#

zwl

2026-02-09 ad79ba405b2d1ac96423f88f4e8a76c584b9d38a

#

 pom.xml

@@ -144,7 +144,7 @@
    </dependencies>

    <build>
        <finalName>wcs</finalName>
        <finalName>hcwcs</finalName>
        <plugins>
            <plugin>
                <groupId>org.springframework.boot</groupId>

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

@@ -5,13 +5,16 @@
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.param.*;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.DeviceConfigService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.common.annotations.OpenApiLog;
import com.zy.common.model.MonitorParam;
import com.zy.common.service.CommonService;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
@@ -58,6 +61,8 @@
    private ConfigService configService;
    @Autowired
    private DeviceConfigService deviceConfigService;
    @Autowired
    private BasDevpService basDevpService;

    // 移库任务
    @PostMapping("/createLocMoveTask")
@@ -352,4 +357,41 @@
        return R.ok();
    }

    // 反馈任务执行结果
    @PostMapping("/stationStatus")
    public R stationStatus(@RequestBody MonitorParam param){
        if(param == null || param.getStationIds().length == 0){
            return R.error("输入的参数为空");
        }
        List<StationProtocol> basDevps  =  new ArrayList<>();
        Boolean flag = false;
        // 获取输送站点数据
        ArrayList<StationProtocol> stationProtocols = new ArrayList<>();
        List<DeviceConfig> stationList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                .eq("device_type", String.valueOf(SlaveType.Devp)));
        for (DeviceConfig device : stationList) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, device.getDeviceNo());
            if (stationThread == null) {
                continue;
            }

            List<StationProtocol> stationProtocolList = stationThread.getStatus();
            if (stationProtocolList == null) {
                continue;
            }
            for (StationProtocol stationProtocol : stationProtocolList) {
                for (int i = 0; i < param.getStationIds().length; i++) {
                    if (stationProtocol.getStationId().equals(param.getStationIds()[i])){
                        flag = true;
                        basDevps.add(stationProtocol);
                    }
                }
            }
        }
        if(flag){
            return R.ok().add(basDevps);
        }
        return null;
    }

}

 src/main/java/com/zy/asrs/domain/NotifyDto.java

@@ -40,4 +40,7 @@
    //上次重试时间
    private Long lastRetryTime = 0L;

    //重量
    private Double weight;

}

 src/main/java/com/zy/asrs/domain/enums/NotifyMsgType.java

@@ -4,7 +4,7 @@
    //任务
    TASK_COMPLETE("task_complete", "任务完成"),
    TASK_CANCEL("task_cancel", "任务取消"),

    ARRIVE_AT_THE_DESTINATION("task_arrive", "到达目的地"),
    CRN_IN_TASK_RUN("crn_in_task_run", "堆垛机入库任务执行中"),
    CRN_IN_TASK_COMPLETE("crn_in_task_complete", "堆垛机入库任务执行完成"),
    CRN_OUT_TASK_RUN("crn_out_task_run", "堆垛机出库任务执行中"),

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

@@ -5,22 +5,20 @@
@Data
public class CreateInTaskParam {

    //wms任务号
    private String taskNo;
    private String sourceStaNo;

    //源站
    private Integer sourceStaNo;
    private String staNo;

    //目标站
    private Integer staNo;
    private Integer crnNo;

    //目标库位
    private String locNo;

    //条码
    private Integer workNo;

    private String taskNo;

    private String barcode;

    //任务优先级
    private Integer taskPri;

}

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

@@ -17,4 +17,6 @@
    //任务优先级
    private Integer taskPri;

    //托盘码
    private String barcode;
}

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

@@ -9,6 +9,9 @@
    private String taskNo;

    //出库库位
    private String sourceLocNo;

    //目标库位
    private String locNo;

    //任务优先级

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

@@ -111,6 +111,13 @@
    @TableField("max_out_task")
    private Integer maxOutTask;

    /**
     * 指定库位需要亮灯
     */
    @ApiModelProperty(value= "最大出库任务数")
    @TableField("arr")
    private String arr;

    public BasCrnp() {}

    public BasCrnp(Integer status,Integer wrkNo,String inEnable,String outEnable,Long createBy,Date createTime,Long updateBy,Date updateTime,String memo) {

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

@@ -189,6 +189,13 @@
    @TableField(value = "batch_seq")
    private Integer batchSeq;

    /**
     * 重量
     */
    @ApiModelProperty(value= "重量")
    @TableField(value = "weight")
    private Double weight;

    public String getWrkSts$(){
        BasWrkStatusMapper mapper = SpringUtils.getBean(BasWrkStatusMapper.class);
        BasWrkStatus entity = mapper.selectById(this.wrkSts);

 src/main/java/com/zy/asrs/task/NotifyScheduler.java

@@ -107,6 +107,8 @@
                continue;
            }
            NotifyDto notifyDto = (NotifyDto) object;
            int id =notifyDto.getId().intValue();
            notifyDto.setId((Long.valueOf(id)));

            if (System.currentTimeMillis() - notifyDto.getLastRetryTime() < 1000 * notifyDto.getRetryTime()) {
                continue;

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

@@ -680,4 +680,38 @@

        return null;
    }
    //将wms库位号转换成wcs库位号
    public static String WMSLocToWCSLoc(String locNo) {
        String row = locNo.substring(0, 2);
        int i = 0;
        for (char c : row.toCharArray()) {
            if (c == '0') {
                i++;
            }else {
                break;
            }
        }
        row = row.substring(i);
        int j = 0;
        String boy = locNo.substring(2, 5);
        for (char c : boy.toCharArray()) {
            if (c == '0') {
                j++;
            }else {
                break;
            }
        }
        boy = boy.substring(j);
        int k = 0;
        String lev = locNo.substring(5);
        for (char c : lev.toCharArray()) {
            if (c == '0') {
                k++;
            }else {
                break;
            }
        }
        lev = lev.substring(k);
        return row + "-" + boy + "-" + lev;
    }
}

 src/main/java/com/zy/common/model/MonitorParam.java

New file
@@ -0,0 +1,8 @@
package com.zy.common.model;

import lombok.Data;

@Data
public class MonitorParam {
    Integer[] stationIds;
}

 src/main/java/com/zy/common/model/StartupDto.java

@@ -5,9 +5,19 @@
@Data
public class StartupDto {

    private Integer sourceStaNo;

    private Integer staNo;

    private Integer crnNo;

    private String locNo;

    private String taskNo;
    private Integer workNo;

    private Integer taskNo;

    private String barcode;

    private Integer taskPri;


 src/main/java/com/zy/common/service/CommonService.java

@@ -12,11 +12,13 @@
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.WrkIoType;
import com.zy.core.enums.WrkStsType;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.Task;
import com.zy.core.model.command.StationCommand;
import com.zy.core.thread.StationThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -177,7 +179,10 @@
        if (!sourceCrnResult.getCrnNo().equals(targetCrnResult.getCrnNo())) {
            throw new CoolException("源库位和目标库位不在同一巷道");
        }

        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wms_wrk_no", param.getTaskNo()));
        if (!wrkMasts.isEmpty()) {
            throw new CoolException("已经生成改任务号任务="+param.getTaskNo());
        }
        // 获取工作号
        int workNo = getWorkNo(WrkIoType.LOC_MOVE.id);
        // 保存工作档
@@ -222,6 +227,7 @@
    //入库任务
    public WrkMast createInTask(CreateInTaskParam param) {
        Date now = new Date();
//        String s = Utils.WMSLocToWCSLoc(param.getLocNo());
        LocMast locMast = locMastService.queryByLoc(param.getLocNo());
        if (null == locMast) {
            throw new CoolException(param.getLocNo() + "目标库位不存在");
@@ -248,16 +254,22 @@
        WrkMast wrkMast = new WrkMast();
        wrkMast.setWrkNo(workNo);
        wrkMast.setIoTime(now);
        wrkMast.setWrkSts(WrkStsType.NEW_INBOUND.sts); // 工作状态：1.生成入库任务
        wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts); // 工作状态：3.设备搬运中
        wrkMast.setIoType(WrkIoType.IN.id); // 入出库状态： 1.入库
        wrkMast.setIoPri(ioPri);
        wrkMast.setLocNo(param.getLocNo()); // 目标库位
        wrkMast.setSourceStaNo(param.getSourceStaNo());//源站
        wrkMast.setStaNo(param.getStaNo());//目标站
        wrkMast.setWmsWrkNo(param.getTaskNo());
        wrkMast.setSourceStaNo(Integer.valueOf(param.getSourceStaNo()));//源站
        wrkMast.setStaNo(Integer.valueOf(param.getSourceStaNo()));//目标站
        wrkMast.setWmsWrkNo(String.valueOf(param.getTaskNo()));
        wrkMast.setBarcode(param.getBarcode());
        wrkMast.setAppeTime(now);
        wrkMast.setModiTime(now);
        StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, 1);

        StationCommand command = stationThread.getCommand(StationCommandType.WRITE_INFO,
                wrkMast.getWrkNo(), Integer.valueOf(param.getSourceStaNo()), Integer.valueOf(param.getSourceStaNo()), 0);

