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昨天 d62951d7c0947303fc6eed23a664c162f2ea0010

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

@@ -8,8 +8,15 @@
import com.core.exception.CoolException;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.entity.param.ArmPrecomputeParam;
import com.zy.asrs.entity.param.PdaWriteBarcodeParam;
import com.zy.asrs.service.OpenService;
import com.zy.common.web.BaseController;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.Task;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.transaction.annotation.Transactional;
@@ -65,6 +72,30 @@
        return R.ok().add(param);
    }

    /**
     * 添加出库单
     */
    @PostMapping("/task/cs/barcode/default/v1")
    @AppAuth(memo = "PDA下发条码")
    public synchronized R wcsBarcode(@RequestHeader(required = false) String appkey,
                                              @RequestBody PdaWriteBarcodeParam param,
                                              HttpServletRequest request) {
        try{
            auth(appkey, param, request);
        } catch (Exception e){
            return new R(403,e.getMessage());
        }
        if (Cools.isEmpty(param)) {
            return R.parse(BaseRes.PARAM);
        }
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
        StaProtocol staProtocol = devpThread.getStation().get(param.getSiteId());
        staProtocol.setBarcode(param.getBarcode());
        MessageQueue.offer(SlaveType.Devp, 2, new Task(2, staProtocol));

        return R.ok("下发成功请稍等");
    }


    private void auth(String appkey, Object obj, HttpServletRequest request) {
//        log.info("{}接口被访问；appkey:{}；请求数据：{}", "open/sensorType/list/auth/v1", appkey, JSON.toJSONString(obj));

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

@@ -7,6 +7,8 @@
import java.util.Date;

import com.core.common.SnowflakeIdWorker;
import com.fasterxml.jackson.databind.annotation.JsonSerialize;
import com.fasterxml.jackson.databind.ser.std.ToStringSerializer;
import org.springframework.format.annotation.DateTimeFormat;
import java.text.SimpleDateFormat;
import java.util.Date;
@@ -45,7 +47,14 @@
     * RGV任务号
     */
    @ApiModelProperty(value= "RGV任务号")
    @JsonSerialize(using = ToStringSerializer.class)
    private Long timestamp;
    @TableField(exist = false)
    private String timestampStr;

    public String getTimestampStr() {
        return timestamp == null ? "" : timestamp.toString();
    }

    /**
     * 源站点

 src/main/java/com/zy/asrs/entity/param/AgvBindCtnrAndBinParam.java

@@ -34,6 +34,10 @@
                getAgvTaskAssignmentParam0(basAgvMast);
                indBind = "1";
                return;
            case 2:
                getAgvTaskAssignmentParam1(basAgvMast);
                indBind = "1";
                return;
            default:
                return;
        }
@@ -50,5 +54,15 @@
        this.stgBinCode = basAgvLocNoSou != null ? basAgvLocNoSou.getAgvLocNo() : "";
    }

    public void getAgvTaskAssignmentParam1(BasAgvMast basAgvMast) {
        BasAgvLocNoService basAgvLocNoService = SpringUtils.getBean(BasAgvLocNoService.class);
        this.reqCode = basAgvMast.getTaskNo() + "-" + System.currentTimeMillis();
        BasAgvLocNo basAgvLocNoSou = basAgvLocNoService.selectOne(
                new EntityWrapper<BasAgvLocNo>().eq("sta_no", basAgvMast.getSourceStaNo())
        );

        this.stgBinCode = basAgvLocNoSou != null ? basAgvLocNoSou.getAgvLocNo() : "";
    }


}

 src/main/java/com/zy/asrs/entity/param/PdaWriteBarcodeParam.java

New file
@@ -0,0 +1,9 @@
package com.zy.asrs.entity.param;

import lombok.Data;

@Data
public class PdaWriteBarcodeParam {
    private Integer siteId;
    private String barcode;
}

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

@@ -450,23 +450,74 @@
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                if(!Cools.isEmpty(barcode)) {
//                    News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
                } else {
                    continue;
                }

