#

lty

2025-09-22 9784ec36b190d0f0103b42059585d04ea0b10745

#

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

@@ -73,7 +73,7 @@
        for (BasDevp devp : basDevps) {
            SiteTableVo vo = new SiteTableVo();
            vo.setDevNo(devp.getDevNo());    // 站点编号

            vo.setWorkNo(devp.getWrkNo());
            list.add(vo);
            StaProtocol staProtocol = station.get(devp.getDevNo());
            if (null == staProtocol) { continue; }

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

@@ -35,6 +35,6 @@
    List<WrkMastSta> selectNoInterfereList(@Param("staStarts") List<Integer> staStarts, @Param("staEnds") List<Integer> staEnds);


    WrkMastSta selectByWorkSta(@Param("workSta") Integer workSta, @Param("rgv_no") Integer rgv_no);
    WrkMastSta selectByWorkSta(@Param("workSta") Integer workSta, @Param("rgvo") Integer rgvNo);

}

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

@@ -3218,16 +3218,18 @@

            // 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
//                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvThread.isPakMk()) {
                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();

                if (rgvProtocol.getLastIo().equals("I")) {
                    if (basRgv.getInEnable().equals("Y") && rgvThread.isPakIn()) {
                    if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
                        //mark - 1 - ....
                        this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); //  入库
                        rgvProtocol.setLastIo("O");
                    } else if (basRgv.getOutEnable().equals("Y") && rgvThread.isPakOut()) {
                    } else if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
                        //mark - 2 - ....
                        this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); //  出库
                        rgvProtocol.setLastIo("I");
@@ -3235,10 +3237,10 @@
                }
                // 如果最近一次是出库模式
                else if (rgvProtocol.getLastIo().equals("O")) {
                    if (basRgv.getOutEnable().equals("Y") && rgvThread.isPakOut()) {
                    if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
                        this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); //  出库
                        rgvProtocol.setLastIo("I");
                    } else if (basRgv.getInEnable().equals("Y") && rgvThread.isPakIn()) {
                    } else if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
                        this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); //  入库
                        rgvProtocol.setLastIo("O");
                    }
@@ -3259,6 +3261,44 @@
                rgvOutExecute();

            }
        }
    }
    public synchronized void rgvRunWrkMastInTest(){
        BasRgvMap basRgvMap = basRgvMapMapper.selectById(1);
        List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
        basRgvMap.setNowRoute(1031); //更新小车当前位置站点号
        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(342);//根据站点工作号和小车工作范围检索任务档

//        WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, 1);
        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(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(1);
        wrkMastSta.setRgvNo(1);
        wrkMastSta.setStaStart(1031);
        Short direction = 2;//双工位最终抵达位置
        boolean sign = false;
        sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction); //命令下发
        if (sign){
            wrkMastSta.setWrkSts(1);
            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");
            }
//            rgvThread.setPakOut(false);//出库不允许
            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());
        }
    }
    /**
@@ -3920,7 +3960,8 @@
                    rgvCommand.setTaskStatus2(RgvTaskStatusType.X_MOVE); // 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(direction);
//                    rgvCommand.setDirection1((short) 2);
//                    rgvCommand.setWrkTaskMove2(direction);
                    rgvCommand.setCommand(true);   //工位1任务确认
                    pakIn1 = false;
                }else{  //入库RGV取货行走
@@ -3929,11 +3970,12 @@
                    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.setDirection1(direction);
//                    rgvCommand.setDirection1((short) 1);
//                    rgvCommand.setDirection1(direction);
                    rgvCommand.setCommand(true);   //工位1任务确认
                }
                if(!pakIn1){
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                    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;
@@ -3941,7 +3983,7 @@
                        return true;
                    }
                }else{
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
                    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;
@@ -3957,7 +3999,8 @@
                    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(direction);
                    rgvCommand.setDirection1((short)2);
                    rgvCommand.setWrkTaskMove2(direction);
                    rgvCommand.setCommand(true);   //工位1任务确认
                    pakIn1 = false;
                }else{  //入库RGV取货
@@ -3966,7 +4009,8 @@
                    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(direction);
                    rgvCommand.setDirection1((short)1);
                    rgvCommand.setWrkTaskMove1(direction);
                    rgvCommand.setCommand(true);   //工位1任务确认
                }
                if(!pakIn1){
@@ -3994,6 +4038,7 @@
                    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.setDirection1((short)2);
                    rgvCommand.setCommand(true);   //工位1任务确认
                    pakIn2 = false;
                }else{  //工位1任务放货
@@ -4002,6 +4047,7 @@
                    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){