        MessageQueue.offer(SlaveType.Devp, 1, new Task(2, command));

        if (findCrnResult.getCrnType().equals(SlaveType.Crn)) {
            wrkMast.setCrnNo(findCrnResult.getCrnNo());
@@ -285,7 +297,7 @@
    //出库任务
    public boolean createOutTask(CreateOutTaskParam param) {
        Date now = new Date();
        LocMast locMast = locMastService.queryByLoc(param.getLocNo());
        LocMast locMast = locMastService.queryByLoc(param.getSourceLocNo());
        if (null == locMast) {
            throw new CoolException("源库位不存在");
        }
@@ -336,6 +348,19 @@
        wrkMast.setIoType(WrkIoType.OUT.id); // 入出库状态： 101.出库
        wrkMast.setIoPri(ioPri);
        wrkMast.setSourceLocNo(locMast.getLocNo()); // 源库位

        if(!Cools.isEmpty(param.getLocNo())) {
            //目标站点
            LocMast locMast1 = locMastService.queryByLoc(param.getLocNo());
            if (null == locMast1) {
                throw new CoolException("源库位不存在");
            }

            if (!locMast1.getLocSts().equals("O")) {
                throw new CoolException("目标库位不处于在库状态");
            }
            wrkMast.setLocNo(locMast1.getLocNo()); //目标库位
        }
        wrkMast.setSourceStaNo(sourceStationId);//源站
        wrkMast.setStaNo(staNo);//目标站
        wrkMast.setWmsWrkNo(param.getTaskNo());

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

@@ -41,6 +41,7 @@
    STATION_IN_EXECUTE_LIMIT("station_in_execute_limit_"),
    STATION_OUT_EXECUTE_LIMIT("station_out_execute_limit_"),
    STATION_OUT_EXECUTE_COMPLETE_LIMIT("station_out_execute_complete_limit_"),
    STATION_OUT_EXECUTE_DESTINATION_LIMIT("station_out_execute_destination_limit_"),
    CHECK_STATION_RUN_BLOCK_LIMIT_("check_station_run_block_limit_"),
    CHECK_SHALLOW_LOC_STATUS_LIMIT("check_shallow_loc_status_limit_"),
    GENERATE_ENABLE_IN_STATION_DATA_LIMIT("generate_enable_in_station_data_limit_"),

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

@@ -15,6 +15,7 @@
    OUTBOUND_RUN(102, "设备搬运中"),
    OUTBOUND_RUN_COMPLETE(103, "设备搬运完成"),
    STATION_RUN(104, "站点运行中"),
    ARRIVE_AT_THE_DESTINATION(105, "到达目的地"),
    COMPLETE_OUTBOUND(109, "出库完成"),
    SETTLE_OUTBOUND(110, "出库库存更新"),


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

@@ -53,4 +53,10 @@
    // 任务确认 0：未确认 1：已确认
    private Integer command = 0;

    private int index;

    private short value;

    private String locNo;

}

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

@@ -173,6 +173,11 @@
     */
    private Map<String, Object> extend;

    /**
     * DB110.200 - DB110.398 data
     */
    private short[] db110Data;

    public void setMode(Integer mode) {
        this.mode = mode;
        this.modeType = CrnModeType.get(mode);

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

@@ -63,6 +63,9 @@
    */
   private Map<String, Object> extend;

   //异常
    private String systemWarning;

    @Override
    public StationProtocol clone() {
        try {

 src/main/java/com/zy/core/network/ZyCrnConnectDriver.java

@@ -97,4 +97,16 @@
        return zyCrnConnectApi.sendCommand(command);
    }

    public CommandResponse sendCommand1(CrnCommand command) {
        return zyCrnConnectApi.sendCommand1(command);
    }

    public CommandResponse sendCommand2(CrnCommand command) {
        return zyCrnConnectApi.sendCommand2(command);
    }

    public CommandResponse sendCommand3(CrnCommand command) {
        return zyCrnConnectApi.sendCommand3(command);
    }

}

 src/main/java/com/zy/core/network/api/ZyCrnConnectApi.java

@@ -14,4 +14,9 @@

    CommandResponse sendCommand(CrnCommand command);//下发命令

    CommandResponse sendCommand1(CrnCommand command);

    CommandResponse sendCommand2(CrnCommand command);

    CommandResponse sendCommand3(CrnCommand command);
}

 src/main/java/com/zy/core/network/entity/ZyCrnStatusEntity.java

@@ -122,4 +122,10 @@

    private Integer temp4;

    private Double weight;

    /**
     * DB110.200 - DB110.398 data
     */
    private short[] db110Data;
}

 src/main/java/com/zy/core/network/entity/ZyDualCrnStatusEntity.java

@@ -145,4 +145,6 @@
    //条码
    private String barcode;

    private Float weight;

}

 src/main/java/com/zy/core/network/fake/ZyCrnFakeConnect.java

@@ -55,6 +55,33 @@
        return response;
    }

    @Override
    public CommandResponse sendCommand1(CrnCommand command) {
        CommandResponse response = new CommandResponse(false);
        if (command.getTaskMode().intValue() == CrnTaskModeType.LOC_MOVE.id) {
            //取放货
            executor.submit(() -> commandTake(command));
        } else if (command.getTaskMode().intValue() == CrnTaskModeType.CRN_MOVE.id) {
            //移动
            executor.submit(() -> commandMove(command));
        } else if (command.getTaskMode().intValue() == CrnTaskModeType.NONE.id) {
            //复位
            executor.submit(() -> commandTaskComplete(command));
        }
        response.setResult(true);
        return response;
    }

    @Override
    public CommandResponse sendCommand2(CrnCommand command) {
        return null;
    }

    @Override
    public CommandResponse sendCommand3(CrnCommand command) {
        return null;
    }

    private void commandTaskComplete(CrnCommand command) {
        this.crnStatus.setTaskNo(0);
        this.crnStatus.setStatus(CrnStatusType.IDLE.id);

 src/main/java/com/zy/core/network/real/ZyCrnRealConnect.java

@@ -5,12 +5,9 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnpOpt;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.service.BasCrnpOptService;
import com.zy.asrs.utils.Utils;
import com.zy.core.News;
import com.zy.core.cache.OutputQueue;
import com.zy.core.model.CommandResponse;
@@ -34,9 +31,9 @@
        boolean connected = false;
        siemensNet = new SiemensS7Net(SiemensPLCS.S1200, deviceConfig.getIp());
        OperateResult connect = siemensNet.ConnectServer();
        if(connect.IsSuccess){
        if (connect.IsSuccess) {
            connected = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
            News.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
@@ -55,7 +52,7 @@
    @Override
    public ZyCrnStatusEntity getStatus() {
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 60);
            if (result.IsSuccess) {
                ZyCrnStatusEntity crnStatus = new ZyCrnStatusEntity();
                crnStatus.setCrnNo(deviceConfig.getDeviceNo());
@@ -78,6 +75,14 @@
                crnStatus.setYDistance((double) siemensNet.getByteTransform().TransSingle(result.Content, 44));
                crnStatus.setXDuration((double) siemensNet.getByteTransform().TransSingle(result.Content, 48));
                crnStatus.setYDuration((double) siemensNet.getByteTransform().TransSingle(result.Content, 52));
                crnStatus.setWeight((double) siemensNet.getByteTransform().TransSingle(result.Content, 56));

                // 读取DB110.200 - DB110.398
                OperateResultExOne<byte[]> resultDb110 = siemensNet.Read("DB110.200", (short) 200);
                if (resultDb110.IsSuccess) {
                    short[] db110Data = siemensNet.getByteTransform().TransInt16(resultDb110.Content, 0, 100);
                    crnStatus.setDb110Data(db110Data);
                }

                return crnStatus;
            } else {
@@ -103,23 +108,20 @@
            }

            int writeAck = 0;
            boolean commandResult = false;
            do {
                OperateResultExOne<byte[]> commandReadResult = siemensNet.Read("DB100.0", (short) 2);
                if (commandReadResult.IsSuccess) {
                    short commandRead = siemensNet.getByteTransform().TransInt16(commandReadResult.Content, 0);
                    if (commandRead == 1) {
                        Thread.sleep(500);
                    }else {
                        commandResult = true;
                OperateResult resultAck = siemensNet.Write("DB100.0", (short) 0);
                if (resultAck.IsSuccess) {
                    Thread.sleep(200);
                    OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 2);
                    short ack = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                    if (ack != 0) {
                        writeAck++;
                    } else {
                        News.info("堆垛机命令下发[id:{}] >>>>> {}", command.getCrnNo(), "ack复位完成");
                        break;
                    }
                }
            } while (writeAck < 5);

            if (!commandResult) {
                response.setMessage("堆垛机命令下发[id:{}] >>>>> {}" + command.getCrnNo() + "任务状态位异常");
                return response;
            }

            short[] array = new short[9];
            array[0] = (short) 0;
@@ -160,7 +162,7 @@
                Thread.sleep(500);
            } while (idx < 5);

            OperateResult confirmResult = siemensNet.Write("DB100.0", (short) 1);
            OperateResult confirmResult = siemensNet.Write("DB100.18", (short) 1);
            if (!confirmResult.IsSuccess) {
                News.error("堆垛机写入确认数据失败 ===>> [id:{}]", command.getCrnNo());
                response.setMessage("堆垛机写入确认数据失败");
@@ -179,6 +181,163 @@
                response.setMessage("命令下发失败");
            }

            if (!Cools.isEmpty(command.getLocNo())){
                OperateResult resultAck = siemensNet.Write("DB110." + command.getIndex() * 2, command.getValue());
                if (resultAck.IsSuccess) {
                    News.info("库位白色灯命令下发[locNo:{}] >>>>> {}", command.getLocNo(), command.getValue());
                } else {
                    News.error("库位白色灯命令下发失败[locNo:{}] >>>>> {}", command.getLocNo(), command.getValue());
                }
            }