                // 获取拣料入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                if (staProtocol.isFrontErr()) {
                    errMsg = "前超限";
                    back = true;
                }
                if (!back && staProtocol.isBackErr()) {
                    errMsg = "后超限";
                    back = true;
                }
                if (!back && staProtocol.isHighErr()) {
                    errMsg = "高超限";
                    back = true;
                }
                if (!back && staProtocol.isLeftErr()) {
                    errMsg = "左超限";
                    back = true;
                }
                if (!back && staProtocol.isRightErr()) {
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.isWeightErr()) {
                    errMsg = "超重";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeErr()) {
                    errMsg = "扫码失败";
                    log.error("物料码扫码失败");
                    back = true;
                }
                // 退回
                if (back) {
                    News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", pickSta.getStaNo(), errMsg);
                    MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errMsg));

                    if (!staProtocol.isLoading()){
                        continue;
                    }
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    // led 异常显示
                    if (ledThread != null) {
                        MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errMsg));
                    }
                    staProtocol.setWorkNo(wrkNo);
                    staProtocol.setErrCode(errMsg);
                    News.info("异常判断{}入库回退：{}，任务号：{}", pickSta.getStaNo(), errMsg,wrkNo);
                    wrkNo++;
                    staProtocol.setStaNo(pickSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    staProtocol.setBarcode(barcode);
                    staProtocol.setPakMk(false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    System.out.println(staProtocol);
                    log.error("输送线下发1："+wrkNo+","+pickSta.getBackSta());
                }


//                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
@@ -506,7 +557,7 @@
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        //LED
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
//                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "此为拣料、并板、盘点再入库.请放在"+pickSta.getBackSta().shortValue()+"站点";
@@ -2299,6 +2350,9 @@
                    case 57:
                        ledCommand.setTitle("盘点再入库");
                        break;
                    case 53:
                        ledCommand.setTitle("拣料再入库");
                        break;
                    case 101:
                        ledCommand.setTitle("全板出库");
                        break;
@@ -2879,7 +2933,7 @@
            StaProtocol staProtocol = null;
            if(emptyCount >= 2 && site == 1108){
                continue;
            }else if(emptyCount == 1 && site == 2031){
            }else if(emptyCount > 1 && site == 2031){
                continue;
            }
            //如果站点可出禁用，则不生成空盘出库任务
@@ -4989,6 +5043,55 @@
                    continue;
                }
                if (staProtocol.isAutoing() ) {
                    if(staProtocol.getWorkNo()>10000){
                        BasAgvMast basAgvMast = new BasAgvMast();
                        List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("task_no", staProtocol.getWorkNo()));
                        if(!basAgvMastList.isEmpty()){
                            continue;
                        }

                        try {
                            LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                            SearchLocParam param = new SearchLocParam();
                            param.setBarcode(staProtocol.getWorkNo().toString());
                            param.setIoType(1);
                            param.setSourceStaNo(outStaAgv.getStaNo());
                            param.setLocType1(locTypeDto.getLocType1());
                            String response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/pakin/agv/loc/v1")
                                    .setJson(JSON.toJSONString(param))
                                    .build()
                                    .doPost();
                            JSONObject jsonObject = JSON.parseObject(response);
                            if (jsonObject.getInteger("code").equals(200)) {
                                StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                                basAgvMast.setFloorNo(1);
                                basAgvMast.setTaskNo(staProtocol.getWorkNo());
                                basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
                                basAgvMast.setLocNo(dto.getLocNo());
                                basAgvMast.setBarcode("1");
                                basAgvMast.setSourceLocNo("1041");
                                basAgvMast.setDevpId(devp.getId());
                                basAgvMast.setIoType(2);
                                basAgvMastService.insert(basAgvMast);
                                LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no",dto.getLocNo()));
                                locMast.setLocSts("S");
                                locMastService.updateById(locMast);

                                AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
                                agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
                                agvBindCtnrAndBinParam.setCtnrTyp("1");
                                ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV出库容器绑定解绑", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);

                            }
                        }catch (Exception e){
                            News.error(JSON.toJSONString(e.getMessage()));

                        }

                    }
                    WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
                    if (Cools.isEmpty(wrkMast) || Cools.isEmpty(wrkMast.getTakeNone()) || !wrkMast.getTakeNone().equals("1")){
                        continue;
@@ -5040,8 +5143,10 @@
                            basAgvMast.setIoType(2);

                            basAgvMastService.insert(basAgvMast);


                            AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
                            agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getBarcode());
                            agvBindCtnrAndBinParam.setCtnrTyp("1");
                            ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);

                            wrkMast.setTakeNone("2");
                            wrkMastMapper.updateById(wrkMast);
@@ -5067,6 +5172,8 @@
                // 获取入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(outStaAgv.getStaNo());
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 6);

                if (staProtocol == null) {
                    continue;
                } else {
@@ -5078,7 +5185,7 @@
                    continue;
                }

                String barcode = staProtocol.getBarcode();
                String barcode = barcodeThread.getBarcode();//2033
                if(!Cools.isEmpty(barcode)) {
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "0".equals(barcode)) {
//                        News.info("{}号站点扫描器检测条码信息：{}", outStaAgv.getStaNo(), barcode);
@@ -5091,7 +5198,7 @@
                if (staProtocol.isAutoing()) {