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

@@ -157,12 +157,12 @@
                    continue;
                }

                //arm任务完成
                mainService.armMissionAccomplished();
                mainService.armMissionAccomplishedScanToCheckIn();

                //arm任务下发
                mainService.armTaskAssignment();
//                //arm任务完成
//                mainService.armMissionAccomplished();
//                mainService.armMissionAccomplishedScanToCheckIn();
//
//                //arm任务下发
//                mainService.armTaskAssignment();

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

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

@@ -140,6 +140,9 @@
     */
    Short wrkTaskPri = 0;

    Short wrkTaskMove1 = 0;
    Short wrkTaskMove2 = 0;

    public void setTaskMode1(Short taskMode1){
        this.taskMode1 = taskMode1;
        this.taskModeType1 = RgvTaskModeType.get(taskModeType1);

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

@@ -36,6 +36,10 @@
     */
    public Short wrkTaskPri;

    public Short wrkTaskMove1;

    public Short wrkTaskMove2;


    /**
     * RGV当前状态工位1

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

@@ -104,6 +104,7 @@
                        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);
@@ -120,6 +121,7 @@
                        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;
@@ -204,10 +206,12 @@
        rgvProtocol.setTaskNo1(0);
        rgvProtocol.setStatus1((short)-1);
        rgvProtocol.setLoaded1(false);
        rgvProtocol.setWrkTaskMove1((short)0);
        //工位2状态
        rgvProtocol.setTaskNo2(0);
        rgvProtocol.setStatus2((short)-1);
        rgvProtocol.setLoaded2(false);
        rgvProtocol.setWrkTaskMove2((short)0);
//        rgvProtocol.setAlarm((short)0);
//        rgvProtocol.setxSpeed((short) 0);
//        rgvProtocol.setxDistance((short) 0);
@@ -273,14 +277,14 @@
                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]);
//                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));
@@ -544,6 +548,7 @@
            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));
//                one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
//            one.setTaskNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 2));
//            one.setTaskMode1(siemensNet.getByteTransform().TransInt16(result3.Content, 4));
@@ -561,23 +566,17 @@
        }
        byte[] writeBytes = new byte[34];
        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());

//        command.setRgvNo(slave.getId());
//        short[] array = new short[5];
//        array[0] = command.getAckFinish1();
//        array[1] = command.getTaskNo1();
//        array[2] = command.getTaskMode1();
//        array[3] = command.getSourceStaNo1();
//        array[4] = command.getDestinationStaNo1();
//        siemensNet.Write("DB100.10", command.getCommand());
        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, 36, (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));
@@ -593,6 +592,7 @@
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);
            if (resultRead.IsSuccess){
                RgvCommand one = new RgvCommand();
                one.setWrkTaskMove1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 36));
                one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
                one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
@@ -603,7 +603,8 @@
                                !command.getTaskNo1().equals(one.getTaskNo1()) ||
                                !command.getTaskStatus1().equals(one.getTaskStatus1()) ||
                                !command.getEndStaNo1().equals(one.getEndStaNo1()) ||
                                !command.getTargetPosition1().equals(one.getTargetPosition1())
                                !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));
@@ -643,7 +644,7 @@
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
                            if (!commandFinish){
                            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
@@ -715,6 +716,7 @@
            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));
        }

@@ -723,16 +725,23 @@
        if (result2.IsSuccess){
            News.error("下发前把车子确认位置为0");
        }


        byte[] writeBytes = new byte[34];
        command.setRgvNo(slave.getId());
        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());

        writeInt32(writeBytes, 16, 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));
@@ -748,6 +757,7 @@
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);
            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));
@@ -758,7 +768,8 @@
                                !command.getTaskNo2().equals(one.getTaskNo2()) ||
                                !command.getTaskStatus2().equals(one.getTaskStatus2()) ||
                                !command.getEndStaNo2().equals(one.getEndStaNo2()) ||
                                !command.getTargetPosition2().equals(one.getTargetPosition2())
                                !command.getTargetPosition2().equals(one.getTargetPosition2()) ||
                                !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));
@@ -798,7 +809,7 @@
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 1);
                            if (!commandFinish){
                            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
@@ -844,6 +855,28 @@
            return false;
        }
    }
    public static void writeInt32(byte[] buffer, int index, int value) {
        buffer[index]     = (byte)((value >> 24) & 0xFF);
        buffer[index + 1] = (byte)((value >> 16) & 0xFF);
        buffer[index + 2] = (byte)((value >> 8) & 0xFF);
        buffer[index + 3] = (byte)(value & 0xFF);
    }


