*

L

2025-07-10 a435a1d1e06263eb1a219384e6b4f1e551c4f89b

*

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

@@ -3555,8 +3555,32 @@
                            break;
                        }
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue());
                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=1 || wrkMastSta.getWrkSts()!=1){
                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=1){
                            log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
                            continue;
                        }
                        if (wrkMastSta.getWrkSts()!=1){
                            if (wrkMastSta.getWrkType()==1 && wrkMastSta.getWrkSts()==2 && rgvProtocol.getLoaded1()==1){
                                boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                                if (!rgvComplete){
                                    log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                                    break;
                                }
                                rgvAvoidanceXYWrkMast(rgvProtocol.getRgvNo());
                                continue;
                            }
                            if (wrkMastSta.getWrkType()==6){
                                boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                                wrkMastSta.setWrkSts(3);
                                wrkMastStaMapper.updateById(wrkMastSta);
                                continue;
                            }
                            continue;
                        }
                        if (wrkMastSta.getWrkType()==5){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                            wrkMastSta.setWrkSts(3);
                            wrkMastStaMapper.updateById(wrkMastSta);
                            continue;
                        }
                       /* WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
@@ -3698,20 +3722,30 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==0
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        && (rgvProtocol.getLoaded1()==0 || (rgvProtocol.getLoaded1()==1 && rgvProtocol.getTaskNo1()!=0) )
                        && (rgvProtocol.getTaskNo1()==0 || (rgvProtocol.getLoaded1()==1 && rgvProtocol.getTaskNo1()!=0) )
                        && rgvProtocol.getTaskNo2()==0
                ) {
                    switch (sign){
                        //执行小车货物搬运任务
                        case 1:
                            signWork = rgvRunWrkMastFullSta(rgvSlave);
                            if (!signWork){
                                signWork = rgvRunWrkMastFullStaPutOrTake(rgvSlave);
                            }
                            break;
                        //执行小车空板搬运任务
                        case 2://放//拆盘
                            signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
                            if (!signWork){
                                signWork = rgvRunWrkMastFullStaPut(rgvSlave);
                            }
                            break;
                        case 3://满放
                            signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
                            if (!signWork){
                                signWork = rgvRunWrkMastFullStaTake(rgvSlave);
                            }
                            break;
                        case 4://取叠盘
                            signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
@@ -3729,12 +3763,21 @@
                        switch (signCount){
                            case 1://执行小车货物搬运任务
                                signWork = rgvRunWrkMastFullSta(rgvSlave);
                                if (!signWork){
                                    signWork = rgvRunWrkMastFullStaPutOrTake(rgvSlave);
                                }
                                break;
                            case 2://放//拆盘
                                signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
                                if (!signWork){
                                    signWork = rgvRunWrkMastFullStaPut(rgvSlave);
                                }
                                break;
                            case 3://满放
                                signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
                                if (!signWork){
                                    signWork = rgvRunWrkMastFullStaTake(rgvSlave);
                                }
                                break;
                            case 4://取叠盘
                                signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
@@ -3882,6 +3925,170 @@
        return false;
    }
    /**
     * 执行小车搬运任务
     */
    public synchronized boolean rgvRunWrkMastFullStaPutOrTake(RgvSlave rgvSlave) {
        try{
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                return false;
            }
            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                return false;
            }

            // 只有当RGV空闲、自动,工位一无物//rgv可用
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1()==0
                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
            ) {
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
                if (basRgvMap == null) {
                    log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                    return false;
                }
                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:满版   3：取放
                        continue;
                    }
                    BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                    if (!basDevp.getAutoing().equals("Y")){
                        continue;
                    }
                    if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                        if (basDevp.getEmptyMk().equals("Y")){
                            continue;
                        }
                        if (basDevp.getLoading().equals("Y") && basDevp.getWrkNo()!=0){
                            Date date = new Date();
                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                            StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                            if (staProtocol == null) {
                                log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
                                continue;
                            }
                            if (!staProtocol.isAutoing()){
                                continue;
                            }
                            if (staProtocol.isLoading() && staProtocol.getWorkNo() != 0){
                                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
                                if (Cools.isEmpty(wrkMast) || wrkMast.getIoType()!=101 || Cools.isEmpty(wrkMast.getSheetNo()) || wrkMast.getSheetNo().equals("0")){
                                    continue;
                                }
                                BasDevp basDevpS = basDevpService.selectById(wrkMastSta.getStaStart());
                                if (!basDevpS.getAutoing().equals("Y") || !basDevpS.getLoading().equals("Y") || basDevpS.getWrkNo()!=wrkMastSta.getWrkNo().intValue()){
                                    continue;
                                }
                                StaProtocol staProtocols = devpThread.getStation().get(basDevpS.getDevNo());
                                if (staProtocols == null) {
                                    log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
                                    continue;
                                }
                                if (!staProtocols.isAutoing() || !staProtocols.isLoading() || staProtocols.getWorkNo() != wrkMastSta.getWrkNo().intValue()){
                                    continue;
                                }