                    // 判断重复工作档
                    List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()));
                    List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()).eq("barcode",barcode));
                    if (!basAgvMastList.isEmpty()) {
//                        News.info("{}号站点存在任务执行中，请等待任务执行完毕：{}", outStaAgv.getStaNo(), barcode);
                        continue;
@@ -5099,9 +5206,17 @@
                    if(barcode.equals("0")){
                        continue;
                    }
                    List<LocMast> locMastListFull = locMastService.selectList(new EntityWrapper<LocMast>()
                            .eq("loc_sts", "O")
                            .ge("row1", 28)
                            .le("row1", 31)
                    );
                    if(locMastListFull.isEmpty()){
                        continue;
                    }
                    List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>().eq("barcode", barcode));
                    if (!locMastList.isEmpty()) {
                        News.info("{}号站点条码信息重复：{}", outStaAgv.getStaNo(), barcode);
//                        News.info("{}号站点条码信息重复：{}", outStaAgv.getStaNo(), barcode);
                        continue;
                    }
                    // 任务生成区 --------------------------------------------------------------------------
@@ -5126,7 +5241,29 @@
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                            basAgvMast.setTaskNo(outStaAgv.getStaNo());
                            List<BasAgvMast> list = basAgvMastService.selectList(
                                    new EntityWrapper<BasAgvMast>()
                                            .eq("source_sta_no", outStaAgv.getStaNo())
                                            .in("task_no", 2033, 2031)
                            );
                            boolean has2033 = false;
                            boolean has2034 = false;
                            for (BasAgvMast mast : list) {
                                if (mast.getTaskNo() == 2033) {
                                    has2033 = true;
                                }
                                if (mast.getTaskNo() == 2031) {
                                    has2034 = true;
                                }
                            }

                            if (has2033 && has2034) {
                                return;
                            } else if (has2033) {
                                basAgvMast.setTaskNo(2031);
                            } else {
                                basAgvMast.setTaskNo(2033);
                            }
                            basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
                            basAgvMast.setLocNo(dto.getLocNo());
                            basAgvMast.setDevpId(devp.getId());
@@ -5139,8 +5276,10 @@
                            News.error(JSON.toJSONString(staProtocol));
                        }
                    } catch (Exception e) {
                        News.error(JSON.toJSONString(e.getMessage()));
                        News.error("AGV任务生成异常", e);
                        throw new CoolException("AGV任务生成异常");
                    }

                }
            }
        }
@@ -5367,10 +5506,7 @@
                        staProtocol = staProtocol.clone();
                    }

                    if ((!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo()))
                            ||
                            (basAgvMast.getSourceStaNo().equals(2033))){

                    if ((!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())) || basAgvMast.getSourceStaNo().equals(2033)){
                        AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
                        if(basAgvMast.getFloorNo()==1) {
//                            WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());

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

@@ -90,6 +90,7 @@
//        add(2045);add(2046);add(2047);add(2048);
        add(2101);add(2102);add(2103);add(2104);add(2105);add(2106);add(2107);add(2108);add(2109);add(2110);
        add(2111);add(2112);add(2113);add(2114);add(2115);add(2116);add(2117);add(2118);add(2119);add(2120);
        add(2121);add(2122);
        add(4001);add(4003);add(4004);add(4006);
    }};

@@ -165,17 +166,27 @@
        put(2031, 120);put(2032, 124);put(2033, 128);put(2034, 132);put(2035, 136);
        put(2037, 144);

        put(4001, 240);put(4002, 244);put(4003, 248);put(4004, 252);put(4005, 256);
        put(4006, 260);
        put(2101, 160);put(2102, 164);put(2103, 168);put(2104, 172);put(2105, 176);
        put(2106, 180);put(2107, 184);put(2108, 188);put(2109, 192);put(2110, 196);
        put(2111, 200);put(2112, 204);put(2113, 208);put(2114, 212);put(2115, 216);
        put(2116, 220);put(2117, 224);put(2118, 228);put(2119, 232);put(2120, 236);
        put(2121, 240);put(2122, 244);
        put(4001, 248);put(4002, 252);put(4003, 256);put(4004, 260);put(4005, 264);
        put(4006, 268);
        // 其他站点同理继续加
    }};

    public static final Map<Integer, Integer> siteErrOffsetMap = new HashMap<Integer, Integer>() {{
        put(1036, 512);put(1103, 476);put(1047, 452);put(2037, 270);put(4001,294);
        put(1036, 512);put(1103, 476);put(1047, 452);put(2037, 278);put(4001,302);