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

    @Override
    public CommandResponse sendCommand1(CrnCommand command) {
        CommandResponse response = new CommandResponse(false);
        try {
            if (null == command) {
                News.error("堆垛机写入命令为空");
                response.setMessage("堆垛机写入命令为空");
                return response;
            }

            int writeAck = 0;
            do {
                OperateResult resultAck = siemensNet.Write("DB100.0", (short) 0);
                if (resultAck.IsSuccess) {
                    Thread.sleep(200);
                    OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 2);
                    short ack = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                    if (ack != 0) {
                        writeAck++;
                    } else {
                        News.info("堆垛机命令下发[id:{}] >>>>> {}", command.getCrnNo(), "ack复位完成");
                        break;
                    }
                }
            } while (writeAck < 5);

            short[] array = new short[10];
            array[0] = (short) 1;
            array[1] = command.getTaskNo().shortValue();
            array[2] = command.getTaskMode().shortValue();
            array[3] = command.getSourcePosX().shortValue();
            array[4] = command.getSourcePosY().shortValue();
            array[5] = command.getSourcePosZ().shortValue();
            array[6] = command.getDestinationPosX().shortValue();
            array[7] = command.getDestinationPosY().shortValue();
            array[8] = command.getDestinationPosZ().shortValue();
            array[9] = (short) 0;

            OperateResult result = siemensNet.Write("DB100.0", array);
            if (!result.IsSuccess) {
                response.setMessage("堆垛机命令下发[id:{}] >>>>> {}" + command.getCrnNo() + "任务状态位异常");
                return response;
            }

            int idx = 0;
            do {
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
                if (resultRead.IsSuccess) {
                    short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
                    short taskMode = siemensNet.getByteTransform().TransInt16(resultRead.Content, 4);
                    short sourcePosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 6);
                    short sourcePosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 8);
                    short sourcePosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 10);
                    short destinationPosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 12);
                    short destinationPosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 14);
                    short destinationPosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 16);
                    if (taskNo == 0 || taskMode == 0 || sourcePosX == 0 || sourcePosY == 0 || sourcePosZ == 0 || destinationPosX == 0 || destinationPosY == 0 || destinationPosZ == 0) {
                        result = siemensNet.Write("DB100.0", array);
                    } else {
                        break;
                    }
                }
                idx++;
                Thread.sleep(500);
            } while (idx < 5);

            if (result != null && result.IsSuccess) {
                News.info("堆垛机命令下发[id:{}] >>>>> {}", command.getCrnNo(), JSON.toJSON(command));
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), command.getCrnNo(), JSON.toJSON(command)));
                response.setResult(true);
                response.setMessage("命令下发成功");
            } else {
                News.error("写入堆垛机plc数据失败 ===>> [id:{}]", command.getCrnNo());
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}]", DateUtils.convert(new Date()), command.getCrnNo()));
                response.setResult(false);
                response.setMessage("命令下发失败");
            }

            if (!Cools.isEmpty(command.getLocNo())){
                OperateResult resultAck = siemensNet.Write("DB110." + command.getIndex() * 2, command.getValue());
                if (resultAck.IsSuccess) {
                    Integer index = command.getIndex()*2 + 200;
                    OperateResult resultAck1 = siemensNet.Write("DB110." + index, command.getValue());
                    if (resultAck1.IsSuccess) {
                        News.info("库位橙色按钮命令下发[locNo:{}] >>>>> {}", command.getLocNo(), command.getValue());
                    } else {
                        News.error("库位白色灯命令下发失败[locNo:{}] >>>>> {}", command.getLocNo(), command.getValue());
                    }
                    News.info("库位白色灯命令下发[locNo:{}] >>>>> {}", command.getLocNo(), command.getValue());
                } else {
                    News.error("库位白色灯命令下发失败[locNo:{}] >>>>> {}", command.getLocNo(), command.getValue());
                }
            }

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

    @Override
    public CommandResponse sendCommand2(CrnCommand command) {
        CommandResponse response = new CommandResponse(false);
        try {
            if (null == command) {
                News.error("堆垛机写入命令为空");
                response.setMessage("堆垛机写入命令为空");
                return response;
            }


            OperateResult resultAck = siemensNet.Write("DB110." + command.getIndex() * 2, command.getValue());
            if (resultAck.IsSuccess) {
                News.info("库位白色灯命令下发[locNo:{}] >>>>> {}", command.getLocNo(), command.getValue());
            } else {
                News.error("库位白色灯命令下发失败[locNo:{}] >>>>> {}", command.getLocNo(), command.getValue());
            }
            return response;
        } catch (Exception e) {
            e.printStackTrace();
        }
        return response;
    }

    @Override
    public CommandResponse sendCommand3(CrnCommand command) {
        CommandResponse response = new CommandResponse(false);
        try {
            if (null == command) {
                News.error("堆垛机写入命令为空");
                response.setMessage("堆垛机写入命令为空");
                return response;
            }
            Integer index = command.getIndex()*2 + 200;
            OperateResult resultAck = siemensNet.Write("DB110." + index, command.getValue());
            if (resultAck.IsSuccess) {
                News.info("库位橙色按钮命令下发[locNo:{}] >>>>> {}", command.getLocNo(), command.getValue());
            } else {
                News.error("库位白色灯命令下发失败[locNo:{}] >>>>> {}", command.getLocNo(), command.getValue());
            }
            return response;
        } catch (Exception e) {
            e.printStackTrace();

 src/main/java/com/zy/core/network/real/ZyDualCrnRealConnect.java

@@ -58,43 +58,33 @@
    @Override
    public ZyDualCrnStatusEntity getStatus() {
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 66);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
            if (result.IsSuccess) {
                ZyDualCrnStatusEntity crnStatus = new ZyDualCrnStatusEntity();
                crnStatus.setCrnNo(deviceConfig.getDeviceNo());
                crnStatus.setMode((int) siemensNet.getByteTransform().TransInt16(result.Content, 0));

                //工位1
                crnStatus.setTaskNo((int) siemensNet.getByteTransform().TransInt16(result.Content, 2));
                crnStatus.setStatus((int) siemensNet.getByteTransform().TransInt16(result.Content, 4));
                crnStatus.setForkPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 6));
                crnStatus.setLoaded((int) siemensNet.getByteTransform().TransInt16(result.Content, 8));
                crnStatus.setTaskReceive((int) siemensNet.getByteTransform().TransInt16(result.Content, 10));

                //工位2
                crnStatus.setTaskNoTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 12));
                crnStatus.setStatusTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 14));
                crnStatus.setForkPosTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 16));
                crnStatus.setLoadedTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 18));
                crnStatus.setTaskReceiveTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 20));

                crnStatus.setBay((int) siemensNet.getByteTransform().TransInt16(result.Content, 22));
                crnStatus.setLevel((int) siemensNet.getByteTransform().TransInt16(result.Content, 24));
                crnStatus.setLiftPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 26));
                crnStatus.setWalkPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 28));
                crnStatus.setAlarm((int) siemensNet.getByteTransform().TransInt16(result.Content, 30));
                crnStatus.setTemp1((int) siemensNet.getByteTransform().TransInt16(result.Content, 34));
                crnStatus.setTemp2((int) siemensNet.getByteTransform().TransInt16(result.Content, 36));
                crnStatus.setTemp3((int) siemensNet.getByteTransform().TransInt16(result.Content, 38));
                crnStatus.setTemp4((int) siemensNet.getByteTransform().TransInt16(result.Content, 40));
                crnStatus.setXSpeed((int) siemensNet.getByteTransform().TransInt16(result.Content, 42));
                crnStatus.setYSpeed((int) siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnStatus.setZSpeed((int) siemensNet.getByteTransform().TransInt16(result.Content, 46));
                crnStatus.setXDistance((int) siemensNet.getByteTransform().TransInt16(result.Content, 48));
                crnStatus.setYDistance((int) siemensNet.getByteTransform().TransInt16(result.Content, 50));
                crnStatus.setXDuration((int) siemensNet.getByteTransform().TransInt16(result.Content, 52));
                crnStatus.setYDuration((int) siemensNet.getByteTransform().TransInt16(result.Content, 54));
                crnStatus.setGoodsType((int) siemensNet.getByteTransform().TransInt16(result.Content, 56));
                crnStatus.setMode((int)siemensNet.getByteTransform().TransInt16(result.Content, 0));
                crnStatus.setTaskNo((int)siemensNet.getByteTransform().TransInt16(result.Content, 2));
                crnStatus.setStatus((int)siemensNet.getByteTransform().TransInt16(result.Content, 4));
                crnStatus.setBay((int)siemensNet.getByteTransform().TransInt16(result.Content, 6));
                crnStatus.setLevel((int)siemensNet.getByteTransform().TransInt16(result.Content, 8));
                crnStatus.setForkPos((int)siemensNet.getByteTransform().TransInt16(result.Content, 10));
                crnStatus.setLiftPos((int)siemensNet.getByteTransform().TransInt16(result.Content, 12));
                crnStatus.setWalkPos((int)siemensNet.getByteTransform().TransInt16(result.Content, 14));
                crnStatus.setLoaded((int)siemensNet.getByteTransform().TransInt16(result.Content, 16));
                crnStatus.setAlarm((int)siemensNet.getByteTransform().TransInt16(result.Content, 18));
                crnStatus.setTemp1((int)siemensNet.getByteTransform().TransInt16(result.Content, 20));
                crnStatus.setTemp2((int)siemensNet.getByteTransform().TransInt16(result.Content, 22));
                crnStatus.setTemp3((int)siemensNet.getByteTransform().TransInt16(result.Content, 24));
                crnStatus.setTemp4((int)siemensNet.getByteTransform().TransInt16(result.Content, 26));
                crnStatus.setXSpeed((int)siemensNet.getByteTransform().TransInt16(result.Content, 28));
                crnStatus.setYSpeed((int)siemensNet.getByteTransform().TransInt16(result.Content, 32));
                crnStatus.setZSpeed((int)siemensNet.getByteTransform().TransInt16(result.Content, 36));
                crnStatus.setXDistance((int) siemensNet.getByteTransform().TransSingle(result.Content, 40));
                crnStatus.setYDistance((int) siemensNet.getByteTransform().TransSingle(result.Content, 44));
                crnStatus.setXDuration((int) siemensNet.getByteTransform().TransSingle(result.Content, 48));
                crnStatus.setYDuration((int) siemensNet.getByteTransform().TransSingle(result.Content, 52));
                crnStatus.setWeight(siemensNet.getByteTransform().TransSingle(result.Content, 56));