    public static void writeInt16(byte[] buffer, int index, short value) {
        buffer[index]     = (byte)((value >> 8) & 0xFF); // 高字节
        buffer[index + 1] = (byte)(value & 0xFF);        // 低字节
    }

    public static void writeBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) {
        if (value) {
            buffer[byteIndex] |= (1 << bitIndex);
        } else {
            buffer[byteIndex] &= ~(1 << bitIndex);
        }
    }



    @Override
    public void close() {

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

@@ -28,10 +28,7 @@
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Map;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;

/**
@@ -51,20 +48,58 @@
//
//    }};
    public static final ArrayList<Integer> staNos1 = new ArrayList<Integer>() {{
        add(100);add(101);add(102);add(103);
        add(104);add(105);add(106);add(107);
        add(108);add(109);add(110);add(111);
        add(112);add(113);add(114);add(115);
        add(116);add(117);add(118);add(119);

        add(1001);add(1002);add(1004);
        add(1005);add(1007);
        add(1008);add(1010);
        add(1011);add(1012);add(1014);
        add(1015);add(1016);add(1018);
        add(1019);add(1021);
        add(1022);add(1024);
        add(1025);add(1026);add(1028);
        add(1029);add(1031);
        add(1032);add(1033);add(1035);
        add(1036);add(1037);add(1038);
        add(1039);add(1041);
//        add(1042);add(1043);add(1044);add(1045);add(1046);add(1047);add(1048);add(1050);add(1051);add(1052);add(1053);add(1054);add(1055);add(1056);add(1057);
//        add(1058);add(1059);add(1060);add(1061);add(1062);add(1063);add(1064);add(1065);add(1066);add(1067);add(1068);add(1069);add(1070);add(1071);add(1072);
//        add(1073);add(1074);add(1075);add(1076);add(1077);add(1078);add(1079);add(1080);add(1081);add(1082);add(1083);add(1084);add(1085);add(1086);add(1087);
//        add(1088);add(1089);add(1090);add(1091);add(1092);add(1093);add(1094);add(1095);add(1096);add(1097);add(1098);add(1099);add(1100);add(1101);add(1102);
//        add(1103);add(1104);add(1105);add(1106);add(1107);add(1108);add(1109);
    }};

    public static final ArrayList<Integer> staNos2 = new ArrayList<Integer>() {{
        add(100);add(101);add(102);add(103);
        add(104);add(105);add(106);add(107);
        add(108);add(109);add(110);add(111);
        add(2001);add(2003);
        add(2004);add(2006);
        add(2007);add(2009);
        add(2010);add(2012);
        add(2013);add(2015);
        add(2016);add(2018);
        add(2019);add(2021);
        add(2022);add(2024);
        add(2025);add(2027);
        add(2031);add(2033);
        add(2034);add(2035);add(2037);
        add(2041);add(2042);add(2043);add(2044);
        add(2045);add(2046);add(2047);add(2048);
        add(2101);add(2102);add(2103);add(2104);add(2105);add(2106);add(2107);add(2108);add(2109);add(2110);
        add(2111);add(2112);add(2113);add(2114);add(2115);add(2116);add(2117);add(2118);add(2119);add(2120);
        add(4001);add(4003);add(4004);add(4006);
    }};

    // 站点偏移量映射表
    public static final Map<Integer, Integer> siteOffsetMap = new HashMap<Integer, Integer>() {{
        put(1001, 0);put(1002, 116);put(1003, 208);put(1004, 300);put(1005, 392);put(1006, 508);put(1007, 600);
        put(1008, 692);put(1009, 808);put(1010, 900);put(1011, 992);put(1012, 1108);put(1013, 1200);put(1014, 1292);
        put(1015, 1384);put(1016, 1500);put(1017, 1592);put(1018, 1684);put(1019, 1776);put(1020, 1892);put(1021, 1984);
        put(1022, 2076);put(1023, 2192);put(1024, 2284);put(1025, 2376);put(1026, 2492);put(1027, 2584);put(1028, 2676);
        put(1029, 0);put(1030, 116);put(1031, 208);put(1032, 300);put(1033, 416);put(1034, 508);put(1035, 600);
        put(1036, 692);put(1037, 784);put(1038, 876);put(1039, 968);put(1040, 1084);put(1041, 1176);
        // 其他站点同理继续加
    }};