    }};
    public static final Map<Integer, Integer> siteAgvOffsetMap = new HashMap<Integer, Integer>() {{
        put(1037, 0);put(1039, 2);put(1041, 4);put(2033, 0);put(2034,2);put(4003,4);put(4006,6);

    }};

    public static final Map<Integer, Integer> site2lBarcodeOffsetMap = new HashMap<Integer, Integer>() {{//2楼pda写入条码
        put(2102, 2280);put(2105, 3048);put(2112, 4840);put(2115, 5608);

    }};

@@ -486,12 +497,12 @@
            result1 = siemensS7Net.Read("DB200.0", (short) (3000));//2001-2030
            result2 = siemensS7Net.Read("DB201.0", (short) (720));//2031-2037
            result3 = siemensS7Net.Read("DB400.0", (short) (600));//4001-4006
            result6 = siemensS7Net.Read("DB202.0", (short) (7400));//2101-2122
            resultErr = siemensS7Net.Read("DB3.0", (short) (354));
            result6 = siemensS7Net.Read("DB202.0", (short) (2024));//2101-2122
            resultErr = siemensS7Net.Read("DB3.0", (short) (386));
//            resultAgv = siemensS7Net.Read("DB901.0", (short) (7)); //agv取放货请求
//            resultPlc = siemensS7Net.Read("DB902.0", (short) (7)); //输送线确认
            resultArm5 = siemensS7Net.Read("DB202.4328", (short) (254));//2110
            resultArm6 = siemensS7Net.Read("DB202.6888", (short) (254));//2120
            resultArm5 = siemensS7Net.Read("DB202.4328", (short) (256));//2110
            resultArm6 = siemensS7Net.Read("DB202.6888", (short) (256));//2120
        }


@@ -528,7 +539,7 @@
                        if (siteId == 2110) {
                            if (resultArm5.IsSuccess) {
                                // 转换为字符串
                                String resultString = siemensS7Net.getByteTransform().TransString(resultArm5.Content, 2, 252,"UTF-8");
                                String resultString = siemensS7Net.getByteTransform().TransString(resultArm5.Content, 2, 254,"UTF-8");
                                // 去除可能的空字符
//                                resultString = resultString.TrimEnd('\0');
//                                System.out.println("2110Barcode:"+resultString);
@@ -539,7 +550,7 @@
                        } else if (siteId == 2120){
                            if (resultArm6.IsSuccess) {
                                // 转换为字符串
                                String resultString = siemensS7Net.getByteTransform().TransString(resultArm6.Content, 2, 252,"UTF-8");
                                String resultString = siemensS7Net.getByteTransform().TransString(resultArm6.Content, 2, 254,"UTF-8");
                                // 去除可能的空字符
//                                resultString = resultString.TrimEnd('\0');
//                                System.out.println("2120Barcode:"+resultString);
@@ -611,7 +622,7 @@
                    staProtocol.setAutoing(!status[0]);  // 自动
                    boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result.Content, offset + offset3 - 4, 3);
                    boolean[] statusErr = siemensS7Net.getByteTransform().TransBool(result.Content, offset + offset3 - 8, 3);
//                    boolean[] statusSign = siemensS7Net.getByteTransform().TransBool(resultErr.Content, offsetSign, 3);
                    boolean[] statusSign = siemensS7Net.getByteTransform().TransBool(resultErr.Content, offsetSign, 3);

                    boolean loading = false;
                    if(!status1[0])
@@ -665,28 +676,28 @@
                    staProtocol.setDataError(statusErr[18]);