                String barcode = siemensNet.getByteTransform().TransString(result.Content, 58, 8, "UTF-8");
                crnStatus.setBarcode(barcode);
@@ -121,34 +111,37 @@
                 return response;
             }

             int writeAck = 0;
             do {
                 OperateResult resultAck = siemensNet.Write("DB100.0", (short) 0);
                 if (resultAck.IsSuccess){
                     Thread.sleep(200);
                     OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 2);
                     short ack = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                     if (ack != 0) {
                         writeAck++;
                     }else {
//                         News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), "ack复位完成");
                         break;
                     }
                 }
             }while (writeAck <5);

             String address = "DB100.0";
             if (command.getStation() == 1) {
                 //工位1
                 address = "DB100.0";
             }else {
                 //工位2
                 address = "DB100.18";
             }

             String confirmAddress = "DB100.16";
             if (command.getStation() == 1) {
                 //工位1
                 confirmAddress = "DB100.16";
             }else {
                 //工位2
                 confirmAddress = "DB100.34";
             }
             String confirmAddress = "DB100.18";

             short[] array = new short[9];
             array[0] = command.getTaskNo().shortValue();
             array[1] = command.getTaskMode().shortValue();
             array[2] = command.getSourcePosX().shortValue();
             array[3] = command.getSourcePosY().shortValue();
             array[4] = command.getSourcePosZ().shortValue();
             array[5] = command.getDestinationPosX().shortValue();
             array[6] = command.getDestinationPosY().shortValue();
             array[7] = command.getDestinationPosZ().shortValue();
             array[8] = (short) 0;
             short[] array = new short[10];
             array[0] = 0;
             array[1] = command.getTaskNo().shortValue();
             array[2] = command.getTaskMode().shortValue();
             array[3] = command.getSourcePosX().shortValue();
             array[4] = command.getSourcePosY().shortValue();
             array[5] = command.getSourcePosZ().shortValue();
             array[6] = command.getDestinationPosX().shortValue();
             array[7] = command.getDestinationPosY().shortValue();
             array[8] = command.getDestinationPosZ().shortValue();
             array[9] = (short) 0;

             OperateResult result = siemensNet.Write(address, array);
             if (!result.IsSuccess) {
@@ -159,7 +152,7 @@

             int idx = 0;
             do {
                 OperateResultExOne<byte[]> resultRead = siemensNet.Read(address, (short) 18);
                 OperateResultExOne<byte[]> resultRead = siemensNet.Read(address, (short) 20);
                 if (resultRead.IsSuccess) {
                    short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
                    short taskMode = siemensNet.getByteTransform().TransInt16(resultRead.Content, 4);

 src/main/java/com/zy/core/network/real/ZyStationRealConnect.java

@@ -99,7 +99,7 @@
        if (result.IsSuccess) {
            for (int i = 0; i < statusList.size(); i++) {
                ZyStationStatusEntity statusEntity = statusList.get(i); // 站点编号
                statusEntity.setTaskNo((int) siemensNet.getByteTransform().TransInt16(result.Content, i * 8)); // 工作号
                statusEntity.setTaskNo(siemensNet.getByteTransform().TransInt32(result.Content, i * 8)); // 工作号
                statusEntity.setTargetStaNo((int) siemensNet.getByteTransform().TransInt16(result.Content, i * 8 + 4)); // 目标站

                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, i * 8 + 6, 2);
@@ -109,25 +109,32 @@
                statusEntity.setOutEnable(status[3]);// 可出
                statusEntity.setEmptyMk(status[4]); // 空板信号
                statusEntity.setFullPlt(status[5]); // 满托盘

                if (statusEntity.getStationId()==1015){
                    OperateResultExOne<byte[]> result1 = siemensNet.Read("DB101.3826", (short) (4));
                    if (result1.IsSuccess) {
                        statusEntity.setWeight((double) siemensNet.getByteTransform().TransSingle(result1.Content, 0));
                    }
                }
            }
        }

        // 条码扫描器
        OperateResultExOne<byte[]> result2 = siemensNet.Read("DB101.840", (short) (barcodeOriginList.size() * 8));
        OperateResultExOne<byte[]> result2 = siemensNet.Read("DB101.3760", (short) (barcodeOriginList.size() * 52));
        if (result2.IsSuccess) {
            for (int i = 0; i < barcodeOriginList.size(); i++) {
                ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1);
                if (barcodeEntity == null) {
                    continue;
                }
                String barcode = siemensNet.getByteTransform().TransString(result2.Content, i * 8, 8, "UTF-8");
                String barcode = siemensNet.getByteTransform().TransString(result2.Content, i * 52, 52, "UTF-8");
                barcode = barcode.trim();
                barcodeEntity.setBarcode(barcode);
            }
        }

        // 报警信息
        OperateResultExOne<byte[]> result3 = siemensNet.Read("DB101.800", (short) (barcodeOriginList.size() * 3));
        OperateResultExOne<byte[]> result3 = siemensNet.Read("DB101.2400", (short) (barcodeOriginList.size() * 3));
        if (result3.IsSuccess) {
            for (int i = 0; i < barcodeOriginList.size(); i++) {
                ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1);
@@ -189,15 +196,17 @@
        }

        OperateResult write = null;
        OperateResult write1 = null;
        // 任务下发次数
        int writeCount = 0;
        do {
            short[] data = new short[2];
            data[0] = command.getTaskNo().shortValue();
            data[1] = command.getTargetStaNo().shortValue();
//            short[] data = new short[2];
//            data[0] = command.getTaskNo();
//            data[1] = command.getTargetStaNo().shortValue();

            write = siemensNet.Write("DB100." + index * 4, data);
            if (write.IsSuccess) {
            write = siemensNet.Write("DB100." + index * 6, command.getTaskNo());
            write1 =siemensNet.Write("DB100." + (index * 6+4), command.getTargetStaNo().shortValue());
            if (write.IsSuccess&&write1.IsSuccess) {
                log.error("写入输送线命令成功。站点编号={}，站点数据={},写入次数={}", command.getStationId(), JSON.toJSON(command),
                        writeCount);
                commandResponse.setResult(true);

 src/main/java/com/zy/core/plugin/FakeProcess.java

@@ -327,8 +327,8 @@

                    CreateInTaskParam taskParam = new CreateInTaskParam();
                    taskParam.setTaskNo(String.valueOf(commonService.getWorkNo(WrkIoType.IN.id)));
                    taskParam.setSourceStaNo(stationId);
                    taskParam.setStaNo(targetStationId);
                    taskParam.setSourceStaNo(String.valueOf(stationId));
                    taskParam.setStaNo(String.valueOf(targetStationId));
                    taskParam.setLocNo(locMast.getLocNo());
                    taskParam.setBarcode(stationProtocol.getBarcode());
                    WrkMast wrkMast = commonService.createInTask(taskParam);
@@ -491,7 +491,7 @@
                                News.error("WMS入库请求失败，重新发起请求，barcode={}，stationId={}，response={}", barcode,
                                        stationIdVal, response);
                                wmsOperateUtils.applyInTaskAsync(barcode, stationIdVal,
                                        stationProtocol.getPalletHeight());
                                        stationProtocol.getPalletHeight(),stationProtocol.getWeight());
                                redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2);
                                continue;
                            }
@@ -502,7 +502,7 @@
                                StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                                CreateInTaskParam taskParam = new CreateInTaskParam();
                                taskParam.setTaskNo(dto.getTaskNo());
                                taskParam.setTaskNo(String.valueOf(dto.getTaskNo()));
                                taskParam.setLocNo(dto.getLocNo());
                                taskParam.setTaskPri(dto.getTaskPri());
                                taskParam.setBarcode(barcode);
@@ -520,7 +520,7 @@
                                News.error("WMS入库接口返回非200，重新发起请求，barcode={}，stationId={}，response={}", barcode,
                                        stationIdVal, response);
                                wmsOperateUtils.applyInTaskAsync(barcode, stationIdVal,
                                        stationProtocol.getPalletHeight());
                                        stationProtocol.getPalletHeight(),stationProtocol.getWeight());
                                redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2);
                            }
                        } else {
@@ -529,7 +529,7 @@
                                // 没有请求进行中，发起新的异步请求
                                News.info("发起异步WMS入库请求，barcode={}，stationId={}", barcode, stationIdVal);
                                wmsOperateUtils.applyInTaskAsync(barcode, stationIdVal,
                                        stationProtocol.getPalletHeight());
                                        stationProtocol.getPalletHeight(),stationProtocol.getWeight());
                                redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2);
                            }
                        }
@@ -789,6 +789,7 @@

                wrkMast.setWrkSts(updateWrkSts);
                wrkMast.setSystemMsg("");
                wrkMast.setWeight(Cools.isEmpty(crnProtocol.getWeight()) ? 11.11 : crnProtocol.getWeight());
                wrkMast.setIoTime(new Date());
                if (wrkMastService.updateById(wrkMast)) {
                    CrnCommand resetCommand = crnThread.getResetCommand(crnProtocol.getCrnNo());

 src/main/java/com/zy/core/plugin/NormalProcess.java

@@ -70,6 +70,8 @@
        stationOperateProcessUtils.stationInExecute();
        //执行输送站点出库任务
        stationOperateProcessUtils.stationOutExecute();
        //检测出库任务到达目的地
        stationOperateProcessUtils.arriveAtTheDestination();
        //检测输送站点出库任务执行完成
        stationOperateProcessUtils.stationOutExecuteFinish();

