#

zjj

2023-12-08 d04ce586afce3b78f238289dad10dacd4c22206a

#

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

@@ -41,6 +41,7 @@
        excludeTrash(param);
        convert(param, wrapper);
        if (!Cools.isEmpty(orderByField)){wrapper.orderBy(humpToLine(orderByField), "asc".equals(orderByType));}
        wrapper.orderDesc(Collections.singleton("create_time"));
        return R.ok(apiLogService.selectPage(new Page<>(curr, limit), wrapper));
    }


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

@@ -235,7 +235,7 @@
        auth(appkey, params, request);
        List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
        for (WMSAndAGVInterfaceParam param:params){
            try {

                if (Cools.isEmpty(param)){
                    return R.error("参数为空！");
                } else if (Cools.isEmpty(param.getTaskNo())){
@@ -254,29 +254,35 @@
                if (Cools.isEmpty(param.getEmptyContainer())){
                    return R.error("是否空托盘信号为空！");
                }
//        if (Cools.isEmpty(param.getTaskTunnel())){
//            return R.error("任务巷道为空！");
//        }
//        if (Cools.isEmpty(param.getGroupNo())){
//            return R.error("任务组为空！");
//        }
//        if (Cools.isEmpty(param.getTaskSerialNo())){
//            return R.error("任务执行顺序为空！");
//        }
                if (Cools.isEmpty(param.getTargetWharf())){
                    return R.error("目标码头区域为空！");//G开头=7车间，H开头=8层，J开头=9车间
                }
                StaDesc staDesc = new StaDesc();
                if (param.getTaskType().equals("CK") && param.getTargetWharf().contains("J")){
                    staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                            .eq("crn_no", param.getTaskTunnel()).eq("type_no",2).lt("crn_stn", 200));
                }else {
                    staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                            .eq("crn_no", param.getTaskTunnel()).eq("type_no",2).ge("crn_stn", 200));
                }
                param.setTargetLocationCode(staDesc.getStnNo().toString());

                openService.taskCreate(new taskCreateParam(param));

                params1.add(param);
//                return R.ok(param);
            }catch (Exception e){
                String errorMsg = Cools.isEmpty(e.getLocalizedMessage()) ? "" : e.getLocalizedMessage();
                return R.error("生成任务失败，请联系管理员!"+ errorMsg);
            }
                R r = openService.taskCreate(new taskCreateParam(param));

                apiLogService.save("Wms任务下发接口"
                        ,request.getRemoteAddr()+request.getRequestURI()
                        ,appkey
                        ,request.getRemoteAddr()
                        ,JSON.toJSONString(param)
                        ,r.toString()
                        ,true
                );
                return r;

        }
        return R.ok(params1);

        return null;
    }

    //任务取消接口

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

@@ -4,8 +4,9 @@

    RECEIVE(1,"接收"),
    DISTRIBUTE(2,"派发"),
    COMPLETE(3,"完结"),
    COMPLETE(3,"命令完成"),
    CANCEL(4,"取消"),
    OVER(5,"完结")
    ;

    public Integer id;

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

@@ -238,9 +238,11 @@
            case 2:
                return "派发";
            case 3:
                return "完结";
                return "步序完成";
            case 4:
                return "取消";
            case 5:
                return "完结";
            default:
                return String.valueOf(this.status);
        }

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

@@ -237,9 +237,11 @@
            case 2:
                return "派发";
            case 3:
                return "完结";
                return "步序完成";
            case 4:
                return "取消";
            case 5:
                return "完结";
            default:
                return String.valueOf(this.status);
        }

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

@@ -11,7 +11,7 @@
public interface OpenService {

    //创建任务
    void taskCreate(taskCreateParam param);
    R taskCreate(taskCreateParam param);

    R AgvToWCSToWms(WMSAndAGVInterfaceParam param) throws IOException;