    // 特殊站点集合
    private static final Set<Integer> specialSites = new HashSet<>(
            Arrays.asList(1001,1005,1008,1011,1015,1019,1022,1025,1029, 1032,1039));


    public static final ArrayList<Integer> BarcodeList = new ArrayList<Integer>() {{
@@ -74,10 +109,31 @@
        add(3); add(4);
    }};
    public static final ArrayList<Integer> staNosErrList = new ArrayList<Integer>() {{
        add(106); add(107); add(159);
        add(1036);
    }};

    private Integer count=0;

    // 偏移量计算方法
    public static int getOffsetBySiteId(int siteId) {
        int offset = 0;
        if (specialSites.contains(siteId)) {
            offset = 96; // 特殊站点占 96
        } else {
            offset = 72; // 普通站点占 72
        }
        return offset;
    }
    // 偏移量计算方法
    public static int getOffsetBySiteId2(int siteId) {
        int offset = 0;
        if (specialSites.contains(siteId)) {
            offset = 72; // 特殊站点占 96
        } else {
            offset = 60; // 普通站点占 72
        }
        return offset;
    }

    /**
     * 条码数量
@@ -204,8 +260,11 @@
//        updateIoMode();
        ArrayList<Integer> staNos = getStaNo();
        int staNoSize = staNos.size();
        OperateResultExOne<byte[]> result = siemensS7Net.Read("DB101.0", (short) (staNoSize*8));
        if (result.IsSuccess) {
        OperateResultExOne<byte[]> result = null;
        OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB100.0", (short) (2764));
        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.0", (short) (1264));

        if (result1.IsSuccess && result2.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
                Integer siteId = staNos.get(i); // 站点编号
                StaProtocol staProtocol = station.get(siteId);
@@ -214,60 +273,81 @@
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt32(result.Content, i*8));     // 工作号
                if(siteId < 1029){
                    result = result1;
                }else{
                    result = result2;
                }
                // 获取该站点对应的偏移量
                Integer offset = siteOffsetMap.get(siteId);
                if (offset == null) {
                    continue; // 如果没定义偏移量，跳过
                }
                Integer offset2 = getOffsetBySiteId(siteId);
                Integer offset3 = getOffsetBySiteId2(siteId);
                staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt32(result.Content, offset + offset2));     // 工作号

                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*8 + 4));   // 目标站
                staProtocol.setStaNo((short) siemensS7Net.getByteTransform().TransInt32(result.Content, offset + offset2 + 12));   // 目标站

                boolean[] status = siemensS7Net.getByteTransform().TransBool(result.Content, i*8 + 6, 2);
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result.Content, offset + offset3, 2);
                staProtocol.setAutoing(status[0]);  // 自动
                staProtocol.setLoading(status[1]);  // 有物
                staProtocol.setInEnable(status[2]); // 可入
                staProtocol.setOutEnable(status[3]);// 可出
                staProtocol.setEmptyMk(status[4]);  // 空板信号
                staProtocol.setFullPlt(status[5]);  // 满托盘
                staProtocol.setHigh(status[6]);     // 高库位
                staProtocol.setLow(status[7]);      // 低库位
                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(status1[1]); // 可入
//                staProtocol.setOutEnable(status1[3]);// 可出
//                staProtocol.setEmptyMk(status[4]);  // 空板信号
//                staProtocol.setFullPlt(status[5]);  // 满托盘
//                staProtocol.setHigh(status[6]);     // 高库位
//                staProtocol.setLow(status[7]);      // 低库位

