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

@@ -234,7 +234,7 @@
                return;
            }
            long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMasts.get(0).getModiTime(), new Date());
            if (differenceInSeconds <= 100) {
            if (differenceInSeconds <= 1000) {
                return;
            }

@@ -263,20 +263,44 @@
    //获取小车取放任务列表失败
    public synchronized List<List<List<WrkMast>>> getWrkMastListAll(List<List<Integer>> siteListAll ,BasDevpPosition[] basDevpPositionsListUN) {
        List<List<List<WrkMast>>> wrkMastListAll = new ArrayList<>();
        List<Integer> sourceStaNoList = new ArrayList<>();

        for (List<Integer> siteList : siteListAll){
            List<List<WrkMast>> wrkMastLists = new ArrayList<>();
            try {
                List<WrkMast> wrkMastlistA = new ArrayList<>();
                List<WrkMast> wrkMastlistB = new ArrayList<>();
                List<WrkMast> wrkMastlistC = new ArrayList<>();
                List<WrkMast> wrkMastlistD = new ArrayList<>();
                for (BasDevpPosition basDevpPosition : basDevpPositionsListUN) {
                    List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts", 1L).orderBy("modi_time", true));
                    for (WrkMast wrkMast : wrkMastList) {
                        if (!Cools.isEmpty(wrkMast)) {
                            if (siteList.contains(wrkMast.getSourceStaNo())){
                                if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN, wrkMast.getSourceStaNo(), wrkMast.getStaNo())) {
                                    wrkMastlistA.add(wrkMast);
                                if (!sourceStaNoList.contains(wrkMast.getSourceStaNo())){
                                    List<WrkMast> wrkMastListS = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("source_sta_no", wrkMast.getSourceStaNo()).eq("wrk_sts", 1L).orderBy("modi_time", true));
                                    if (wrkMastListS.isEmpty()){
                                        continue;
                                    }
                                } else {
                                    wrkMastlistB.add(wrkMast);
                                    continue;
                                }
                                long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMast.getModiTime(), new Date());

                                if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN, wrkMast.getSourceStaNo(), wrkMast.getStaNo())) {
                                    sourceStaNoList.add(wrkMast.getSourceStaNo());
                                    if (differenceInSeconds>600000){
                                        wrkMastlistA.add(wrkMast);
                                    } else {
                                        wrkMastlistC.add(wrkMast);
                                    }
                                } else {
                                    sourceStaNoList.add(wrkMast.getSourceStaNo());
                                    if (differenceInSeconds>600000){
                                        wrkMastlistB.add(wrkMast);
                                    } else {
                                        wrkMastlistD.add(wrkMast);
                                    }
                                }
                            }
                        }
@@ -284,6 +308,8 @@
                }
                wrkMastLists.add(wrkMastlistA);
                wrkMastLists.add(wrkMastlistB);
                wrkMastLists.add(wrkMastlistC);
                wrkMastLists.add(wrkMastlistD);
//                return wrkMastLists;
                wrkMastListAll.add(wrkMastLists);
            } catch (Exception e) {
@@ -456,8 +482,8 @@

        List<Integer> rgvNoM = new ArrayList<>();
        List<Integer> rgvNoR = new ArrayList<>();
        Integer wrkMastRunCount = 0;
        Long devperimeter = 0L;
        int wrkMastRunCount = 0;
        long devperimeter = 0L;
        for (List<List<WrkMast>> wrkMastLists : wrkMastListAll) {
            long rgvId = 0;
            runRgv:
@@ -494,7 +520,7 @@
                                    if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
                                        rgvNoM.add(rgvProtocol.getRgvNo());
                                        if (wrkMastRunCount == 0){
                                            devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+1000;
                                            devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000;
                                        }
                                        wrkMastRunCount++;
                                        break;
@@ -506,7 +532,7 @@
                                    if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
                                        rgvNoM.add(rgvProtocol.getRgvNo());
                                        if (wrkMastRunCount == 0){
                                            devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+1000;
                                            devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000;
                                        }
                                        wrkMastRunCount++;
                                        break;
@@ -590,7 +616,7 @@
                        && rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getTaskNo1() == 0
                        && rgvProtocol.getAlarm() == 0) {
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4,devperimeter))) {
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(5,devperimeter))) {
                        log.error("RGV漫游启动命令下发失败，RGV号={}，任务数据={}", rgvNo, "漫游指令");
                        break;
                    }
@@ -649,7 +675,7 @@
                                    wrkMastService.updateById(wrkMast);
                                    continue;
                                }else {
                                    log.error("工作号"+wrkMast.getWrkNo()+"任务完成信息上传处理失败");
                                    log.error("工作号"+wrkMast.getWrkNo()+"任务完成信息上传处理失败1");
                                }
                            } else {
                                //测试用

 src/main/java/com/zy/asrs/task/handler/RgvTaskReportingHandler.java

@@ -47,7 +47,7 @@
                wrkMastService.updateById(wrkMast);
                return SUCCESS;
            }else {
                log.error("任务完成信息上传失败");
                log.error("工作号"+wrkMast.getWrkNo()+"任务完成信息上传处理失败2");
            }
        }catch (Exception e){
            log.error("任务完成信息上传异常！！！"+e);

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

@@ -10,6 +10,7 @@

import javax.annotation.PreDestroy;
import java.util.ArrayList;
import java.util.Date;

/**
 * WCS主流程
@@ -51,6 +52,7 @@
                try {
                    // 间隔
                    Thread.sleep(200);
                    System.out.println("开始："+new Date().getTime());

                    // 系统运行状态判断
                    if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
@@ -67,6 +69,8 @@
                    mainService.rgvCompleteWrkMastSta(autoZ);
                    //更新位置信息
                    mainService.updateStePosition();
                    System.out.println("结束："+new Date().getTime());


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

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

@@ -98,9 +98,10 @@
                    step = task.getStep();
                }
                switch (step) {
                    // 读数据
                    //漫游任务完成信号
                    case 1:
//                        readStatus();
                        taskComplete();
                        break;
                    //工位1写入数据
                    case 2:
@@ -361,12 +362,33 @@
            return false;
        }
    }

    /**
     * 完成
     */
    private void taskComplete() {
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB24.11", (short) 1);
            boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);
            if (status[0]){
                OperateResult result4 = siemensNet.Write("DB24.11.0", false);
            }
        } catch (Exception e) {
            log.error("RGV数据任务下发复位线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
    }

    private void write5(Long devperimeter){
        try {
            siemensNet.Write("DB24.10.0", false);
            siemensNet.Write("DB24.10.0", devperimeter.intValue());
        } catch (Exception ignore) {}
            siemensNet.Write("DB24.12", devperimeter.intValue());
            Thread.sleep(10L);
            siemensNet.Write("DB24.11.0", true);

        } catch (Exception ignore) {
            log.error("写入RGV plc工位1漫游数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
    }

    private boolean write3(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");

 src/main/resources/application.yml

@@ -57,7 +57,7 @@
  # 小车数
  rgvCount: 10
  # 延迟时间
  rgvDate: 1
  rgvDate: 0.5

# 下位机配置
wcs-slave: