#

LSH

2023-09-25 f7bcd87b19bf265d0fa157f110632d6b661ec22d

#

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

@@ -255,6 +255,14 @@

    WrkMast selectWrkMastLabelingOne54();

    List<WrkMast> selectWaitBindRGVRgvNo(@Param("rgvNo") Integer rgvNo);
    List<WrkMast> selectWaitBindRgvNo2(@Param("rgvNo") Integer rgvNo);
    void insertRgvMast(@Param("wrkNo") Integer wrkNo);
    void updateRgvMast(@Param("wrkNo") Integer wrkNo);

    WrkMast selectWaitBindRgvNoOneWrkNo(@Param("wrkNo") Integer wrkNo);




    /*..............................上饶江铜..............以上.............徐工汉云..............................*/

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

@@ -580,27 +580,145 @@
        return null;
    }

//    /**
//     * 绑定小车方法
//     */
//    public synchronized void rgvBindSte() {
//        //获取等待绑定RGV的任务
//        List<WrkMast> wrkMasts = wrkMastMapper.selectWaitBindRGV();
//        for (WrkMast wrkMast : wrkMasts) {
//            //目标站
//            Integer staNo = wrkMast.getStaNo();
//            //源站
//            Integer sourceStaNo = wrkMast.getSourceStaNo();
//            //通过目标站搜索rgv号
//            Integer rgvNo=0;
//            if (wrkMast.getCrnNo()==1){
//                rgvNo=1;
//            }else if (wrkMast.getCrnNo()==6){
//                rgvNo=2;
//            }else {
//                rgvNo = this.searchRgvNo(staNo);
//            }
//            if (rgvNo == null || rgvNo==0) {//未找到可用的rgv
//                continue;
//            }
//
//            wrkMast.setRgvNo(rgvNo);//绑定rgv号
//            wrkMast.setRgvDstaNo(wrkMast.getSourceStaNo());//设置RGV前往工作档源站取货
//            if (wrkMastMapper.updateById(wrkMast)==0){
//                log.error("绑定小车更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
//            }
//        }
//    }

    /**
     * 绑定小车方法
     */
    public synchronized void rgvBindSte() {
        //获取等待绑定RGV的任务
        List<WrkMast> wrkMasts = wrkMastMapper.selectWaitBindRGV();
        for (WrkMast wrkMast : wrkMasts) {
            //目标站
            Integer staNo = wrkMast.getStaNo();
            //源站
            Integer sourceStaNo = wrkMast.getSourceStaNo();
            //通过目标站搜索rgv号
            Integer rgvNo = this.searchRgvNo(staNo);
            if (rgvNo == null) {//未找到可用的rgv
        try {
            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
                if (devp.getId()==2){
                    continue;
                }
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                //入库绑小车
                for (DevpSlave.Sta Sta : devp.getInRgvSta()) {
                    StaProtocol staProtocol = devpThread.getStation().get(Sta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() < 9990){
                        List<WrkMast> wrkMasts = wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getWorkNo()).eq("wrk_sts", 2L));
                        if (Cools.isEmpty(wrkMasts) || wrkMasts.size()!=1){
                            continue;
                        }
                        WrkMast wrkMast = wrkMasts.get(0);
                                    //目标站
                        Integer staNo = wrkMast.getStaNo();
                        //通过目标站搜索rgv号
                        Integer rgvNo=0;
                        if (wrkMast.getCrnNo()==1){
                            rgvNo=1;
                        }else if (wrkMast.getCrnNo()==6){
                            rgvNo=2;
                        }else {
                            rgvNo = this.searchRgvNo(staNo);
                        }
                        if (rgvNo == null || rgvNo==0) {//未找到可用的rgv
                            continue;
                        }
                        wrkMast.setRgvNo(rgvNo);//绑定rgv号
                        if (wrkMastMapper.updateById(wrkMast)==0){
                            log.error("绑定小车更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
                        }
                    }
                }
                //出库绑小车
                for (DevpSlave.Sta Sta : devp.getOutRgvSta()) {
                    StaProtocol staProtocol = devpThread.getStation().get(Sta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() < 9990){
                        List<WrkMast> wrkMasts = wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getWorkNo()).eq("wrk_sts", 14L));
                        if (Cools.isEmpty(wrkMasts) || wrkMasts.size()!=1){
                            continue;
                        }
                        WrkMast wrkMast = wrkMasts.get(0);
                        //目标站
                        Integer staNo = wrkMast.getStaNo();
                        //通过目标站搜索rgv号
                        Integer rgvNo=0;
                        if (wrkMast.getCrnNo()==1){
                            rgvNo=1;
                        }else if (wrkMast.getCrnNo()==6){
                            rgvNo=2;
                        }else {
                            rgvNo = this.searchRgvNo(staNo);
                        }
                        if (rgvNo == null || rgvNo==0) {//未找到可用的rgv
                            continue;
                        }
                        wrkMast.setRgvNo(rgvNo);//绑定rgv号
                        if (wrkMastMapper.updateById(wrkMast)==0){
                            log.error("绑定小车更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
                        }
                    }
                }
            }
        }catch (Exception e){
            log.error("绑定小车异常：{}", e.getMessage());
        }
    }

