskService taskService;


    /**
@@ -55,6 +50,7 @@
     */
    @Override
    public RcsReturn reporterTask(RcsReporterTask rcsReporterTask) {
        log.info("海康AGV站点任务请求={}", JSONObject.toJSONString(rcsReporterTask));

        RcsReturn rcsReturn = new RcsReturn();

@@ -68,115 +64,40 @@
        String carrierType = values.getString("carrierType");
        String slotCategory = values.getString("slotCategory");
        String slotCode = values.getString("slotCode");
        EntityWrapper<Task> wrapper = new EntityWrapper<>();
        EntityWrapper<AgvTask> wrapper = new EntityWrapper<>();
        wrapper.eq("task_no", robotTaskCode);
        Task task = taskService.selectOne(wrapper);
        if(!Cools.isEmpty(task)){
        AgvTask task = taskService.selectOne(wrapper);
        if (!Cools.isEmpty(task)) {
            try {
                // q3,q8=1
                if ("1".equals(carrierType)) {    //AGV
                switch (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method))) {
                    //放货申请
                    case APPLY_PUT: {
                        Integer sourceStaNo = Integer.valueOf(task.getStaNo());
                        SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                        StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
                        //wcs反馈rcs继续执行
                        if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType()) {
                            RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                            rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
                            rcsTaskContinue.setTriggerType("TASK");
                            rcsTaskContinue.setTriggerCode(task.getTaskNo()+"-"+(task.getCtnType()-1));

                    switch (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method))) {
                        //放货申请
                        case APPLY_PUT: {
                            Integer sourceStaNo = Integer.valueOf(task.getStaNo());
                            SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
                            //wcs反馈rcs继续执行
                            if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType()) {
                                RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                                rcsTaskContinue.setRobotTaskCode(task.getTaskNo());
                                rcsTaskContinue.setTriggerType("TASK");
                                rcsTaskContinue.setTriggerCode(task.getTaskNo());

                                String url =HIK_URL + "api/robot/controller/task/extend/continue";
                                String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
                                if (!StringUtils.isEmpty(response) && response.contains("code")){
                                    RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
                                    if("200".equals(rcsReturn1.getCode())) {
                                        //出发PLC站点的扫码器扫码
                                        boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(3, staProtocol));
                                        log.info("AGV放货完成，给站点写9991工作号,下发任务:{},站点:{},agv任务号:{}",result,task.getStaNo(),task.getTaskNo());
                                        if (result) {
                                            // 返回RCS
                                            rcsReturn.setCode("SUCCESS");
                                            rcsReturn.setMessage("");
                                            JSONObject data = new JSONObject();
                                            data.put("robotTaskCode", robotTaskCode);
                                            rcsReturn.setData(data);
                                        }else {
                                            // 返回RCS
                                            rcsReturn.setCode("Err_Internal");
                                            rcsReturn.setMessage("");
                                            JSONObject data = new JSONObject();
                                            data.put("robotTaskCode", robotTaskCode);
                                            rcsReturn.setData(data);
                                        }
                                    }
                                }
                            }
                        }
                        break;

                        //放货完成 --》agv已经离开
                        case TASK_END: {
                            Integer sourceStaNo = Integer.valueOf(task.getStaNo());
                            SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
                            //放货完成 --》agv已经离开 --》给PLC站点写9991工作号
                            if (staProtocol != null && staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() ==0) {
                                staProtocol.setWorkNo((short) 9991);
                                staProtocol.setStaNo(Short.valueOf(task.getStaNo()));
                                boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
                                log.info("AGV放货完成，给站点写9991工作号,下发任务:{},站点:{},agv任务号:{}",result,task.getStaNo(),task.getTaskNo());
                                if(result){
                                    // 更新任务状态等内部逻辑
                                    task.setWrkSts(304L);   // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
                                    task.setModiTime(new Date());
                                    taskService.updateById(task);
                                    // 返回RCS
                                    rcsReturn.setCode("SUCCESS");
                                    rcsReturn.setMessage("");
                                    JSONObject data = new JSONObject();
                                    data.put("robotTaskCode", robotTaskCode);
                                    rcsReturn.setData(data);
                                }else {
                                    // 返回RCS
                                    rcsReturn.setCode("Err_Internal");
                                    rcsReturn.setMessage("");
                                    JSONObject data = new JSONObject();
                                    data.put("robotTaskCode", robotTaskCode);
                                    rcsReturn.setData(data);
                                }
                            }
                        }
                        break;
                        //rcs请求wms取货申请
                        case APPLY_PICK: {
                            Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
                            SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
                            //判断站点是否有料架和托盘
                            if (staProtocol != null && staProtocol.isLoading()
                                    && staProtocol.isEmptyOutType()
                                    && staProtocol.getWorkNo() >0 && staProtocol.getWorkNo() <9990) {
                                RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                                rcsTaskContinue.setRobotTaskCode(task.getTaskNo());
                                rcsTaskContinue.setTriggerType("TASK");
                                rcsTaskContinue.setTriggerCode(task.getTaskNo());