@@ -120,18 +122,29 @@
                    if (stationProtocol == null) {
                        continue;
                    }
                    String barcode = stationProtocol.getBarcode();

                    // 满足自动、有物、有工作号，生成入库数据
                    if (stationProtocol.isAutoing()
                            && stationProtocol.isLoading()
                            && stationProtocol.getTaskNo() > 0) {
                            && stationProtocol.getTaskNo() == 0) {
                        if (Cools.isEmpty(stationProtocol.getBarcode())) {
                            continue;
                        }
                        //是否报警
                        if (stationProtocol.getError()>0){
                            StationCommand command = stationThread.getCommand(StationCommandType.WRITE_INFO,
                                    9991, 1015, 1013, 0);
                            stationProtocol.setSystemWarning(stationProtocol.getErrorMsg());
                            MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
                            continue;
                        }

                        String[] split = barcode.split(",");
                        String bar = split[0];
                        // 检测任务是否生成
                        List<WrkMast> wrkMasts = wrkMastService
                                .selectList(new EntityWrapper<WrkMast>().eq("barcode", stationProtocol.getBarcode()));
                                .selectList(new EntityWrapper<WrkMast>().eq("barcode", bar));
                        if (!wrkMasts.isEmpty()) {
                            continue;
                        }
@@ -141,7 +154,7 @@
                            continue;
                        }

                        String barcode = stationProtocol.getBarcode();

                        Integer stationIdVal = stationProtocol.getStationId();

                        // 1. 首先查询是否有已完成的异步响应
@@ -154,8 +167,9 @@
                                News.error("WMS入库请求失败，重新发起请求，barcode={}，stationId={}，response={}", barcode,
                                        stationIdVal, response);
                                wmsOperateUtils.applyInTaskAsync(barcode, stationIdVal,
                                        stationProtocol.getPalletHeight());
                                        stationProtocol.getPalletHeight(),stationProtocol.getWeight());
                                redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2);
//                                stationProtocol.setSys
                                continue;
                            }

@@ -165,25 +179,34 @@
                                StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                                CreateInTaskParam taskParam = new CreateInTaskParam();
                                taskParam.setTaskNo(dto.getTaskNo());
                                taskParam.setTaskNo(String.valueOf(dto.getTaskNo()));
                                taskParam.setLocNo(dto.getLocNo());
                                taskParam.setTaskPri(dto.getTaskPri());
                                taskParam.setBarcode(barcode);
                                taskParam.setBarcode(dto.getBarcode());
                                taskParam.setSourceStaNo(String.valueOf(dto.getSourceStaNo()));
                                taskParam.setStaNo(String.valueOf(dto.getStaNo()));
                                taskParam.setCrnNo(dto.getCrnNo());
                                WrkMast wrkMast = commonService.createInTask(taskParam);

                                StationCommand command = stationThread.getCommand(StationCommandType.WRITE_INFO,
                                        wrkMast.getWrkNo(), stationId, stationId, 0);
                                        wrkMast.getWrkNo(), dto.getSourceStaNo(), dto.getStaNo(), 0);
                                if (command == null) {
                                    News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                                    continue;
                                }
                                stationProtocol.setSystemWarning("");
                                MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
                            } else {

                                stationProtocol.setSystemWarning(jsonObject.getString("msg"));
                                StationCommand command = stationThread.getCommand(StationCommandType.WRITE_INFO,
                                        9991, 1015, 1013, 0);
                                MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
                                // 接口返回非200，重新发起请求
                                News.error("WMS入库接口返回非200，重新发起请求，barcode={}，stationId={}，response={}", barcode,
                                        stationIdVal, response);
                                wmsOperateUtils.applyInTaskAsync(barcode, stationIdVal,
                                        stationProtocol.getPalletHeight());
                                        stationProtocol.getPalletHeight(),stationProtocol.getWeight());
                                redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2);
                            }
                        } else {
@@ -192,7 +215,7 @@
                                // 没有请求进行中，发起新的异步请求
                                News.info("发起异步WMS入库请求，barcode={}，stationId={}", barcode, stationIdVal);
                                wmsOperateUtils.applyInTaskAsync(barcode, stationIdVal,
                                        stationProtocol.getPalletHeight());
                                        stationProtocol.getPalletHeight(),stationProtocol.getWeight());
                                redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2);
                            }
                            // 如果有请求进行中，等待下次循环再检查

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

@@ -17,4 +17,9 @@

    CommandResponse sendCommand(CrnCommand command);//下发命令

    CommandResponse sendCommand1(CrnCommand command);

    CommandResponse sendCommand2(CrnCommand command);

    CommandResponse sendCommand3(CrnCommand command);
}

 src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java

@@ -30,6 +30,9 @@

import java.text.MessageFormat;
import java.util.Date;
import java.util.List;
import java.util.ArrayList;
import com.zy.core.utils.WmsOperateUtils;
import com.zy.asrs.entity.BasCrnpErrLog;
import com.zy.asrs.service.BasCrnpErrLogService;

@@ -45,6 +48,7 @@
    private ZyCrnConnectDriver zyCrnConnectDriver;
    private CrnProtocol crnProtocol;
    private int deviceLogCollectTime = 200;
    private List<Integer> lastReportedIndices = new ArrayList<>();

    public ZySiemensCrnThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
        this.deviceConfig = deviceConfig;
@@ -81,6 +85,16 @@
                    if (step == 2) {
                        sendCommand((CrnCommand) task.getData());
                    }
                    if (step == 3) {
                        sendCommand1((CrnCommand) task.getData());
                    }
                    if (step == 4) {
                        sendCommand2((CrnCommand) task.getData());
                    }
                    if (step == 5) {
                        sendCommand3((CrnCommand) task.getData());
                    }


                    Thread.sleep(100);
                } catch (Exception e) {
@@ -178,6 +192,33 @@
        crnProtocol.setYDistance(crnStatus.getYDistance());
        crnProtocol.setXDuration(crnStatus.getXDuration());
        crnProtocol.setYDuration(crnStatus.getYDuration());
        crnProtocol.setWeight(crnStatus.getWeight());
        crnProtocol.setDb110Data(crnStatus.getDb110Data());

        // 上报堆垛机DB110状态数据
        short[] db110Data = crnProtocol.getDb110Data();
        List<Integer> currentIndices = new ArrayList<>();
        if (db110Data != null) {
            for (int i = 0; i < db110Data.length; i++) {
                if (db110Data[i] == 1) {
                    currentIndices.add(i);
                }
            }
        }
        //!currentIndices.equals(lastReportedIndices)
        boolean changed = true;
        
        if (changed) {
            try {
                WmsOperateUtils wmsOperateUtils = SpringUtils.getBean(WmsOperateUtils.class);
                if (wmsOperateUtils != null) {
                    wmsOperateUtils.reportCrnDb110Status(crnProtocol.getCrnNo(), currentIndices);
                    lastReportedIndices = new ArrayList<>(currentIndices);
                }
            } catch (Exception e) {
                log.error("Report Crn Db110 Status Fail", e);
            }
        }

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

@@ -331,4 +372,119 @@
            }
        }
    }

    @Override
    public synchronized CommandResponse sendCommand1(CrnCommand command) {
        this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
        CommandResponse response = null;
        try {
            response = zyCrnConnectDriver.sendCommand1(command);
            return response;
        } finally {
            String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
            String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());
            BasCrnpOptService bean = SpringUtils.getBean(BasCrnpOptService.class);
            ZyCrnStatusEntity statusEntity = zyCrnConnectDriver.getStatus();
            BasCrnpOpt basCrnpOpt = new BasCrnpOpt(
                    command.getTaskNo().intValue(),
                    command.getCrnNo(),
                    new Date(),
                    String.valueOf(command.getTaskMode()),
                    sourceLocNo,
                    targetLocNo,
                    null,
                    null,
                    null,
                    JSON.toJSONString(command),
                    JSON.toJSONString(statusEntity),
                    1,
                    JSON.toJSONString(response)
            );
            if (bean != null) {
                bean.insert(basCrnpOpt);
            }
        }
    }

    /**
     * 管理站点的白灯情况
     * 1(亮，闪烁，上位下发任务)
     * 默认0(暗)
     * @param command
     * @return
     */