                    //信号
//                    staProtocol.setSensorGArrive(statusSign[0]);
//                    staProtocol.setSensorGDec(statusSign[1]);
//                    staProtocol.setSensorGArrive2(statusSign[2]);
//                    staProtocol.setSensorLimit(statusSign[3]);
//                    staProtocol.setEmergency(statusSign[4]);
//                    staProtocol.setSensorGLeave(statusSign[5]);
//                    staProtocol.setSensorGLeave2(statusSign[6]);
//                    staProtocol.setSensorCUp(statusSign[7]);
//                    staProtocol.setSensorCDown(statusSign[8]);
//                    staProtocol.setLiftMotorFr(statusSign[9]);
//                    staProtocol.setLineMotorFr(statusSign[10]);
//                    staProtocol.setTranMotorFr(statusSign[11]);
//                    staProtocol.setRst1(statusSign[12]);
//                    staProtocol.setRst2(statusSign[13]);
//                    staProtocol.setRst3(statusSign[14]);
//                    staProtocol.setRst4(statusSign[15]);
//                    staProtocol.setSensorArriveD(statusSign[16]);
//                    staProtocol.setSensorDecD(statusSign[17]);
//                    staProtocol.setSensorArriveL(statusSign[18]);
//                    staProtocol.setSensorDecL(statusSign[19]);
//                    staProtocol.setSensorArriveR(statusSign[20]);
//                    staProtocol.setSensorDecR(statusSign[21]);
                    staProtocol.setSensorGArrive(statusSign[0]);
                    staProtocol.setSensorGDec(statusSign[1]);
                    staProtocol.setSensorGArrive2(statusSign[2]);
                    staProtocol.setSensorLimit(statusSign[3]);
                    staProtocol.setEmergency(statusSign[4]);
                    staProtocol.setSensorGLeave(statusSign[5]);
                    staProtocol.setSensorGLeave2(statusSign[6]);
                    staProtocol.setSensorCUp(statusSign[7]);
                    staProtocol.setSensorCDown(statusSign[8]);
                    staProtocol.setLiftMotorFr(statusSign[9]);
                    staProtocol.setLineMotorFr(statusSign[10]);
                    staProtocol.setTranMotorFr(statusSign[11]);
                    staProtocol.setRst1(statusSign[12]);
                    staProtocol.setRst2(statusSign[13]);
                    staProtocol.setRst3(statusSign[14]);
                    staProtocol.setRst4(statusSign[15]);
                    staProtocol.setSensorArriveD(statusSign[16]);
                    staProtocol.setSensorDecD(statusSign[17]);
                    staProtocol.setSensorArriveL(statusSign[18]);
                    staProtocol.setSensorDecL(statusSign[19]);
                    staProtocol.setSensorArriveR(statusSign[20]);
                    staProtocol.setSensorDecR(statusSign[21]);

//                    Integer offsetAgv = siteAgvOffsetMap.get(siteId);
//
@@ -843,6 +854,9 @@
                for (Integer siteId : staNos) {
                    StaProtocol staProtocol = station.get(siteId);
                    basDevps.add(staProtocol.toSqlModel());
                    if(siteId == 2110){
                        basDevps.add(staProtocol.toSqlModel());
                    }
                    if(staProtocol.isWriteMk() && staProtocol.isErrorMk()){
                        try {
                            // 日志记录异常情况
@@ -937,7 +951,7 @@
                }else{
                    write1 = siemensS7Net.Write("DB200." + (offset + offset2 + 12), staProtocol.getStaNo().intValue());    // 目标站
                }
            }else if(siteId < 4000){
            }else if(siteId < 2121){
                write = siemensS7Net.Write("DB201." + (offset + offset2), staProtocol.getWorkNo());    // 工作号
                Thread.sleep(200);
                if(specialSites2.contains(siteId)){
@@ -945,6 +959,11 @@
                }else{
                    write1 = siemensS7Net.Write("DB201." + (offset + offset2 + 12), staProtocol.getStaNo().intValue());    // 目标站
                }
            } else if(siteId < 4000){
                Integer offsetBarcode = site2lBarcodeOffsetMap.get(siteId);
                write = siemensS7Net.Write("DB202." + offsetBarcode, staProtocol.getBarcode());    // 条码
                write1 = siemensS7Net.Write("DB202." + offsetBarcode, staProtocol.getBarcode());
                Thread.sleep(200);
            }else{
                write = siemensS7Net.Write("DB400." + (offset + offset2), staProtocol.getWorkNo());    // 工作号
                Thread.sleep(200);

 src/main/resources/application.yml

@@ -462,8 +462,8 @@
    # 拣料入库口1
    pickSta[0]:
      staNo: 1036
      barcode: ${wcs-slave.barcode[2].id}
      led: ${wcs-slave.led[5].id}
      barcode: ${wcs-slave.barcode[0].id}
      led: ${wcs-slave.led[1].id}
      backSta: 1037
    # 入库口1
    inSta[2]:

 src/main/webapp/static/js/basAgvMast/basAgvMast.js

@@ -24,7 +24,7 @@
            {type: 'checkbox'}
            ,{field: 'id', align: 'center',title: 'ID'}
            ,{field: 'taskNo', align: 'center',title: 'WMS任务号'}
            ,{field: 'timestamp', align: 'center',title: 'RGV任务号'}
            ,{field: 'timestampStr', align: 'center', title: 'RGV任务号'}
            ,{field: 'sourceStaNo', align: 'center',title: '源站点'}
            ,{field: 'staNo', align: 'center',title: '目的站点'}
            ,{field: 'sourceLocNo', align: 'center',title: '源库位'}