                if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
                    staProtocol.setPakMk(true);
                }
            }
        }
        BasRgvMapService basRgvMapService = SpringUtils.getBean(BasRgvMapService.class);
//        BasRgvMapService basRgvMapService = SpringUtils.getBean(BasRgvMapService.class);
        //RGV小车1
//        Thread.sleep(100);
        OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB50.200",(short)10);
        if (result3.IsSuccess) {
            BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo((int) siemensS7Net.getByteTransform().TransInt16(result3.Content, 0));
            if (!Cools.isEmpty(basRgvMap)){
                Integer siteId = 1;
                StaProtocol staProtocol = station.get(siteId);
                if (null == staProtocol) {
                    staProtocol = new StaProtocol();
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setAutoing(true);
                staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result3.Content, 8)));
            }
        }
//        OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB50.200",(short)10);
//        if (result3.IsSuccess) {
//            BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo((int) siemensS7Net.getByteTransform().TransInt16(result3.Content, 0));
//            if (!Cools.isEmpty(basRgvMap)){
//                Integer siteId = 1;
//                StaProtocol staProtocol = station.get(siteId);
//                if (null == staProtocol) {
//                    staProtocol = new StaProtocol();
//                    staProtocol.setSiteId(siteId);
//                    station.put(siteId, staProtocol);
//                }
//                staProtocol.setAutoing(true);
//                staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result3.Content, 8)));
//            }
//        }
        //RGV小车2
//        Thread.sleep(100);
        OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB50.212",(short)10);
        if (result4.IsSuccess) {
            BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo((int) siemensS7Net.getByteTransform().TransInt16(result4.Content, 0));
            if (!Cools.isEmpty(basRgvMap)){
                Integer siteId = 2;
                StaProtocol staProtocol = station.get(siteId);
                if (null == staProtocol) {
                    staProtocol = new StaProtocol();
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setAutoing(true);
                staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result4.Content, 8)));
            }
        }
//        OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB50.212",(short)10);
//        if (result4.IsSuccess) {
//            BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo((int) siemensS7Net.getByteTransform().TransInt16(result4.Content, 0));
//            if (!Cools.isEmpty(basRgvMap)){
//                Integer siteId = 2;
//                StaProtocol staProtocol = station.get(siteId);
//                if (null == staProtocol) {
//                    staProtocol = new StaProtocol();
//                    staProtocol.setSiteId(siteId);
//                    station.put(siteId, staProtocol);
//                }
//                staProtocol.setAutoing(true);
//                staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result4.Content, 8)));
//            }
//        }

//        //RGV小车3
////        Thread.sleep(100);
@@ -287,98 +367,98 @@
//            }
//        }

//        //条码扫描器
//        ArrayList<Integer> barcodeList = BarcodeList;
//        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.840", (short) (barcodeList.size() * 8));
//        if (result2.IsSuccess) {
//            for (int i = 0; i < barcodeList.size(); i++) {
//                Integer barcodeId = barcodeList.get(i);
//                String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "UTF-8");
//                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId + 1);
//                if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
//                    barcodeThread.setBarcode(barcode);
//                }
//            }
//        }
        //条码扫描器
        ArrayList<Integer> barcodeList = BarcodeList;
        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.840", (short) (barcodeList.size() * 8));
        if (result2.IsSuccess) {
            for (int i = 0; i < barcodeList.size(); i++) {
                Integer barcodeId = barcodeList.get(i);
                String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "UTF-8");
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId + 1);
                if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
                    barcodeThread.setBarcode(barcode);
                }
            }
        }
        //条码扫描器
        ArrayList<Integer> barcodeListMat = BarcodeListMat;
        OperateResultExOne<byte[]> result2Mat = siemensS7Net.Read("DB103.0", (short) (barcodeListMat.size() * 30));
        if (result2Mat.IsSuccess) {
            for (int i = 0; i < barcodeListMat.size(); i++) {
                Integer barcodeId = barcodeListMat.get(i);
                String barcode = siemensS7Net.getByteTransform().TransString(result2Mat.Content,i*30,30, "UTF-8");
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId + 1);
                if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
                    barcodeThread.setBarcode(barcode);
                }
            }
        }
//        ArrayList<Integer> barcodeListMat = BarcodeListMat;
//        OperateResultExOne<byte[]> result2Mat = siemensS7Net.Read("DB103.0", (short) (barcodeListMat.size() * 30));
//        if (result2Mat.IsSuccess) {
//            for (int i = 0; i < barcodeListMat.size(); i++) {
//                Integer barcodeId = barcodeListMat.get(i);
//                String barcode = siemensS7Net.getByteTransform().TransString(result2Mat.Content,i*30,30, "UTF-8");
//                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId + 1);
//                if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
//                    barcodeThread.setBarcode(barcode);
//                }
//            }
//        }
        //外形检测
        ArrayList<Integer> staNoErrs = staNosErrList;
        int staNoErrsSize = staNoErrs.size();
        OperateResultExOne<byte[]> resultErr = siemensS7Net.Read("DB101.800", (short) (staNoErrsSize*8));
        if (resultErr.IsSuccess){
            for (int i = 0;i<3;i++){
                Integer siteId = staNoErrs.get(i); // 站点编号
                boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr.Content, i*4+2, 1);
                StaProtocol staProtocol = station.get(siteId);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);
            }
        }
//        ArrayList<Integer> staNoErrs = staNosErrList;
//        int staNoErrsSize = staNoErrs.size();
//        OperateResultExOne<byte[]> resultErr = siemensS7Net.Read("DB101.800", (short) (staNoErrsSize*8));
//        if (resultErr.IsSuccess){
//            for (int i = 0;i<3;i++){
//                Integer siteId = staNoErrs.get(i); // 站点编号
//                boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr.Content, i*4+2, 1);
//                StaProtocol staProtocol = station.get(siteId);
//                staProtocol.setFrontErr(status[0]);
//                staProtocol.setBackErr(status[1]);
//                staProtocol.setHighErr(status[2]);
//                staProtocol.setLeftErr(status[3]);
//                staProtocol.setRightErr(status[4]);
//                staProtocol.setWeightErr(status[5]);
//                staProtocol.setBarcodeErr(status[6]);
//            }
//        }