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

@@ -844,7 +844,7 @@
            if (taskWrk.getIoType() == 1) {
                //入库任务
                taskWrk.setWrkSts(4);//3.吊车入库中 => 4.入库完成
                taskWrk.setStatus(TaskStatusType.COMPLETE.id);
                //taskWrk.setStatus(TaskStatusType.COMPLETE.id);
                taskWrk.setModiTime(now);
                taskWrkService.updateById(taskWrk);


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

@@ -59,7 +59,7 @@


    @Override
    public void taskCreate(taskCreateParam param) {
    public R taskCreate(taskCreateParam param) {
        TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
        if (taskWrk != null) {
            throw new CoolException(param.getTaskNo() + "任务已存在，请勿重复提交");
@@ -79,25 +79,30 @@
        taskWrk.setCrnNo(param.getCrn());
        if(param.getIoType() == 1){
            taskWrk.setWrkSts(1);
            if (!Cools.isEmpty(param.getTargetPoint())) {
                taskWrk.setTargetPoint(Utils.getWcsLocNo(param.getTargetPoint()));//终点
                taskWrk.setOriginTargetPoint(param.getTargetPoint());
            }

        } else if (param.getIoType() == 2) {
            taskWrk.setWrkSts(11);
            if (!Cools.isEmpty(param.getStartPoint())) {
                taskWrk.setStartPoint(Utils.getWcsLocNo(param.getStartPoint()));//起点
                taskWrk.setOriginStartPoint(param.getStartPoint());
            }
            taskWrk.setTargetPoint(param.getTargetPoint());
        }

        if (!Cools.isEmpty(param.getStartPoint())) {
            taskWrk.setStartPoint(Utils.getWcsLocNo(param.getStartPoint()));//起点
            taskWrk.setOriginStartPoint(param.getStartPoint());
        }
        if (!Cools.isEmpty(param.getTargetPoint())) {
            taskWrk.setTargetPoint(Utils.getWcsLocNo(param.getTargetPoint()));//终点
            taskWrk.setOriginTargetPoint(param.getTargetPoint());
        }


        if (!Cools.isEmpty(param.getMemo())) {
            taskWrk.setMemo(param.getMemo());//备注
        }

        if (!taskWrkService.insert(taskWrk)) {
            throw new CoolException("生成任务失败，请联系管理员");
            return R.error("创建任务失败");
        }
        return R.ok();
    }

    @Override
@@ -179,14 +184,6 @@

    @Override
    public void getAgvTaskOver(TaskOverParam param) {
//        Map<String,Integer> map = new HashMap<>();
//        put("J-1101",102);put("J-1102",101);
//        put("J-1103",106);put("J-1104",105);
//        put("J-1105",110);put("J-1106",109);
//        put("J-1107",114);put("J-1108",113);
//        put("J-1109",118);put("J-1110",117);
//        put("J-1111",122);put("J-1112",121);
//        put("H-1101",305);put("H-1102",300);
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()

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

@@ -24,6 +24,7 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Propagation;
import org.springframework.transaction.annotation.Transactional;

import java.util.Date;
@@ -59,7 +60,7 @@
    }

    @Override
    @Transactional
    @Transactional(propagation = Propagation.REQUIRES_NEW)
    public void distribute(String taskNo, Long userId) {
        TaskWrk taskWrk = this.selectByTaskNo(taskNo);
        if (taskWrk == null) {

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

@@ -5,10 +5,13 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.entity.CommandInfo;
import com.zy.asrs.entity.StaDesc;
import com.zy.asrs.entity.TaskWrk;
import com.zy.asrs.entity.param.TaskOverToWms;
import com.zy.asrs.entity.param.TaskStatusFeedbackParam;
import com.zy.asrs.service.ApiLogService;
import com.zy.asrs.service.CommandInfoService;
import com.zy.asrs.service.StaDescService;
import com.zy.asrs.service.TaskWrkService;
import com.zy.asrs.utils.PostMesDataUtils;
import com.zy.common.utils.HttpHandler;
@@ -34,6 +37,11 @@
    private TaskWrkService taskWrkService;
    @Autowired
    private CommandInfoService commandInfoService;
    @Autowired
    private ApiLogService apiLogService;