                                String url =HIK_URL + "api/robot/controller/task/extend/continue";
                                String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
                                if (!StringUtils.isEmpty(response) && response.contains("code")){
                                    RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
                                    if("200".equals(rcsReturn1.getCode())) {
                            String url = HIK_URL + "api/robot/controller/task/extend/continue";
                            String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
                            if (!StringUtils.isEmpty(response) && response.contains("code")) {
                                RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
                                if ("SUCCESS".equals(rcsReturn1.getCode())) {
                                    //出发PLC站点的扫码器扫码
                                    boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(3, staProtocol));
                                    log.info("AGV放货完成，给站点写9991工作号,下发任务:{},站点:{},agv任务号:{}", result, task.getStaNo(), task.getTaskNo());
                                    if (result) {
                                        // 返回RCS
                                        rcsReturn.setCode("SUCCESS");
                                        rcsReturn.setMessage("");
                                        JSONObject data = new JSONObject();
                                        data.put("robotTaskCode", robotTaskCode);
                                        rcsReturn.setData(data);
                                    }else {
                                    } else {
                                        // 返回RCS
                                        rcsReturn.setCode("Err_Internal");
                                        rcsReturn.setMessage("");
@@ -187,26 +108,68 @@
                                }
                            }
                        }
                        break;
                        //rcs取货完成，已退出输送线
                        case PICK_COMPLETE: {
                            Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
                            SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
                            //放货完成 --》agv已经离开 --》给PLC站点写9991工作号
                            if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType() && staProtocol.getWorkNo() >0 && staProtocol.getWorkNo() <9990) {
                                staProtocol.setWorkNo((short) 0);
                                staProtocol.setStaNo((short) 0);
                                boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
                                log.info("AGV取货完成，给站点写0工作号,下发任务:{},站点:{},agv任务号:{}",result,task.getStaNo(),task.getTaskNo());
                                if(result){
                    }
                    break;

                    //放货完成 --》agv已经离开
                    case TASK_END: {
                        Integer sourceStaNo = Integer.valueOf(task.getStaNo());
                        SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                        StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
                        //放货完成 --》agv已经离开 --》给PLC站点写9991工作号
                        if (staProtocol != null && staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0) {
                            staProtocol.setWorkNo((short) 9991);
                            staProtocol.setStaNo(Short.valueOf(task.getStaNo()));
                            boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
                            log.info("AGV放货完成，给站点写9991工作号,下发任务:{},站点:{},agv任务号:{}", result, task.getStaNo(), task.getTaskNo());
                            if (result) {
                                // 更新任务状态等内部逻辑
                                task.setWrkSts(304L);   // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
                                task.setModiTime(new Date());
                                taskService.updateById(task);
                                // 返回RCS
                                rcsReturn.setCode("SUCCESS");
                                rcsReturn.setMessage("");
                                JSONObject data = new JSONObject();
                                data.put("robotTaskCode", robotTaskCode);
                                rcsReturn.setData(data);
                            } else {
                                // 返回RCS
                                rcsReturn.setCode("Err_Internal");
                                rcsReturn.setMessage("");
                                JSONObject data = new JSONObject();
                                data.put("robotTaskCode", robotTaskCode);
                                rcsReturn.setData(data);
                            }
                        }
                    }
                    break;
                    //rcs请求wms取货申请
                    case APPLY_PICK: {
                        Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
                        SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                        StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
                        //判断站点是否有料架和托盘
                        if (staProtocol != null && staProtocol.isLoading()
                                && staProtocol.isEmptyOutType()
                                && staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
                            RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                            rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
                            rcsTaskContinue.setTriggerType("TASK");
                            rcsTaskContinue.setTriggerCode(task.getTaskNo()+"-"+(task.getCtnType()-1));

                            String url = HIK_URL + "api/robot/controller/task/extend/continue";
                            String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
                            if (!StringUtils.isEmpty(response) && response.contains("code")) {
                                RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
                                if ("200".equals(rcsReturn1.getCode())) {
                                    // 返回RCS
                                    rcsReturn.setCode("SUCCESS");
                                    rcsReturn.setMessage("");
                                    JSONObject data = new JSONObject();
                                    data.put("robotTaskCode", robotTaskCode);
                                    rcsReturn.setData(data);
                                }else {
                                } else {
                                    // 返回RCS
                                    rcsReturn.setCode("Err_Internal");
                                    rcsReturn.setMessage("");
@@ -214,16 +177,46 @@
                                    data.put("robotTaskCode", robotTaskCode);
                                    rcsReturn.setData(data);
                                }

                            }
                        }
                        break;