        OperateResultExOne<byte[]> resultErr2 = siemensS7Net.Read("DB13.2", (short) (staNoSize*4));
        if (resultErr2.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
                Integer siteId = staNos.get(i); // 站点编号
                boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr2.Content, i*4, 1);
                StaProtocol staProtocol = station.get(siteId);
                staProtocol.setBreakerErr(status[0]);
                staProtocol.setInfraredErr(status[1]);
                staProtocol.setOutTimeErr(status[2]);
                staProtocol.setSeizeSeatErr(status[3]);
                staProtocol.setWrkYgoodsN(status[4]);
                staProtocol.setInverterErr(status[5]);
                staProtocol.setContactErr(status[6]);
                staProtocol.setUpcontactErr(status[7]);

            }
        }
        OperateResultExOne<byte[]> resultErr3 = siemensS7Net.Read("DB13.400", (short) 3);
        if (resultErr3.IsSuccess) {
            if (staError1 == null){
                staError1 = new StaError1();
            }
            boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr3.Content, 0, 3);
            staError1.setEMERGENCY_Stop_Core(status[0]);
            staError1.setEMERGENCY_STOP1(status[1]);
            staError1.setEMERGENCY_STOP2(status[2]);
            staError1.setEMERGENCY_STOP3(status[3]);
            staError1.setEMERGENCY_STOP4(status[4]);

            staError1.setDoor_EMERGENCY_STOP1(status[5]);
            staError1.setDoor_EMERGENCY_STOP2(status[6]);
            staError1.setDoor_EMERGENCY_STOP3(status[7]);
            staError1.setDoor_EMERGENCY_STOP4(status[8]);
            staError1.setDoor_EMERGENCY_STOP5(status[9]);
            staError1.setDoor_EMERGENCY_STOP6(status[10]);

            staError1.setDoor_Open_Err1(status[11]);
            staError1.setDoor_Open_Err1(status[12]);
            staError1.setDoor_Open_Err1(status[13]);
            staError1.setDoor_Open_Err1(status[14]);
            staError1.setDoor_Open_Err1(status[15]);
            staError1.setDoor_Open_Err1(status[16]);