    @Autowired
    private StaDescService staDescService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -44,7 +52,7 @@
    public void execute() throws IOException {
        for (TaskWrk taskWrk : taskWrkService.selectToBeHistoryData()) {
            TaskStatusFeedbackParam taskStatusFeedbackParam = new TaskStatusFeedbackParam(taskWrk);
            if (taskWrk.getStatus().equals(TaskStatusType.COMPLETE.id)) {//完成
            if (taskWrk.getStatus().equals(TaskStatusType.OVER.id)) {//完成
                taskStatusFeedbackParam.setTaskStatus("done");
                Map<String, Object> map = new HashMap<>();
                map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
@@ -65,7 +73,8 @@
                    map1.put(114,"J-1107");
                    map1.put(118,"J-1109");
                    map1.put(122,"J-1111");
                    taskOverToWms.setEquipmentCode(map1.get(taskWrk.getTargetPoint())); //设备编码
                    StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_no", taskWrk.getTargetPoint()));
                    taskOverToWms.setEquipmentCode(staDesc.getStnDesc()); //设备编码
                    taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint()); //源库位
                }

@@ -82,7 +91,14 @@
                }catch (Exception e){
                    continue;
                }

                apiLogService.save("Wms任务完成接口"
                        ,wmsUrl+"/wcsManager/wcsInterface/taskStatusFeedback"
                        ,null
                        ,"127.0.0.1"
                        ,JSON.toJSONString(taskOverToWms)
                        ,response
                        ,true
                );

                JSONObject jsonObject = JSON.parseObject(response);
                if (jsonObject.getInteger("code").equals(200)){

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

@@ -5,11 +5,15 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.TaskOverToWms;
import com.zy.asrs.service.*;
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -21,12 +25,11 @@
import com.zy.core.model.protocol.CrnProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Optional;
import java.util.*;

/**
 * 堆垛机线程
@@ -40,6 +43,8 @@
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;
    @Value("${wms.url}")
    private String wmsUrl;
    public static final List<Short> rowOne = new ArrayList<Short>() {{
        add((short) 1);add((short) 5);add((short) 7);add((short) 11);add((short) 15);add((short) 19);
    }};
@@ -181,181 +186,93 @@
            crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48));
            crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52));