    /**
     * 绑定小车方法
     */
    public synchronized void rgvBindSte2() {
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            List<WrkMast> wrkMasts = wrkMastMapper.selectWaitBindRGVRgvNo(rgv.getId());
            if (!Cools.isEmpty(wrkMasts) && wrkMasts.size()!=0){
                continue;
            }

            wrkMast.setRgvNo(rgvNo);//绑定rgv号
            wrkMast.setRgvDstaNo(wrkMast.getSourceStaNo());//设置RGV前往工作档源站取货
            if (wrkMastMapper.updateById(wrkMast)==0){
                log.error("绑定小车更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
            List<WrkMast> wrkMasts2 = wrkMastMapper.selectWaitBindRgvNo2(rgv.getId());
            for (WrkMast wrkMast : wrkMasts2) {
                if (wrkMastMapper.selectWaitBindRgvNoOneWrkNo(wrkMast.getWrkNo())!=null){
                    continue;
                }
                //目标站
                BasDevp basDevp = basDevpService.selectById(wrkMast.getRgvDstaNo());
                if (Cools.isEmpty(basDevp) || !basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("N") || basDevp.getWrkNo()!=0){
                    continue;
                }
                wrkMastMapper.insertRgvMast(wrkMast.getWrkNo());
                wrkMastMapper.updateRgvMast(wrkMast.getWrkNo());
                break;
            }
        }
    }
@@ -608,7 +726,7 @@
    /**
     * 入出库  ===>>  RGV入出库作业下发
     */
    public synchronized void rgvIoExecute() {
    public synchronized void rgvIoExecuteOld() {
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
@@ -627,12 +745,102 @@
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
//                    && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
//                    && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getLoaded2() == 0
                    ) {
            ) {

                //查找是否存在入出库工作中等待RGV搬运的任务
                List<WrkMast> wrkMasts = wrkMastMapper.selectIoRgvNo(rgv.getId());
                for (WrkMast wrkMast : wrkMasts) {
                    if (wrkMast.getWrkSts() == 2) {//2.设备上走1 => 3.RGV取货中
                        if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
                            continue;
                        }

                        //判断行走路径是否被占用
                        Integer staNo = wrkMast.getSourceStaNo();
                        BasDevp basDevp = basDevpService.selectById(staNo);
                        if (basDevp == null) {
                            continue;//目标站不存在
                        }
                        //起始路径
                        int startPath = rgvProtocol.getRgvPos().intValue();
                        //目标路径值
                        int endPath = basDevp.getLocType3().intValue();
//                        boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
                        boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
                        if (pathUsed) {
                            //行走路径被占用，禁止下发命令
                            continue;
                        }
                        //行走路径空闲，锁定路径
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                        rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
                        rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式:  取货
                        rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue());   //工位1目标站点
                        rgvCommand.setCommand((short) 1);   //工位1任务确认
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
                            //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 2.设备上走1 => 3.RGV取货中
                            Date now = new Date();
                            wrkMast.setWrkSts(3L);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 2.设备上走1 => 3.RGV取货中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        }
                    } else if (wrkMast.getWrkSts() == 14) {//4.RGV取货完成 => 5.RGV放货中   14出库完成
                        if (rgvProtocol.getTaskNo1() == 0 || !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致
                            continue;
                        }
                        if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物
                            continue;
                        }