    @Override
    public synchronized CommandResponse sendCommand2(CrnCommand command) {
        this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
        CommandResponse response = null;
        try {
            response = zyCrnConnectDriver.sendCommand2(command);
            return response;
        } finally {
            String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
            String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());
            BasCrnpOptService bean = SpringUtils.getBean(BasCrnpOptService.class);
            ZyCrnStatusEntity statusEntity = zyCrnConnectDriver.getStatus();
            BasCrnpOpt basCrnpOpt = new BasCrnpOpt(
                    command.getTaskNo().intValue(),
                    command.getCrnNo(),
                    new Date(),
                    String.valueOf(command.getTaskMode()),
                    sourceLocNo,
                    targetLocNo,
                    null,
                    null,
                    null,
                    JSON.toJSONString(command),
                    JSON.toJSONString(statusEntity),
                    1,
                    JSON.toJSONString(response)
            );
            if (bean != null) {
                bean.insert(basCrnpOpt);
            }
        }
    }

    /**
     * 管理站点的黄色按钮状态及颜色
     * 1:人工按按钮确认
     * 2:上位机接收完成，运行给
     * 0:任务结束上位机清除状态
     * @param command
     * @return
     */
    @Override
    public synchronized CommandResponse sendCommand3(CrnCommand command) {
        this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
        CommandResponse response = null;
        try {
            response = zyCrnConnectDriver.sendCommand3(command);
            return response;
        } finally {
            String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
            String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());
            BasCrnpOptService bean = SpringUtils.getBean(BasCrnpOptService.class);
            ZyCrnStatusEntity statusEntity = zyCrnConnectDriver.getStatus();
            BasCrnpOpt basCrnpOpt = new BasCrnpOpt(
                    command.getTaskNo().intValue(),
                    command.getCrnNo(),
                    new Date(),
                    String.valueOf(command.getTaskMode()),
                    sourceLocNo,
                    targetLocNo,
                    null,
                    null,
                    null,
                    JSON.toJSONString(command),
                    JSON.toJSONString(statusEntity),
                    1,
                    JSON.toJSONString(response)
            );
            if (bean != null) {
                bean.insert(basCrnpOpt);
            }
        }
    }
}

 src/main/java/com/zy/core/thread/impl/ZyStationThread.java

@@ -82,7 +82,6 @@
                    if (step == 2) {
                        sendCommand((StationCommand) task.getData());
                    }

                    Thread.sleep(100);
                } catch (Exception e) {
                    log.error("StationProcess Fail", e);

 src/main/java/com/zy/core/utils/CrnOperateProcessUtils.java

@@ -28,13 +28,11 @@
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.thread.CrnThread;
import com.zy.core.thread.StationThread;
import lombok.Synchronized;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

import java.util.Date;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.*;

@Component
public class CrnOperateProcessUtils {
@@ -123,7 +121,8 @@
        }
    }

    private synchronized void crnExecuteIn(BasCrnp basCrnp, CrnThread crnThread) {
    @Synchronized
    private void crnExecuteIn(BasCrnp basCrnp, CrnThread crnThread) {
        CrnProtocol crnProtocol = crnThread.getStatus();
        if(crnProtocol == null){
            return;
@@ -204,12 +203,19 @@
            String sourceLocNo = Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());

            CrnCommand command = crnThread.getPickAndPutCommand(sourceLocNo, wrkMast.getLocNo(), wrkMast.getWrkNo(), crnNo);

            wrkMast.setWrkSts(WrkStsType.INBOUND_RUN.sts);
            wrkMast.setCrnNo(crnNo);
            wrkMast.setSystemMsg("");
            wrkMast.setIoTime(new Date());
            //给库位白色指示灯亮灯
            String[] split = basCrnp.getArr().split(",");
            int i = Arrays.asList(split).indexOf(wrkMast.getLocNo());
            if (wrkMastService.updateById(wrkMast)) {
                if (i>-1){
                    command.setLocNo(wrkMast.getLocNo());
                    command.setIndex(i);
                    command.setValue((short)1);
                }
                MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
                notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_IN_TASK_RUN, null);
                News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
@@ -298,7 +304,15 @@
                wrkMast.setCrnNo(crnNo);
                wrkMast.setSystemMsg("");
                wrkMast.setIoTime(new Date());
                //给库位白色指示灯亮灯
                String[] split = basCrnp.getArr().split(",");
                int i = Arrays.asList(split).indexOf(wrkMast.getSourceLocNo());
                if (wrkMastService.updateById(wrkMast)) {
                    if (i>-1){
                        command.setLocNo(wrkMast.getSourceLocNo());
                        command.setIndex(i);
                        command.setValue((short)1);
                    }
                    MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
                    notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_OUT_TASK_RUN, null);
                    News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
@@ -530,7 +544,20 @@
            wrkMast.setCrnNo(crnNo);
            wrkMast.setSystemMsg("");
            wrkMast.setIoTime(new Date());
            //给库位白色指示灯亮灯
            String[] split = basCrnp.getArr().split(",");
            int i = Arrays.asList(split).indexOf(wrkMast.getLocNo());
            String locNo = wrkMast.getLocNo();
            if (i == -1) {
                i = Arrays.asList(split).indexOf(wrkMast.getSourceLocNo());
                locNo = wrkMast.getSourceLocNo();
            }
            if (wrkMastService.updateById(wrkMast)) {
                if (i>-1){
                    command.setLocNo(locNo);
                    command.setIndex(i);
                    command.setValue((short)1);
                }
                MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
                notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_TRANSFER_TASK_RUN, null);
                News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
@@ -568,16 +595,29 @@
                    News.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
                    continue;
                }

                //给库位白色指示灯亮灯
                String[] split = basCrnp.getArr().split(",");
                int i = -1;
                String locNo = "";
                Long updateWrkSts = null;
                if(wrkMast.getWrkSts() == WrkStsType.INBOUND_RUN.sts){
                    updateWrkSts = WrkStsType.COMPLETE_INBOUND.sts;
                    i = Arrays.asList(split).indexOf(wrkMast.getLocNo());
                    locNo = wrkMast.getLocNo();
                    notifyUtils.notify(String.valueOf(SlaveType.Crn), crnProtocol.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_IN_TASK_COMPLETE, null);
                }else if(wrkMast.getWrkSts() == WrkStsType.OUTBOUND_RUN.sts){
                    updateWrkSts = WrkStsType.OUTBOUND_RUN_COMPLETE.sts;
                    i = Arrays.asList(split).indexOf(wrkMast.getSourceLocNo());
                    locNo = wrkMast.getSourceLocNo();
                    notifyUtils.notify(String.valueOf(SlaveType.Crn), crnProtocol.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_OUT_TASK_COMPLETE, null);
                }else if(wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_RUN.sts){
                    updateWrkSts = WrkStsType.COMPLETE_LOC_MOVE.sts;
                    i = Arrays.asList(split).indexOf(wrkMast.getLocNo());
                    locNo = wrkMast.getLocNo();
                    if(i==-1){
                        i = Arrays.asList(split).indexOf(wrkMast.getSourceLocNo());
                        locNo = wrkMast.getSourceLocNo();
                    }
                    notifyUtils.notify(String.valueOf(SlaveType.Crn), crnProtocol.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_TRANSFER_TASK_COMPLETE, null);
                }else{
                    News.error("堆垛机处于等待确认且任务完成状态，但工作状态异常。堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
@@ -587,9 +627,15 @@
                wrkMast.setWrkSts(updateWrkSts);
                wrkMast.setSystemMsg("");
                wrkMast.setIoTime(new Date());
                wrkMast.setWeight(crnProtocol.getWeight());
                if (wrkMastService.updateById(wrkMast)) {
                    CrnCommand resetCommand = crnThread.getResetCommand(crnProtocol.getCrnNo());
                    MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, resetCommand));
                    if (i>-1){
                        resetCommand.setLocNo(locNo);
                        resetCommand.setIndex(i);
                        resetCommand.setValue((short)0);
                    }
                    MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(3, resetCommand));
                    News.info("堆垛机任务状态更新成功，堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
                }

@@ -794,7 +840,7 @@
                String moveLocNo = dto.getLocNo();

                CreateLocMoveTaskParam moveTaskParam = new CreateLocMoveTaskParam();
                moveTaskParam.setTaskNo(dto.getTaskNo());
                moveTaskParam.setTaskNo(String.valueOf(dto.getTaskNo()));
                moveTaskParam.setSourceLocNo(shallowLocNo);
                moveTaskParam.setLocNo(moveLocNo);
                try {

 src/main/java/com/zy/core/utils/DualCrnOperateProcessUtils.java

@@ -606,6 +606,7 @@
                wrkMast.setWrkSts(updateWrkSts);
                wrkMast.setSystemMsg("");
                wrkMast.setIoTime(new Date());
                wrkMast.setWeight(300D);
                if (wrkMastService.updateById(wrkMast)) {
                    News.info("双工位堆垛机任务状态更新成功，堆垛机号={}，工作号={}", basDualCrnp.getCrnNo(), taskNo);
                }
@@ -672,7 +673,7 @@
                String moveLocNo = dto.getLocNo();

                CreateLocMoveTaskParam moveTaskParam = new CreateLocMoveTaskParam();
                moveTaskParam.setTaskNo(dto.getTaskNo());
                moveTaskParam.setTaskNo(String.valueOf(dto.getTaskNo()));
                moveTaskParam.setSourceLocNo(shallowLocNo);
                moveTaskParam.setLocNo(moveLocNo);
                try {

 src/main/java/com/zy/core/utils/StationOperateProcessUtils.java

@@ -4,8 +4,10 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.NotifyUtils;
import com.zy.common.entity.FindCrnNoResult;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
@@ -17,7 +19,9 @@
import com.zy.core.model.StationObjModel;
import com.zy.core.model.Task;
import com.zy.core.model.command.StationCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.thread.CrnThread;
import com.zy.core.thread.StationThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
@@ -43,13 +47,15 @@
    private LocMastService locMastService;
    @Autowired
    private WmsOperateUtils wmsOperateUtils;
    @Autowired
    private NotifyUtils notifyUtils;