        }
//        OperateResultExOne<byte[]> resultErr2 = siemensS7Net.Read("DB13.2", (short) (staNoSize*4));
//        if (resultErr2.IsSuccess) {
//            for (int i = 0; i < staNoSize; i++) {
//                Integer siteId = staNos.get(i); // 站点编号
//                boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr2.Content, i*4, 1);
//                StaProtocol staProtocol = station.get(siteId);
//                staProtocol.setBreakerErr(status[0]);
//                staProtocol.setInfraredErr(status[1]);
//                staProtocol.setOutTimeErr(status[2]);
//                staProtocol.setSeizeSeatErr(status[3]);
//                staProtocol.setWrkYgoodsN(status[4]);
//                staProtocol.setInverterErr(status[5]);
//                staProtocol.setContactErr(status[6]);
//                staProtocol.setUpcontactErr(status[7]);
//
//            }
//        }
//        OperateResultExOne<byte[]> resultErr3 = siemensS7Net.Read("DB13.400", (short) 3);
//        if (resultErr3.IsSuccess) {
//            if (staError1 == null){
//                staError1 = new StaError1();
//            }
//            boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr3.Content, 0, 3);
//            staError1.setEMERGENCY_Stop_Core(status[0]);
//            staError1.setEMERGENCY_STOP1(status[1]);
//            staError1.setEMERGENCY_STOP2(status[2]);
//            staError1.setEMERGENCY_STOP3(status[3]);
//            staError1.setEMERGENCY_STOP4(status[4]);
//
//            staError1.setDoor_EMERGENCY_STOP1(status[5]);
//            staError1.setDoor_EMERGENCY_STOP2(status[6]);
//            staError1.setDoor_EMERGENCY_STOP3(status[7]);
//            staError1.setDoor_EMERGENCY_STOP4(status[8]);
//            staError1.setDoor_EMERGENCY_STOP5(status[9]);
//            staError1.setDoor_EMERGENCY_STOP6(status[10]);
//
//            staError1.setDoor_Open_Err1(status[11]);
//            staError1.setDoor_Open_Err1(status[12]);
//            staError1.setDoor_Open_Err1(status[13]);
//            staError1.setDoor_Open_Err1(status[14]);
//            staError1.setDoor_Open_Err1(status[15]);
//            staError1.setDoor_Open_Err1(status[16]);
//
//        }


        if (result.IsSuccess) {
        if (result1.IsSuccess && result2.IsSuccess) {

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

@@ -416,14 +496,25 @@
        }
        ArrayList<Integer> staNos = getStaNo();
        int index = staNos.indexOf(staProtocol.getSiteId());
        Integer siteId = staProtocol.getSiteId();
        // 获取该站点对应的偏移量
        Integer offset = siteOffsetMap.get(siteId);
        Integer offset2 = getOffsetBySiteId(siteId);
        Integer offset3 = getOffsetBySiteId2(siteId);
        OperateResult write = null;
        OperateResult write1 = null;
        //任务下发次数
        int writeCount = 0;
        do {
            write = siemensS7Net.Write("DB100." + index*6, staProtocol.getWorkNo());    // 工作号
            Thread.sleep(200);
            write1 = siemensS7Net.Write("DB100." + (index*6+4), staProtocol.getStaNo().shortValue());    // 目标站
            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
            }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
            }
            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);
                break;

 src/main/resources/application.yml

@@ -8,8 +8,8 @@
    name: @pom.build.finalName@
  datasource:
    driver-class-name: com.microsoft.sqlserver.jdbc.SQLServerDriver
#    url: jdbc:sqlserver://localhost:1433;databasename=jshdasrs
    url: jdbc:sqlserver://10.10.10.235:1433;databasename=jshdasrs
    url: jdbc:sqlserver://localhost:1433;databasename=jshdasrs
#    url: jdbc:sqlserver://10.10.10.235:1433;databasename=jshdasrs
    username: sa
    password: sa@123
#    url: jdbc:sqlserver://192.168.4.191:50948;databasename=jshdasrs
@@ -175,7 +175,7 @@
  # RGV穿梭车1
  rgv[0]:
    id: 1
    ip: 10.10.10.60
    ip: 10.10.10.190
    port: 502
    rack: 0
    slot: 0
@@ -292,7 +292,7 @@
  # 输送线1
  devp[0]:
    id: 1
    ip: 10.10.10.50
    ip: 10.10.10.51
    port: 102
    rack: 0
    slot: 0

 src/main/resources/mapper/WrkMastStaMapper.xml

@@ -17,6 +17,8 @@
        <result column="line_number" property="lineNumber" />
        <result column="wrk_type" property="wrkType" />
        <result column="bign_time" property="bignTime" />
        <result column="work_sta" property="workSta"/>
        <result column="rgv_no" property="rgvNo"/>

    </resultMap>

@@ -94,7 +96,7 @@
        order by line_number,id
    </select>
    <select id="selectByWorkSta" resultMap="BaseResultMap">
        select *
        select top 1 * from asr_wrk_mast_sta
        where work_sta = #{workSta}
        and rgv_no = #{rgvNo}
    </select>