                        //判断行走路径是否被占用
                        Integer staNo = wrkMast.getStaNo();
                        BasDevp basDevp = basDevpService.selectById(staNo);
                        if (basDevp == null) {
                            continue;//目标站不存在
                        }
                        //起始路径
                        int startPath = rgvProtocol.getRgvPos().intValue();
                        //目标路径值
                        int endPath = basDevp.getLocType3().intValue();
                        boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
                        if (pathUsed) {
                            //行走路径被占用，禁止下发命令
                            continue;
                        }
                        //行走路径空闲，锁定路径
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                        rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
                        rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
                        rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue());   //工位1目标站点
                        rgvCommand.setCommand((short) 1);   //工位1任务确认
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
                            //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 4.RGV取货完成 => 5.RGV放货中
                            Date now = new Date();
                            wrkMast.setWrkSts(5L);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 4.RGV取货完成 => 5.RGV放货中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        }
                    } else if (wrkMast.getWrkSts() == 23) {//23.设备上走1 => 24.RGV取货中
                        if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
                            continue;
                        }
@@ -667,6 +875,154 @@
                            //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 23.设备上走1 => 24.RGV取货中
                            Date now = new Date();
                            wrkMast.setWrkSts(24L);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 23.设备上走1 => 24.RGV取货中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        }
                    } else if (wrkMast.getWrkSts() == 25) {//25.RGV取货完成 => 26.RGV放货中
                        if (rgvProtocol.getTaskNo1() == 0 || !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致
                            continue;
                        }
                        if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物
                            continue;
                        }

                        //判断行走路径是否被占用
                        Integer staNo = wrkMast.getStaNo();
                        BasDevp basDevp = basDevpService.selectById(staNo);
                        if (basDevp == null) {
                            continue;//目标站不存在
                        }
                        //起始路径
                        int startPath = rgvProtocol.getRgvPos().intValue();
                        //目标路径值
                        int endPath = basDevp.getLocType3().intValue();
                        boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
                        if (pathUsed) {
                            //行走路径被占用，禁止下发命令
                            continue;
                        }
                        //行走路径空闲，锁定路径
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                        rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
                        rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
                        rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue());   //工位1目标站点
                        rgvCommand.setCommand((short) 1);   //工位1任务确认
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
                            //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 25.RGV取货完成 => 26.RGV放货中
                            Date now = new Date();
                            wrkMast.setWrkSts(26L);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 25.RGV取货完成 => 26.RGV放货中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        }
                    }
                }

            }
        }
    }

    /**
     * 入出库  ===>>  RGV入出库作业下发
     */
    public synchronized void rgvIoExecute() {
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            RgvSlave rgvSlave=null;
            if (rgv.getId()==1){
                rgvSlave = slaveProperties.getRgv().get(1);
            }else {
                rgvSlave = slaveProperties.getRgv().get(0);
            }

            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }

            RgvThread rgvThreadSlave = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocolSlave = rgvThreadSlave.getRgvProtocol();
            BasRgv basRgvSlave = null;
            if (rgvProtocolSlave == null) {
                rgvSlave=null;
            }else {
                basRgvSlave = basRgvService.selectById(rgv.getId());
                if (basRgvSlave == null) {
                    rgvSlave=null;
                }
            }

            BasRgv basRgv = basRgvService.selectById(rgv.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！", rgv.getId());
                continue;
            }

            boolean signSlave=false;//此处判断RgvSlave是否已经规避
            boolean signSlaveState=false;//此处判断RgvSlave是否空闲
            Integer staSlave = 0;//此处记录RgvSlave当前位置

            // 只有当RGV空闲、自动,
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
//                    && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
//                    && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getLoaded2() == 0
                    ) {