//            // 异常
//            crnProtocol.setAlarm1(0);
//            crnProtocol.setAlarm2(0);
//            crnProtocol.setAlarm3(0);
//            crnProtocol.setAlarm4(0);
//            boolean[] err1 = siemensNet.getByteTransform().TransBool(result.Content, 28, 1);    // 30
//            if (err1[0]) { crnProtocol.setAlarm1(1); }
//            if (err1[1]) { crnProtocol.setAlarm1(2); }
//            if (err1[2]) { crnProtocol.setAlarm1(3); }
//            boolean[] err2 = siemensNet.getByteTransform().TransBool(result.Content, 29, 1);    // 31
//            if (err2[0]) { crnProtocol.setAlarm1(4); }
//            if (err2[1]) { crnProtocol.setAlarm1(5); }
//            if (err2[2]) { crnProtocol.setAlarm1(6); }
//            boolean[] err3 = siemensNet.getByteTransform().TransBool(result.Content, 30, 1);    // 32
//            if (err3[6]) { crnProtocol.setAlarm1(7); }
//            if (err3[7]) { crnProtocol.setAlarm1(8); }
//            boolean[] err4 = siemensNet.getByteTransform().TransBool(result.Content, 31, 1);    // 33
//            if (err4[1]) { crnProtocol.setAlarm1(9); }
//            if (err4[5]) { crnProtocol.setAlarm1(10); }
//            if (err4[6]) { crnProtocol.setAlarm1(11); }
//            if (err4[7]) { crnProtocol.setAlarm1(12); }
//            boolean[] err5 = siemensNet.getByteTransform().TransBool(result.Content, 32, 1);    // 34
//            if (err5[0]) { crnProtocol.setAlarm2(13); }
//            if (err5[2]) { crnProtocol.setAlarm2(14); }
//            if (err5[3]) { crnProtocol.setAlarm2(15); }
//            if (err5[5]) { crnProtocol.setAlarm2(16); }
//            if (err5[6]) { crnProtocol.setAlarm2(17); }
//            if (err5[7]) { crnProtocol.setAlarm2(18); }
//            boolean[] err6 = siemensNet.getByteTransform().TransBool(result.Content, 33, 1);    // 35
//            if (err6[1]) { crnProtocol.setAlarm2(19); }
//            if (err6[2]) { crnProtocol.setAlarm2(20); }
//            if (err6[3]) { crnProtocol.setAlarm2(21); }
//            if (err6[4]) { crnProtocol.setAlarm2(22); }
//            boolean[] err7 = siemensNet.getByteTransform().TransBool(result.Content, 34, 1);    // 36
//            if (err7[4]) { crnProtocol.setAlarm2(23); }
//            if (err7[5]) { crnProtocol.setAlarm2(24); }
//            if (err7[6]) { crnProtocol.setAlarm2(25); }
//            boolean[] err8 = siemensNet.getByteTransform().TransBool(result.Content, 36, 1);    // 38
//            if (err8[0]) { crnProtocol.setAlarm3(26); }
//            if (err8[1]) { crnProtocol.setAlarm3(27); }
//            if (err8[2]) { crnProtocol.setAlarm3(28); }
//            if (err8[3]) { crnProtocol.setAlarm3(29); }
//            if (err8[4]) { crnProtocol.setAlarm3(30); }
//            if (err8[5]) { crnProtocol.setAlarm3(31); }
//            if (err8[6]) { crnProtocol.setAlarm3(32); }
//            if (err8[7]) { crnProtocol.setAlarm3(33); }
//            boolean[] err9 = siemensNet.getByteTransform().TransBool(result.Content, 37, 1);    // 39
//            if (err9[0]) { crnProtocol.setAlarm3(34); }
//            if (err9[1]) { crnProtocol.setAlarm3(35); }
//            if (err9[2]) { crnProtocol.setAlarm3(36); }
//            if (err9[3]) { crnProtocol.setAlarm3(37); }
//            if (err9[4]) { crnProtocol.setAlarm3(38); }
//            if (err9[5]) { crnProtocol.setAlarm3(39); }
//            if (err9[6]) { crnProtocol.setAlarm3(40); }
//            if (err9[7]) { crnProtocol.setAlarm3(41); }
//            boolean[] err10 = siemensNet.getByteTransform().TransBool(result.Content, 38, 1);    // 40
//            if (err10[0]) { crnProtocol.setAlarm3(42); }
//            if (err10[1]) { crnProtocol.setAlarm3(43); }
//            if (err10[2]) { crnProtocol.setAlarm3(44); }
//            if (err10[3]) { crnProtocol.setAlarm3(45); }
//            if (err10[4]) { crnProtocol.setAlarm3(46); }
//            boolean[] err11 = siemensNet.getByteTransform().TransBool(result.Content, 39, 1);    // 41
//            if (err11[0]) { crnProtocol.setAlarm3(47); }
//            if (err11[1]) { crnProtocol.setAlarm3(48); }
//            if (err11[2]) { crnProtocol.setAlarm3(49); }
//            boolean[] err12 = siemensNet.getByteTransform().TransBool(result.Content, 40, 1);    // 42
//            if (err12[0]) { crnProtocol.setAlarm4(50); }
//            if (err12[1]) { crnProtocol.setAlarm4(51); }
//            if (err12[2]) { crnProtocol.setAlarm4(52); }
//            if (err12[3]) { crnProtocol.setAlarm4(53); }
//            if (err12[4]) { crnProtocol.setAlarm4(54); }
//            if (err12[5]) { crnProtocol.setAlarm4(55); }
//            boolean[] err13 = siemensNet.getByteTransform().TransBool(result.Content, 41, 1);    // 43
//            if (err13[0]) { crnProtocol.setAlarm4(56); }
//            if (err13[1]) { crnProtocol.setAlarm4(57); }
//            if (err13[2]) { crnProtocol.setAlarm4(58); }
//            if (err13[3]) { crnProtocol.setAlarm4(59); }
//            boolean[] err14 = siemensNet.getByteTransform().TransBool(result.Content, 42, 1);    // 44
//            if (err14[0]) { crnProtocol.setAlarm4(60); }
//            if (err14[1]) { crnProtocol.setAlarm4(61); }
//            if (err14[2]) { crnProtocol.setAlarm4(62); }
//            if (err14[3]) { crnProtocol.setAlarm4(63); }
//            if (err14[4]) { crnProtocol.setAlarm4(64); }
//            if (err14[5]) { crnProtocol.setAlarm4(65); }
//            if (err14[6]) { crnProtocol.setAlarm4(66); }
//            if (err14[7]) { crnProtocol.setAlarm4(67); }
//            boolean[] err15 = siemensNet.getByteTransform().TransBool(result.Content, 43, 1);    // 45
//            if (err15[1]) { crnProtocol.setAlarm4(68); }
//            if (err15[2]) { crnProtocol.setAlarm4(69); }
//            if (err15[3]) { crnProtocol.setAlarm4(70); }
//            if (err15[4]) { crnProtocol.setAlarm4(71); }
//            if (err15[5]) { crnProtocol.setAlarm4(72); }
//            if (err15[6]) { crnProtocol.setAlarm4(73); }