                                log.info(date+"取货任务下发：小车工作档："+wrkMastSta);
                                log.info(date+"取货任务下发：目标站状态："+basDevp);
                                boolean sign = rgvTakeFull(basRgvMap.getRgvNo(), wrkMastSta);
                                if (sign){
                                    boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
                                    if (signMap){
                                        wrkMastSta.setWrkSts(2);
                                        try{
                                            wrkMastStaMapper.updateById(wrkMastSta);
                                        }catch (Exception e){
                                            log.error("更新小车任务失败");
                                        }
                                        return true;
                                    }else {
                                        log.error("3978行，货物搬运单取任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                                    }
                                }else {
                                    log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                                }
                                break;
                            }
                        }
                    }
                }
            } else if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==1
                        && rgvProtocol.getTaskNo1()!=0 && rgvProtocol.getTaskNo2()==0
            ) {// 只有当RGV空闲、自动,工位一有物  有工作号//rgv可用
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
                if (basRgvMap == null) {
                    log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                    return false;
                }
                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue());
                if (Cools.isEmpty(wrkMastSta)){
                    return false;
                }
                if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:满版   3：取放
                    return false;
                }
                BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                if (!basDevp.getAutoing().equals("Y")){
                    return false;
                }
                if (!basDevp.getLoading().equals("Y") && basDevp.getWrkNo()==0){
                    Date date = new Date();
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                    StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                    if (staProtocol == null) {
                        log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
                        return false;
                    }
                    if (!staProtocol.isAutoing()){
                        return false;
                    }
                    if (!staProtocol.isLoading() && staProtocol.getWorkNo() == 0){
                        log.info(date+"取货任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"取货任务下发：目标站状态："+basDevp);
                        boolean sign = rgvPutFull(basRgvMap.getRgvNo(), wrkMastSta);
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
                            if (signMap){
                                wrkMastSta.setWrkSts(1);
                                try{
                                    wrkMastStaMapper.updateById(wrkMastSta);
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return true;
                            }else {
                                log.error("3978行，货物搬运单取任务：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());
                        }
                        return true;
                    }
                }
            }
//            }
        }catch (Exception e){
            log.error("3978行执行小车搬运任务下发失败");
            log.error("3978行"+e);
        }
        return false;
    }
    /**
     * 执行小车搬运任务//拆盘
     */
    public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//拆盘
@@ -3981,6 +4188,115 @@
                        break;
                    }
                }
//            }
        }catch (Exception e){
            log.error("3933行执行小车放空板任务下发失败");
            log.error("3933行"+e);
        }
        return false;
    }
    /**
     * 执行小车搬运任务//拆盘
     */
    public synchronized boolean rgvRunWrkMastFullStaPut(RgvSlave rgvSlave) {//拆盘
        try{
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                return false;
            }
            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                return false;
            }

            // 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1()==1
                    && rgvProtocol.getTaskNo1()!=0 && rgvProtocol.getTaskNo2()==0
            ) {
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                if (basRgvMap == null) {
                    log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                    return false;
                }
                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=6){// 1:满板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放
                        continue;
                    }
                    boolean sign = false;
                    if ( wrkMastSta.getStaEnd()!=0){//放
                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                            continue;
                        }
                        if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                            if (basDevp.getLoadingSuper().equals("Y")){
                                continue;
                            }
                        }
                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                            if (!basDevp.getEmptyMk().equals("Y")){
                                continue;
                            }
                        }
                        Date date = new Date();

                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                        StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                        if (staProtocol == null) {
                            log.info(date+"拆盘任务下发：未查询到站点信息："+wrkMastSta);
                            continue;
                        }
                        if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
                            continue;
                        }
                        if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                            if (staProtocol.isLoadingSuper()){
                                continue;
                            }
                        }
                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                            if (!staProtocol.isEmptyMk()){
                                continue;
                            }
                        }

                        log.info(date+"拆盘任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"拆盘任务下发：目标站状态："+basDevp);
//                        sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
                        sign = rgvPutFull(basRgvMap.getRgvNo(), wrkMastSta);

                    }else {
                        continue;
                    }
                    if (sign){
                        boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
                        if (signMap){
                            wrkMastSta.setWrkSts(2);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            return true;
                        }else {
                            log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                        }
                    }else {
                        log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                    }
                    break;
                }
            }
//            }
        }catch (Exception e){
            log.error("3933行执行小车放空板任务下发失败");
@@ -4184,6 +4500,92 @@
                        break;
                    }
                }
//            }
        }catch (Exception e){
            log.error("3989行执行小车取空板任务下发失败");
            log.error("3989行"+e);
        }
        return false;
    }

    public synchronized boolean rgvRunWrkMastFullStaTake(RgvSlave rgvSlave) {//叠盘
        try{
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                return false;
            }
            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                return false;
            }