                //查找是否存在入出库工作中等待RGV搬运的任务
                List<WrkMast> wrkMasts = wrkMastMapper.selectIoRgvNo(rgv.getId());
                for (WrkMast wrkMast : wrkMasts) {
                    if (wrkMast.getWrkSts() == 2) {//2.设备上走1 => 3.RGV取货中
                        if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
                            continue;
                        }

                        //判断行走路径是否被占用
                        Integer staNo = wrkMast.getSourceStaNo();
                        BasDevp basDevp = basDevpService.selectById(staNo);
                        if (basDevp == null) {
                            continue;//目标站不存在
                        }
                        //起始路径
                        int startPath = rgvProtocol.getRgvPos().intValue();
                        //目标路径值
                        int endPath = basDevp.getLocType3().intValue();
//                        boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
                        boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
                        if (pathUsed) {
                            //行走路径被占用，禁止下发命令
                            continue;
                        }
                        //行走路径空闲，锁定路径
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                        rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
                        rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式:  取货
                        rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue());   //工位1目标站点
                        rgvCommand.setCommand((short) 1);   //工位1任务确认
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
                            //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 2.设备上走1 => 3.RGV取货中
                            Date now = new Date();
                            wrkMast.setWrkSts(3L);
@@ -675,7 +1031,7 @@
                                log.error("修改工作档状态 2.设备上走1 => 3.RGV取货中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        }
                    } else if (wrkMast.getWrkSts() == 4) {//4.RGV取货完成 => 5.RGV放货中
                    } else if (wrkMast.getWrkSts() == 14) {//4.RGV取货完成 => 5.RGV放货中   14出库完成
                        if (rgvProtocol.getTaskNo1() == 0 || !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致
                            continue;
                        }

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

@@ -12,11 +12,11 @@

//    正序
    public static final List<Integer> TRACK_POSITION_POSITIVE_SEQUENCE = new ArrayList<Integer>() {{
        add(1);add(2);add(3);add(4);add(5);add(6);add(7);add(8);add(9);add(10);add(11);add(12);
        add(101);add(102);add(104);add(105);add(107);add(118);add(108);add(119);add(110);add(120);add(111);add(121);add(113);add(114);add(116);add(117);
    }};
//    反序
    public static final List<Integer> TRACK_POSITION_REVERSE_SEQUENCE = new ArrayList<Integer>() {{
        add(12);add(11);add(10);add(9);add(8);add(7);add(6);add(5);add(4);add(3);add(2);add(1);
        add(117);add(116);add(114);add(113);add(121);add(111);add(120);add(110);add(119);add(108);add(118);add(107);add(105);add(104);add(102);add(101);
    }};

    public static String zerofill(String msg, Integer count){
@@ -35,7 +35,7 @@

    // 获取当前小车未行走的路线集合
    public static List<Integer> getRoute(Integer groupStart,Integer groupEnd){
        boolean sign = groupStart < groupEnd;
        boolean sign = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(groupStart) < TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(groupEnd);
        List<Integer> result = new ArrayList<>();
        List<Integer> groupRoute = null;
        if (sign){
@@ -97,9 +97,21 @@
        }
    }

    /*
    * a  小车当前位置
    * b  小车任务开始位置
    * c  小车任务结束位置
    * sign  另一个小车空闲标记
    * */
    public static boolean RouteAutoBoolean(Integer a,Integer b,Integer c,Integer aa,Integer bb,Integer cc,boolean idleOther){
        List<Integer> routeCurrent = getRouteIntersection(getRoute(a, c), getRoute(b, c), RouteCollectCountType.DEDUPLICATIONUNION);//并集
        List<Integer> routeOther = getRouteIntersection(getRoute(aa, cc), getRoute(bb, cc), RouteCollectCountType.DEDUPLICATIONUNION);//
        return !getRouteBoolean(routeCurrent, routeOther);  //是否有交集
    }

    public static void main(String[] arge){
        List<Integer> routeCurrent = getRoute(2, 9);  //获取当前小车路径
        List<Integer> routeOther = getRoute(12, 5);  //获取其它小车路径
        List<Integer> routeCurrent = getRoute(104, 119);  //获取当前小车路径
        List<Integer> routeOther = getRoute(117, 118);  //获取其它小车路径
        System.out.println("当前小车路径:\t"+routeCurrent);
        System.out.println("其它小车路径:\t"+routeOther);