    //执行输送站点入库任务
    public synchronized void stationInExecute() {
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        for (BasDevp basDevp : basDevps) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
            if(stationThread == null){
            if (stationThread == null) {
                continue;
            }

@@ -58,7 +64,7 @@
            List<StationObjModel> list = basDevp.getBarcodeStationList$();
            for (StationObjModel entity : list) {
                Integer stationId = entity.getStationId();
                if(!stationMap.containsKey(stationId)){
                if (!stationMap.containsKey(stationId)) {
                    continue;
                }

@@ -68,7 +74,7 @@
                }

                Object lock = redisUtil.get(RedisKeyType.STATION_IN_EXECUTE_LIMIT.key + stationId);
                if(lock != null){
                if (lock != null) {
                    continue;
                }

@@ -101,7 +107,7 @@
                    }

                    StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationId, targetStationId, 0);
                    if(command == null){
                    if (command == null) {
                        News.taskInfo(wrkMast.getWrkNo(), "{}工作,获取输送线命令失败", wrkMast.getWrkNo());
                        continue;
                    }
@@ -130,7 +136,7 @@
            BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", wrkMast.getCrnNo()));
            if (basCrnp != null) {
                outStationList = basCrnp.getOutStationList$();
                if(outStationList.isEmpty()){
                if (outStationList.isEmpty()) {
                    News.info("堆垛机:{} 出库站点未设置", basCrnp.getCrnNo());
                    continue;
                }
@@ -139,7 +145,7 @@
            BasDualCrnp basDualCrnp = basDualCrnpService.selectOne(new EntityWrapper<BasDualCrnp>().eq("crn_no", wrkMast.getDualCrnNo()));
            if (basDualCrnp != null) {
                outStationList = basDualCrnp.getOutStationList$();
                if(outStationList.isEmpty()){
                if (outStationList.isEmpty()) {
                    News.info("双工位堆垛机:{} 出库站点未设置", basDualCrnp.getCrnNo());
                    continue;
                }
@@ -147,7 +153,7 @@

            for (StationObjModel stationObjModel : outStationList) {
                StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
                if(stationThread == null){
                if (stationThread == null) {
                    continue;
                }

@@ -168,7 +174,7 @@
                        && stationProtocol.getTaskNo() == 0
                ) {
                    StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
                    if(command == null){
                    if (command == null) {
                        News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                        continue;
                    }
@@ -181,15 +187,96 @@
                        News.info("输送站点出库命令下发成功，站点号={}，工作号={}，命令数据={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
                        redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId(), "lock", 5);
                        redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkMast.getWrkNo(), "lock", 60 * 5);
                        redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_DESTINATION_LIMIT.key + wrkMast.getWrkNo(), "lock", 60 * 5);
                    }
                }
            }
        }
    }

    //检测出库任务到达目的地
    public synchronized void arriveAtTheDestination() {
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN.sts));
        for (WrkMast wrkMast : wrkMasts) {
            Integer wrkNo = wrkMast.getWrkNo();

//            Object lock = redisUtil.get(RedisKeyType.STATION_OUT_EXECUTE_DESTINATION_LIMIT.key + wrkNo);
//            if (lock != null) {
//                continue;
//            }

            boolean complete = false;

            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, 1);
            if (stationThread == null) {
                continue;
            }
            List<StationProtocol> list = stationThread.getStatus();
            for (StationProtocol stationProtocol : list) {
                if (stationProtocol.getTaskNo().equals(wrkNo)&&stationProtocol.getStationId().equals(wrkMast.getStaNo())) {
                    complete = true;
                }
            }
            if (complete) {
                //上报--到达目的地上报wms
                notifyUtils.notify("task", 1, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.ARRIVE_AT_THE_DESTINATION, JSON.toJSONString(wrkMast));
                wrkMast.setWrkSts(WrkStsType.ARRIVE_AT_THE_DESTINATION.sts);
                wrkMast.setIoTime(new Date());
                wrkMastService.updateById(wrkMast);
            }
        }
    }

    //检测库位橙色按钮信号 1：员工确认（常亮） 2 ：上位机确认（闪烁）0 ：熄灭
    public synchronized void locNo() {
        List<BasCrnp> basCrnps = basCrnpService.selectList(null);
        for (BasCrnp basCrnp : basCrnps) {
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
            if(crnThread == null){
                continue;
            }

            CrnProtocol crnProtocol = crnThread.getStatus();
            if(crnProtocol == null){
                continue;
            }


        }
//        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.ARRIVE_AT_THE_DESTINATION.sts));
//        for (WrkMast wrkMast : wrkMasts) {
//            Integer wrkNo = wrkMast.getWrkNo();
//
//            Object lock = redisUtil.get(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkNo);
//            if (lock != null) {
//                continue;
//            }
//
//            boolean complete = false;
//
//            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, wrkMast.getStaNo());
//            if (stationThread == null) {
//                continue;
//            }
//            List<StationProtocol> list = stationThread.getStatus();
//            for (StationProtocol stationProtocol : list) {
//                if (stationProtocol.getTaskNo().equals(wrkNo)) {
//                    complete = true;
//                }
//            }
//            if (complete) {
//                //上报--到达目的地上报wms
//                notifyUtils.notify("task", 1, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.ARRIVE_AT_THE_DESTINATION, JSON.toJSONString(wrkMast));
//                wrkMast.setWrkSts(WrkStsType.ARRIVE_AT_THE_DESTINATION.sts);
//                wrkMast.setIoTime(new Date());
//                wrkMastService.updateById(wrkMast);
//            }
//        }
    }

    //检测输送站点出库任务执行完成
    public synchronized void stationOutExecuteFinish() {
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN.sts));
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.ARRIVE_AT_THE_DESTINATION.sts));
        for (WrkMast wrkMast : wrkMasts) {
            Integer wrkNo = wrkMast.getWrkNo();

@@ -227,7 +314,7 @@
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        for (BasDevp basDevp : basDevps) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
            if(stationThread == null){
            if (stationThread == null) {
                continue;
            }

@@ -238,10 +325,10 @@

            List<StationProtocol> list = stationThread.getStatus();
            for (StationProtocol stationProtocol : list) {
                if(stationProtocol.isAutoing()
                    && stationProtocol.isLoading()
                    && stationProtocol.getTaskNo() > 0
                    && stationProtocol.isRunBlock()
                if (stationProtocol.isAutoing()
                        && stationProtocol.isLoading()
                        && stationProtocol.getTaskNo() > 0
                        && stationProtocol.isRunBlock()
                ) {
                    WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
                    if (wrkMast == null) {
@@ -306,7 +393,7 @@
                            }

                            StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), targetStationId, 0);
                            if(command == null){
                            if (command == null) {
                                News.taskInfo(wrkMast.getWrkNo(), "{}工作,获取输送线命令失败", wrkMast.getWrkNo());
                                continue;
                            }
@@ -329,7 +416,7 @@
                                wrkMast.setCrnNo(crnNo);
                            } else if (findCrnNoResult.getCrnType().equals(SlaveType.DualCrn)) {
                                wrkMast.setDualCrnNo(crnNo);
                            }else {
                            } else {
                                throw new CoolException("未知设备类型");
                            }

@@ -339,10 +426,10 @@
                        } else {
                            News.error("请求WMS接口失败！！！response：{}", response);
                        }
                    }else {
                    } else {
                        //运行堵塞，重新计算路线
                        StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
                        if(command == null){
                        if (command == null) {
                            News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                            continue;
                        }

 src/main/java/com/zy/core/utils/WmsOperateUtils.java

@@ -5,24 +5,24 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.BasDualCrnp;
import com.zy.asrs.entity.BasStation;
import com.zy.asrs.entity.HttpRequestLog;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.BasDualCrnpService;
import com.zy.asrs.service.BasStationService;
import com.zy.asrs.service.HttpRequestLogService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.LocMastServiceImpl;
import com.zy.asrs.utils.Utils;
import com.zy.common.entity.FindCrnNoResult;
import com.zy.common.service.CommonService;
import com.zy.common.utils.HttpHandler;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
@@ -53,14 +53,17 @@
    private BasStationService basStationService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private LocMastServiceImpl locMastService;

    // 申请入库任务
    public synchronized String applyInTask(String barcode, Integer sourceStaNo, Integer locType1) {
    public synchronized String applyInTask(String barcode, Integer sourceStaNo, Integer locType1,Double weight) {
        Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
        if (systemConfigMapObj == null) {
            News.error("系统Config缓存失效");
            return null;
        }

        HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;

        String wmsUrl = systemConfigMap.get("wmsSystemUri");
@@ -95,6 +98,8 @@
            requestParam.put("sourceStaNo", stationNo);
            requestParam.put("locType1", locType1);
            requestParam.put("row", Utils.getInTaskEnableRow(sourceStaNo));
            requestParam.put("ioType",1);
            requestParam.put("weight", weight);

            response = new HttpHandler.Builder()
                    .setUri(wmsUrl)
@@ -134,13 +139,12 @@