//            boolean[] bool1 = siemensNet.getByteTransform().TransBool(result.Content, 60, 1);    // 62
//            crnProtocol.setConnStatus(bool1[0]);
//            crnProtocol.setCorrection(bool1[3]);
//            crnProtocol.setTuError(bool1[4]);
//            crnProtocol.setNoneError(bool1[5]);
//            crnProtocol.setStockError(bool1[6]);
//            crnProtocol.setJobInvalid(bool1[7]);
//            boolean[] bool2 = siemensNet.getByteTransform().TransBool(result.Content, 61, 1);    // 63
//            crnProtocol.setIdle(bool2[0]);
//            crnProtocol.setControl(bool2[1]);
//            crnProtocol.setStopQuasi(bool2[2]);
//            crnProtocol.setRunning(bool2[3]);
//            crnProtocol.setFault(bool2[4]);
//            crnProtocol.setForkHome(bool2[5]);
//            crnProtocol.setForkSingleLeft(bool2[6]);
//            crnProtocol.setForkSingleRight(bool2[7]);
//            boolean[] bool3 = siemensNet.getByteTransform().TransBool(result.Content, 62, 1);    // 64
//            crnProtocol.setForkDoubleLeft(bool3[0]);
//            crnProtocol.setForkDoubleRight(bool3[1]);
//            crnProtocol.setSingleHigh(bool3[2]);
//            crnProtocol.setSingleLow(bool3[3]);
//            crnProtocol.setDoubleHigh(bool3[4]);
//            crnProtocol.setDoubleLow(bool3[5]);
//            crnProtocol.setPlatformHigh(bool3[6]);
//            crnProtocol.setPlatformLow(bool3[7]);
//            boolean[] bool4 = siemensNet.getByteTransform().TransBool(result.Content, 64, 1);    // 66
//            crnProtocol.setLoaded((short) (bool4[4]?1:0));  // 有物

            // 速度
//            crnProtocol.setXSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 22));    // 24
//            crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 24));    // 26
//            crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 26));    // 28
//            // 累计里程、时长
//            crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 88));    // 90
//            crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 92));    // 94
//            crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 96));    // 98
//            crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 100));    // 102