            // 只有当RGV空闲、自动,工位二无物//rgv可用
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1() == 0
                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
            ) {
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                if (basRgvMap == null) {
                    log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                    return false;
                }
                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=5){// 1:满板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放
                        continue;
                    }
                    boolean sign = false;
                    if ( wrkMastSta.getStaStart()!=0){//取
                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
                        if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
                            continue;
                        }
                        Date date = new Date();

                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                        StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                        if (staProtocol == null) {
                            log.info(date+"叠盘任务下发：未查询到站点信息："+wrkMastSta);
                            continue;
                        }
                        if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                            continue;
                        }

                        log.info(date+"叠盘任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"叠盘任务下发：目标站状态："+basDevp);
//                        sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
                        sign = rgvTakeFull(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
                    }else {
                        continue;
                    }
                    if (sign){
                        boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
                        if (signMap){
                            wrkMastSta.setWrkSts(1);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            return true;
                        }else {
                            log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                        }
                    }else {
                        log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                    }
                    break;
                }
            }
//            }
        }catch (Exception e){
            log.error("3989行执行小车取空板任务下发失败");
@@ -4493,6 +4895,57 @@
        }
    }

    /*
     * 小车XY移动  避让
     * */
    public synchronized boolean rgvAvoidanceXYWrkMast(Integer rgvId){
        if (rgvId==2){
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                rgvCommand.setTaskNo2((short)32222); // 工位2工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点
                rgvCommand.setSourceStaNo2((short)121);
                rgvCommand.setCommand((short) 2);   //工位2任务确认
                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   step=9，回原点 9999任务号
                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                    return false;
                } else {
                    return true;
                }
            }catch (Exception e){
                return false;

            }
        }else {
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                rgvCommand.setTaskNo2((short)32222); // 工位2工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点
                rgvCommand.setSourceStaNo2((short)118);
                rgvCommand.setCommand((short) 2);   //工位2任务确认
                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   step=9，回原点 9999任务号
                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                    return false;
                } else {
                    return true;
                }
            }catch (Exception e){
                return false;

            }
        }
    }


    /*
    * 小车取货至工位任务
@@ -4505,6 +4958,60 @@
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
            rgvCommand.setCommand((short) 1);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }


    /*
     * 小车取货至工位任务
     * */
    public synchronized boolean rgvTakeFullPut(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式:  单取
            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
            rgvCommand.setCommand((short) 1);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }


    /*
     * 小车放货至工位任务
     * */
    public synchronized boolean rgvTakeFullTake(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  单放
            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
            rgvCommand.setCommand((short) 1);   //工位1任务确认
@@ -4691,6 +5198,28 @@
    }

    /*
     * 小车复位
     * */
    public synchronized boolean rgvComplete(Integer rgvId,Short taskNo1){
        try{
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setTaskNo1(taskNo1);
            //  命令下发区 --------------------------------------------------------------------------
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(8, 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;
            } else {
                log.info("RGV命令下发成功，RGV号={}",rgvId);
                return true;
            }
        }catch (Exception e){
            log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
            return false;
        }
    }

    /*
     * 小车地图更新  更新锁
     * */
    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){

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

@@ -91,6 +91,9 @@
                        }catch (Exception e){
                            log.error("RGV  ===>>  小车任务作业下发异常"+e);
                        }
                        if (i==6) {
                            i = 0;
                        }
                    }else {
                        i = 0;
                    }

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

@@ -3,8 +3,8 @@
public enum RgvTaskModeType {

    NONE(0),    // 无
    FETCH(1),    // 取货 （空板）单取
    PUT(2),    // 放货 （空板）单放
    FETCH(1),    // 取货 单取  叠盘
    PUT(2),    // 放货 单放  拆盘
    FETCH_PUT(3),    // 取放货
    X_MOVE(4),    // 站位移转
    FETCH_5(5),    // （空板）满取

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

@@ -144,6 +144,26 @@
                        command.setCommand((short)0);
                        write(command);
                        break;
                    // 复位
                    case 8:
                        RgvCommand command4 = (RgvCommand) task.getData();
                        if (null == command4) {
                            command4 = new RgvCommand();
                        }
                        command4.setRgvNo(slave.getId()); // RGV编号
//                        command4.setTaskNo1((short) command4); // 工作号
                        command4.setAckFinish1((short) 1);  // 任务完成确认位
                        command4.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command4.setSourceStaNo1((short)0);     // 源站
                        command4.setDestinationStaNo1((short)0);     // 目标站
                        command4.setTaskNo2((short) 0); // 工作号
                        command4.setAckFinish2((short) 1);  // 任务完成确认位
                        command4.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
                        command4.setSourceStaNo2((short)0);     // 源站
                        command4.setDestinationStaNo2((short)0);     // 目标站
                        command4.setCommand((short)0);
                        write(command4);
                        break;
                    // 回原点  避让
                    case 9:
                        RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();