                        default: {
                        }
                        break;
                    }
                    break;
                    //rcs取货完成，已退出输送线
                    case PICK_COMPLETE: {
                        Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
                        SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                        StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
                        //放货完成 --》agv已经离开 --》给PLC站点写9991工作号
                        if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType() && staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
                            staProtocol.setWorkNo((short) 0);
                            staProtocol.setStaNo((short) 0);
                            boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
                            log.info("AGV取货完成，给站点写0工作号,下发任务:{},站点:{},agv任务号:{}", result, task.getStaNo(), task.getTaskNo());
                            if (result) {
                                // 返回RCS
                                rcsReturn.setCode("SUCCESS");
                                rcsReturn.setMessage("");
                                JSONObject data = new JSONObject();
                                data.put("robotTaskCode", robotTaskCode);
                                rcsReturn.setData(data);
                            } else {
                                // 返回RCS
                                rcsReturn.setCode("Err_Internal");
                                rcsReturn.setMessage("");
                                JSONObject data = new JSONObject();
                                data.put("robotTaskCode", robotTaskCode);
                                rcsReturn.setData(data);
                            }

                        }
                    }
                    break;

                    default: {
                    }
                    break;
                }


            } catch (Exception e) {
                log.error("RCS反馈任务进度处理异常 - {}", rcsReporterTask, e);
@@ -240,7 +233,7 @@
    /**
     * 向指定 URL 发送POST方法的请求
     *
     * @param url 发送请求的 URL
     * @param url   发送请求的 URL
     * @param param 请求参数，请求参数应该是 name1=value1&name2=value2 的形式。
     * @return 所代表远程资源的响应结果
     */
@@ -248,8 +241,7 @@
        PrintWriter out = null;
        BufferedReader in = null;
        StringBuilder result = new StringBuilder();
        try
        {
        try {
            log.info("sendPost - {} - {}", url, param);
            URL realUrl = new URL(url);
            URLConnection conn = realUrl.openConnection();
@@ -272,43 +264,27 @@
            out.flush();
            in = new BufferedReader(new InputStreamReader(conn.getInputStream(), StandardCharsets.UTF_8));
            String line;
            while ((line = in.readLine()) != null)
            {
            while ((line = in.readLine()) != null) {
                result.append(line);
            }
            log.info("recv - {}", result);
        }
        catch (ConnectException e)
        {
        } catch (ConnectException e) {
            log.error("调用HttpUtils.sendPost ConnectException, url=" + url + ",param=" + param, e);
        }
        catch (SocketTimeoutException e)
        {
        } catch (SocketTimeoutException e) {
            log.error("调用HttpUtils.sendPost SocketTimeoutException, url=" + url + ",param=" + param, e);
        }
        catch (IOException e)
        {
        } catch (IOException e) {
            log.error("调用HttpUtils.sendPost IOException, url=" + url + ",param=" + param, e);
        }
        catch (Exception e)
        {
        } catch (Exception e) {
            log.error("调用HttpsUtil.sendPost Exception, url=" + url + ",param=" + param, e);
        }
        finally
        {
            try
            {
                if (out != null)
                {
        } finally {
            try {
                if (out != null) {
                    out.close();
                }
                if (in != null)
                {
                if (in != null) {
                    in.close();
                }
            }
            catch (IOException ex)
            {
            } catch (IOException ex) {
                log.error("调用in.close Exception, url=" + url + ",param=" + param, ex);
            }
        }

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

File was deleted

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

@@ -350,12 +350,12 @@
        if (null == staProtocol) {
            return;
        }
        ArrayList<Integer> staNos = getStaNo();
        int index = staNos.indexOf(staProtocol.getSiteId());
        if(staProtocol.getSiteId() == 307){
            index = 0;

        int index = 0;
        if(staProtocol.getSiteId() == 402){
            index = 1;
        }
        OperateResult writeResult1 = siemensS7Net.Write("DB100.500" + index,  1);    // 扫码器触发
        OperateResult writeResult1 = siemensS7Net.Write("DB100.500." + index,  true);    // 扫码器触发
        if (!writeResult1.IsSuccess) {

            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线站点数据失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));

 src/main/resources/mapper/AgvTaskMapper.xml

File was renamed from src/main/resources/mapper/TaskMapper.xml
@@ -1,9 +1,9 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="com.zy.asrs.mapper.TaskMapper">
<mapper namespace="com.zy.asrs.mapper.AgvTaskMapper">

    <!-- 通用查询映射结果 -->
    <resultMap id="BaseResultMap" type="com.zy.asrs.entity.Task">
    <resultMap id="BaseResultMap" type="com.zy.asrs.entity.AgvTask">
        <id column="id" property="id" />
        <result column="task_type" property="taskType" />


 src/main/webapp/views/pipeline.html

@@ -116,6 +116,7 @@
                        <th>空板信号</th>
                        <th>目标站</th>
                        <th>高低库位</th>
                        <th>空料架</th>
                    </tr>
                    </thead>
                    <!-- 表格内容 -->
@@ -310,6 +311,7 @@
                        setVal(tr.children("td").eq(7), table[i-1].emptyMk);
                        setVal(tr.children("td").eq(8), table[i-1].staNo);
                        setVal(tr.children("td").eq(9), table[i-1].locType1);
                        setVal(tr.children("td").eq(10), table[i-1].emptyOutType);
                    }
                } else if (res.code === 403){
                    window.location.href = baseUrl+"/login";
@@ -396,6 +398,7 @@
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "     </tr>\n";
        }
        $('#site-table tbody').after(html);