//            // 增强
//            if (crnProtocol.getForkHome()) {
//                crnProtocol.setForkPos(CrnForkPosType.HOME);
//            }
//            if (crnProtocol.getForkSingleLeft()) {
//                crnProtocol.setForkPos(CrnForkPosType.LEFT);
//            }
//            if (crnProtocol.getForkSingleRight()) {
//                crnProtocol.setForkPos(CrnForkPosType.RIGHT);
//            }
//            if (crnProtocol.getForkDoubleLeft()) {
//                crnProtocol.setForkPos(CrnForkPosType._LEFT);
//            }
//            if (crnProtocol.getForkDoubleRight()) {
//                crnProtocol.setForkPos(CrnForkPosType._RIGHT);
//            }
//            if (crnProtocol.getSingleHigh()) {
//                crnProtocol.setLiftPos(CrnLiftPosType.UP);
//            }
//            if (crnProtocol.getSingleLow()) {
//                crnProtocol.setLiftPos(CrnLiftPosType.DOWN);
//            }
//            if (crnProtocol.getDoubleHigh()) {
//                crnProtocol.setLiftPos(CrnLiftPosType._UP);
//            }
//            if (crnProtocol.getDoubleLow()) {
//                crnProtocol.setLiftPos(CrnLiftPosType._DOWN);
//            }
//            if (crnProtocol.getIdle()) {
//                crnProtocol.setStatus(CrnStatusType.IDLE);
//            }

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

            // 复位信号
            if (crnProtocol.getTaskFinish() == 0) {
                if (resetFlag) {
                    //堆垛机任务完成后访问wms请求任务完成 locationDone 货位处理完成
                    TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
                    TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("wrk_no",crnProtocol.getTaskNo()));
                    String tasktype = null;
                    switch (taskWrk.getIoType()){
                        case 1:
                            tasktype= "RK";
                            break;
                        case 2:
                            tasktype= "CK";
                            break;
                        case 3:
                            tasktype= "YK";
                            break;
                        default:
                            tasktype= "未知";
                    }
                    Map<String, Object> map = new HashMap<>();
                    map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
                    TaskOverToWms taskOverToWms = new TaskOverToWms();
                    taskOverToWms.setFeedbackFrom("WCS"); //来源
                    taskOverToWms.setWarehouseId("1688469798893297665"); //仓库标识
                    taskOverToWms.setTaskNo(taskWrk.getTaskNo()); //任务号
                    taskOverToWms.setTaskType(tasktype); // 任务类型
                    taskOverToWms.setContainerCode(taskWrk.getBarcode()); // 容器编码
                    if (taskWrk.getIoType() ==1 ){
                        taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //设备编码
                        taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //目标库位
                    }else if (taskWrk.getIoType() ==2){
                        Map<Integer,String> map1 = new HashMap<>();
                        map1.put(102,"J-1101");
                        map1.put(106,"J-1103");
                        map1.put(110,"J-1105");
                        map1.put(114,"J-1107");
                        map1.put(118,"J-1109");
                        map1.put(122,"J-1111");
                        taskOverToWms.setEquipmentCode(map1.get(taskWrk.getTargetPoint())); //设备编码
                        taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint()); //源库位
                    }

                    taskOverToWms.setTaskStatus("location_done"); //任务状态
                    String response = null;
                    try {
                        response = new HttpHandler.Builder()
                                .setHeaders(map)
                                .setUri("10.32.53.195:8080")
                                .setPath("wcsManager/wcsInterface/taskStatusFeedback")
                                .setJson(JSON.toJSONString(taskOverToWms))
                                .build()
                                .doPost();
                    }catch (Exception e){
                       log.error("堆垛机任务完成，请求wms任务完成接口失败");
                    }
                    ApiLogService apiLogService = SpringUtils.getBean(ApiLogService.class);
                    apiLogService.save("Wms任务完成接口"
                            ,wmsUrl+"/wcsManager/wcsInterface/taskStatusFeedback"
                            ,null
                            ,"127.0.0.1"
                            ,JSON.toJSONString(taskOverToWms)
                            ,response
                            ,true
                    );
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)){
                        taskWrk.setStatus(5);
                        if (!taskWrkService.update(taskWrk,new EntityWrapper<TaskWrk>().eq("wrk_no",crnProtocol.getTaskNo()))){
                            log.error("堆垛机任务完成，改变任务状态失败");
                        }