@@ -117,6 +129,8 @@

        List<Integer> routeIntersection3 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.DEDUPLICATIONUNION);//去重并集
        System.out.println("路径去重并集：\t"+routeIntersection3);

        System.out.println(RouteAutoBoolean(101,104,119,114,116,120,true));
    }

}

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

@@ -66,9 +66,10 @@
                    /////////////////////////////////////RGV调度/////////////////////////////////////

//                    //绑定小车方法
//                    mainService.rgvBindSte();
                    mainService.rgvBindSte();
                    mainService.rgvBindSte2();
//                    // 入出库  ===>>  RGV入出库作业下发
//                    mainService.rgvIoExecute();
                    mainService.rgvIoExecute();
//                    // RGV入库  ===>> 根据RGV完成信号,执行对工作档的完成操作
//                    mainService.rgvFinished();
//                    // 入出库  ===>>  RGV出库站到系统入出库站

 src/main/java/com/zy/core/model/DevpSlave.java

@@ -27,6 +27,10 @@

    private List<Sta> pickSta = new ArrayList<>();

    private List<Sta> outRgvSta = new ArrayList<>();

    private List<Sta> inRgvSta = new ArrayList<>();

    @Data
    public static class Sta {


 src/main/resources/application.yml

@@ -269,6 +269,43 @@
    pickSta[0]:
      staNo: 11
      barcode: ${wcs-slave.barcode[0].id}
    # Rgv出库口1
    outRgvSta[0]:
      staNo: 102
    # Rgv出库口1
    outRgvSta[1]:
      staNo: 105
    # Rgv出库口1
    outRgvSta[2]:
      staNo: 108
    # Rgv出库口1
    outRgvSta[3]:
      staNo: 111
    # Rgv出库口1
    outRgvSta[4]:
      staNo: 114
    # Rgv出库口1
    outRgvSta[5]:
      staNo: 117
    # Rgv入库口1
    inRgvSta[0]:
      staNo: 118
    # Rgv入库口1
    inRgvSta[1]:
      staNo: 119
    # Rgv入库口1
    inRgvSta[2]:
      staNo: 120
    # Rgv入库口1
    inRgvSta[3]:
      staNo: 121
    # Rgv入库口1
    inRgvSta[4]:
      staNo: 122
    # Rgv入库口1
    inRgvSta[5]:
      staNo: 123

  # 输送线
  devp[1]:
    id: 2

 src/main/resources/mapper/WrkMastMapper.xml

@@ -247,6 +247,37 @@
        and rgv_no is null
    </select>

    <select id="selectWaitBindRgvNo2" resultMap="BaseResultMap">
        select * from dbo.asr_wrk_mast
        where 1=1
        and wrk_sts in (2,14)
        and (rgv_no IS NULL OR rgv_no = 0)
    </select>

    <select id="selectWaitBindRGVRgvNo" resultMap="BaseResultMap">
        select * from dbo.asr_wrk_mast_rgv
        where 1=1
        and wrk_sts &lt; 110
        and rgv_no = #{rgvNo}
    </select>

    <select id="selectWaitBindRgvNoOneWrkNo" resultMap="BaseResultMap">
        select * from dbo.asr_wrk_mast_rgv
        where 1=1
        and wrk_no = #{wrkNo}
    </select>

    <insert id="insertRgvMast">
        INSERT INTO dbo.asr_wrk_mast_rgv SELECT * FROM asr_wrk_mast WHERE wrk_no = #{wrkNo}
    </insert>

    <update id="updateRgvMast">
        update asr_wrk_mast_rgv
        set wrk_sts=100
        where 1=1
        and wrk_no = #{wrkNo}
    </update>

    <select id="selectRgvInSteWrkNo" resultMap="BaseResultMap">
        select top 1 * from dbo.asr_wrk_mast where 1=1 and wrk_sts =12 and wrk_no=#{wrkNo} and rgv_no is null
    </select>