    /**
     * 异步申请入库任务 - 非阻塞版本
     * 将请求提交到线程池异步执行，结果存储到Redis中
     * 
     * @param barcode     托盘码
     * @param sourceStaNo 站点编号
     * @param locType1    托盘高度
     */
    public void applyInTaskAsync(String barcode, Integer sourceStaNo, Integer locType1) {
    public void applyInTaskAsync(String barcode, Integer sourceStaNo, Integer locType1,Double weight) {
        String requestKey = RedisKeyType.ASYNC_WMS_IN_TASK_REQUEST.key + barcode + "_" + sourceStaNo;
        String responseKey = RedisKeyType.ASYNC_WMS_IN_TASK_RESPONSE.key + barcode + "_" + sourceStaNo;

@@ -156,18 +160,18 @@
        // 提交异步任务
        new Thread(() -> {
            try {
                String response = applyInTask(barcode, sourceStaNo, locType1);
                String response = applyInTask(barcode, sourceStaNo, locType1,weight);
                if (response != null) {
                    // 存储响应结果，设置60秒超时
                    redisUtil.set(responseKey, response, 60);
                    News.info("异步WMS入库请求完成，barcode={}，stationId={}，response={}", barcode, sourceStaNo, response);
                    News.info("异步WMS入库请求完成，barcode={}，stationId={}，response={},weight={}", barcode, sourceStaNo, response,weight);
                } else {
                    // 请求失败，存储失败标记
                    redisUtil.set(responseKey, "FAILED", 10);
                    News.error("异步WMS入库请求失败，barcode={}，stationId={}", barcode, sourceStaNo);
                    News.error("异步WMS入库请求失败，barcode={}，stationId={},weight={}", barcode, sourceStaNo,weight);
                }
            } catch (Exception e) {
                News.error("异步WMS入库请求异常，barcode={}，stationId={}，error={}", barcode, sourceStaNo, e.getMessage());
                News.error("异步WMS入库请求异常，barcode={}，stationId={}，error={},weight={}", barcode, sourceStaNo, e.getMessage(),weight);
                redisUtil.set(responseKey, "ERROR:" + e.getMessage(), 10);
            } finally {
                // 清除请求进行中标记
@@ -388,4 +392,87 @@
        return response;
    }

    // 上报堆垛机DB110状态数据
    public void reportCrnDb110Status(Integer crnNo, List<Integer> indices) {
        Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
        if (systemConfigMapObj == null) {
            News.error("系统Config缓存失效");
            return;
        }
        HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;

        String wmsUrl = systemConfigMap.get("wmsSystemUri");
        if (wmsUrl == null) {
            News.error("未配置WMS系统URI，配置文件Code编码：wmsSystemUri");
            return;
        }

        String wmsSystemCrnStatusUrl = systemConfigMap.get("wmsSystemCrnStatusUrl");
        if (wmsSystemCrnStatusUrl == null) {
            News.error("未配置WMS堆垛机状态上报接口地址，配置文件Code编码：wmsSystemCrnStatusUrl");
            return;
        }

        String response = null;
        int result = 0;
        BasCrnp crnNo1 = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", crnNo));
        if (crnNo1 == null) {
            return;
        }
        // 根据indices下标从crnNo1的arr数组中取出对应值
        String[] split = crnNo1.getArr().split(",");
        for (Integer idx : indices) {
            LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", split[idx]));
            if (locMast == null||Cools.isEmpty(locMast.getBarcode())) {
                News.info("没有查询到该库位或者没有找到该库位对应托盘码 ：{}", split[idx]);
                CrnCommand command = new CrnCommand();
                command.setLocNo(locMast.getLocNo());
                command.setIndex(idx);
                command.setValue((short)0);
                MessageQueue.offer(SlaveType.Crn, crnNo, new Task(5, command));
                continue;
            }
            try {
                response = new HttpHandler.Builder()
                        .setUri(wmsUrl)
                        .setPath(wmsSystemCrnStatusUrl)
                        .setJson(locMast.getBarcode())
                        .setTimeout(30, TimeUnit.SECONDS)
                        .build()
                        .doPost();
                if (response != null) {
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code") == 200) {
                        result = 1;
                        CrnCommand command = new CrnCommand();
                        command.setLocNo(locMast.getLocNo());
                        command.setIndex(idx);
                        command.setValue((short)2);
                        MessageQueue.offer(SlaveType.Crn, crnNo, new Task(5, command));

                        News.info("请求WMS堆垛机状态上报接口成功！！！url：{}；request：{}；response：{}", wmsUrl + wmsSystemCrnStatusUrl,
                                JSON.toJSONString(locMast.getBarcode()), response);
                    } else {
                        News.info("请求WMS堆垛机状态上报接口失败，接口返回Code异常！！！url：{}；request：{}；response：{}",
                                wmsUrl + wmsSystemCrnStatusUrl, JSON.toJSONString(locMast.getBarcode()), response);
                    }
                } else {
                    News.info("请求WMS堆垛机状态上报接口失败，接口未响应！！！url：{}；request：{}；response：{}", wmsUrl + wmsSystemCrnStatusUrl,
                            JSON.toJSONString(locMast.getBarcode()), response);
                }
            } catch (Exception e) {
                News.error("请求WMS堆垛机状态上报接口异常！！！url：{}；request：{}；response：{}", wmsUrl + wmsSystemCrnStatusUrl,
                        JSON.toJSONString(locMast.getBarcode()), response, e);
            } finally {
                HttpRequestLog httpRequestLog = new HttpRequestLog();
                httpRequestLog.setName(wmsUrl + wmsSystemCrnStatusUrl);
                httpRequestLog.setRequest(JSON.toJSONString(locMast.getBarcode()));
                httpRequestLog.setResponse(response);
                httpRequestLog.setCreateTime(new Date());
                httpRequestLog.setResult(result);
                httpRequestLogService.insert(httpRequestLog);
            }
        }

    }
}

 src/main/resources/application.yml

@@ -17,7 +17,7 @@
      validation-timeout: 3000
      connection-test-query: select 1
    driver-class-name: com.mysql.jdbc.Driver
    url: jdbc:mysql://127.0.0.1:3306/wcs?useUnicode=true&characterEncoding=UTF-8&useSSL=false&serverTimezone=Asia/Shanghai
    url: jdbc:mysql://127.0.0.1:3306/hcwcs?useUnicode=true&characterEncoding=UTF-8&useSSL=false&serverTimezone=Asia/Shanghai
    username: root
    password: root
  mvc:
@@ -61,7 +61,7 @@

#License相关配置
license:
  subject: crnWcsDev
  subject: jxhcwcs
  publicAlias: publicCert
  storePass: public_zhongyang_123456789
  licensePath: license.lic
@@ -72,7 +72,8 @@
  threadControlCount: 10
  liftType: lift

mainProcessPlugin: FakeProcess
#mainProcessPlugin: FakeProcess
mainProcessPlugin: NormalProcess

deviceLogStorage:
  # 设备日志存储方式 mysql file

 src/main/resources/mapper/BasCrnpMapper.xml

@@ -20,6 +20,7 @@
        <result column="max_in_task" property="maxInTask" />
        <result column="max_out_task" property="maxOutTask" />
        <result column="deep_rows" property="deepRows" />
        <result column="arr" property="arr" />

    </resultMap>


 src/main/resources/mapper/WrkMastMapper.xml

@@ -29,6 +29,7 @@
        <result column="system_msg" property="systemMsg" />
        <result column="batch" property="batch" />
        <result column="batch_seq" property="batchSeq" />
        <result column="weight" property="weight" />

    </resultMap>


 src/main/webapp/static/js/common.js

@@ -1,4 +1,4 @@
var baseUrl = "/wcs";
var baseUrl = "/hcwcs";

// 赋值
function setVal(el, val) {

 src/main/webapp/views/index.html

@@ -3,7 +3,7 @@

<head>
  <meta charset="utf-8">
  <title>浙江中扬 - 自动化立体仓库 - WCS</title>
  <title>WCS</title>
  <meta name="renderer" content="webkit">
  <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
  <meta name="viewport"
@@ -87,7 +87,7 @@
  <!-- 头部 -->
  <div class="layui-header">
    <div class="layui-logo">
      <img src="../static/images/zy-logo-dark.png" style="display: inline-block; width: 60%;height: auto">
<!--      <img src="../static/images/zy-logo-dark.png" style="display: inline-block; width: 60%;height: auto">-->
      <!--          <span style="margin-top: 0; letter-spacing: 10px">中扬立库</span>-->
      <!--          <img src="../static/image/logo.svg"/>-->
      <!--          <cite>中扬 - Zoneyung</cite>-->
@@ -142,10 +142,6 @@
  <!-- 主体部分 -->
  <div class="layui-body"></div>
  <!-- 底部 -->
  <div class="layui-footer layui-text">
    copyright © 2026 浙江中扬立库技术有限公司 all rights reserved.
    <span class="pull-right" id="system-version">Version loading...</span>
  </div>

</div>


 src/main/webapp/views/locMast/locMast_detail.html

@@ -57,6 +57,12 @@
                <input id="locType" class="layui-input" type="text" autocomplete="off">
            </div>
        </div>
        <div class="layui-inline"  style="width:80%;">
            <label class="layui-form-label">托盘码：</label>
            <div class="layui-input-inline">
                <input id="barcode" class="layui-input" type="text" autocomplete="off">
            </div>
        </div>

        <div id="data-detail-btn" class="layui-btn-container layui-form-item">
            <div id="data-detail-submit-save" type="button" class="layui-btn layui-btn-normal" lay-submit lay-filter="save">保存</div>