                        log.info("堆垛机任务完成，请求wms任务完成接口成功");
                    }else {
                        log.error("堆垛机任务完成，请求wms任务完成接口完成，但返回失败");
                    }


                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setAckFinish((short)1);
                    if (write(crnCommand)) {
                        resetFlag = false;
                    }

                }
            }

@@ -401,33 +318,11 @@
        }
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();

        array[3] = command.getSourcePosZ();
//        if (rowOne.contains(command.getSourcePosX())){
//            array[4] = (short)1;
//        }else if (rowTwo.contains(command.getSourcePosX())){
//            array[4] = (short)2;
//        }else if (rowThree.contains(command.getSourcePosX())){
//            array[4] = (short)3;
//        }else if (rowFour.contains(command.getSourcePosX())){
//            array[4] = (short)4;
//        }else {
        array[4] = command.getSourcePosX();
//        }
        array[5] = command.getSourcePosY();

        array[6] = command.getDestinationPosZ();
//        if (rowOne.contains(command.getDestinationPosX())){
//            array[7] = (short)1;
//        }else if (rowTwo.contains(command.getDestinationPosX())){
//            array[7] = (short)2;
//        }else if (rowThree.contains(command.getDestinationPosX())){
//            array[7] = (short)3;
//        }else if (rowFour.contains(command.getDestinationPosX())){
//            array[7] = (short)4;
//        }else {
        array[7] = command.getDestinationPosX();
//        }
        array[8] = command.getDestinationPosY();
        array[9] = command.getCommand();

@@ -490,31 +385,15 @@
        array[2] = command.getTaskMode();

        array[3] = command.getSourcePosZ();
//        if (rowOne.contains(command.getSourcePosX())){
//            array[4] = (short)1;
//        }else if (rowTwo.contains(command.getSourcePosX())){
//            array[4] = (short)2;
//        }else if (rowThree.contains(command.getSourcePosX())){
//            array[4] = (short)3;
//        }else if (rowFour.contains(command.getSourcePosX())){
//            array[4] = (short)4;
//        }else {
            array[4] = command.getSourcePosX();
//        }

        array[4] = command.getSourcePosX();

        array[5] = command.getSourcePosY();

        array[6] = command.getDestinationPosZ();
//        if (rowOne.contains(command.getDestinationPosX())){
//            array[7] = (short)1;
//        }else if (rowTwo.contains(command.getDestinationPosX())){
//            array[7] = (short)2;
//        }else if (rowThree.contains(command.getDestinationPosX())){
//            array[7] = (short)3;
//        }else if (rowFour.contains(command.getDestinationPosX())){
//            array[7] = (short)4;
//        }else {
            array[7] = command.getDestinationPosX();
//        }

        array[7] = command.getDestinationPosX();

        array[8] = command.getDestinationPosY();
        array[9] = command.getCommand();

@@ -522,17 +401,6 @@

        // 作业信息
        OperateResult result = siemensNet.Write("DB100.0", array);
//        // 任务号 + 完成位
//        short[] array2 = new short[2];
//        array2[0] = command.getTaskNo();
//        array2[1] = command.getAckFinish();
//        OperateResult result1 = siemensNet.Write("DB10.24", array2);
//
//        // 结束位
//        if (command.getAckFinish() == 0) {
//            OperateResult result2 = siemensNet.Write("DB10.28.1", true);
//        }

        // 日志记录
//        try {
            if (command.getAckFinish() != 1) {

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

@@ -213,7 +213,7 @@
            }
        }

        Thread.sleep(200);
        //Thread.sleep(200);
        OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB101.0", (short) (staNoSize*2));
        if (result1.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
@@ -238,7 +238,7 @@

        if (slave.getId() == 1){
            //条码
            Thread.sleep(200);
            //Thread.sleep(200);
            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.102",(short)60);
            if (result2.IsSuccess) {
                for (int i = 0; i < 6; i++) {
@@ -251,7 +251,7 @@
            }

            // 外形检测 - 102
            Thread.sleep(100);
            //Thread.sleep(100);
            OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB101.160", (short)1);
            if (result4.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result4.Content, 0, 1);
@@ -265,7 +265,7 @@
                staProtocol.setBarcodeErr(status[6]);
            }
            // 外形检测 - 107
            Thread.sleep(50);
            //Thread.sleep(50);
            OperateResultExOne<byte[]> result5 = siemensS7Net.Read("DB101.164", (short)1);
            if (result5.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result5.Content, 0, 1);
@@ -279,7 +279,7 @@
                staProtocol.setBarcodeErr(status[6]);
            }
            // 外形检测 - 111
            Thread.sleep(50);
            //Thread.sleep(50);
            OperateResultExOne<byte[]> result6 = siemensS7Net.Read("DB101.168", (short)1);
            if (result6.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result6.Content, 0, 1);
@@ -293,7 +293,7 @@
                staProtocol.setBarcodeErr(status[6]);
            }
            // 外形检测 - 115
            Thread.sleep(50);
            //Thread.sleep(50);
            OperateResultExOne<byte[]> result7 = siemensS7Net.Read("DB101.172", (short)1);
            if (result7.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result7.Content, 0, 1);
@@ -307,7 +307,7 @@
                staProtocol.setBarcodeErr(status[6]);
            }
            // 外形检测 - 119
            Thread.sleep(50);
            //Thread.sleep(50);
            OperateResultExOne<byte[]> result8 = siemensS7Net.Read("DB101.176", (short)1);
            if (result8.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result8.Content, 0, 1);
@@ -321,7 +321,7 @@
                staProtocol.setBarcodeErr(status[6]);
            }
            // 外形检测 - 123
            Thread.sleep(50);
            //Thread.sleep(50);
            OperateResultExOne<byte[]> result9 = siemensS7Net.Read("DB101.180", (short)1);
            if (result9.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result9.Content, 0, 1);
@@ -336,7 +336,7 @@
            }
        } else if (slave.getId() == 3) {
            // 外形检测 - 111
            Thread.sleep(50);
            //Thread.sleep(50);
            OperateResultExOne<byte[]> result10 = siemensS7Net.Read("DB101.26", (short)1);
            if (result10.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result10.Content, 0, 1);
@@ -645,12 +645,12 @@
//                        commandInfoLogService.insert(commandInfoLog);

                        //更新任务步序
                        TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
                        TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo().intValue());
                        if (taskWrk != null) {
                            taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//更新指令步序
                            taskWrkService.updateById(taskWrk);
                        }
//                        TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
//                        TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo().intValue());
//                        if (taskWrk != null) {
//                            taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//更新指令步序
//                            taskWrkService.updateById(taskWrk);
//                        }

                        break;
                    } else {//返回结果是成功了，但是真实值不相同

 src/main/resources/mapper/TaskWrkMapper.xml

@@ -118,12 +118,12 @@
    <select id="selectToBeHistoryData" resultMap="BaseResultMap">
        select * from dbo.wcs_task_wrk
        where 1=1
        and (status=3 or status=4)
        and (status=5 or status=4)
        order by io_pri desc,create_time,wrk_no ASC
    </select>

    <insert id="saveToHistory">
        insert into wcs_task_wrk_log select * from wcs_task_wrk where task_no = #{taskNo} and (status=3 or status=4)
        insert into wcs_task_wrk_log select * from wcs_task_wrk where task_no = #{taskNo} and (status=5 or status=4)
    </insert>

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