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

@@ -545,4 +545,23 @@
        return R.ok();
    }

    @PostMapping("/disable/task/delete1")
//    @ManagerAuth(memo = "初始化任务")
    public R taskDisabledelete1(@RequestParam Long wrkNo){
        Date now = new Date();
        log.info("/disable/task/delete1===》初始化任务！！！wrkNo:{},data:{}",wrkNo,new Date());
        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", wrkNo));
        if (Cools.isEmpty(wrkMast)){
            return R.error().add("未找到此任务，异常！！！");
        }
        wrkMast.setWrkSts(1L);
        wrkMast.setRgvNo(0);
        wrkMast.setAppeTime(now);
        wrkMast.setLogErrTime(now);
        if (wrkMastService.updateById(wrkMast)){
            return R.ok();
        }
        return R.error("初始化失败！！！");
    }

}

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

@@ -80,8 +80,8 @@
    private boolean reportSwitchAuto;

    /*
    * 验证许可证是否有效
    * */
     * 验证许可证是否有效
     * */
    public synchronized boolean licenseVerify() {
        try{
//            if (true) {
@@ -516,7 +516,7 @@
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING) {
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING || rgvProtocol.getStatusType() == RgvStatusType.WAITING101) {
                    log.info("{}号小车等待wcs确认，状态{}，参数{}", rgvProtocol.getRgvNo(), rgvProtocol.getStatusType(), rgvProtocol);
                }
                // 只有当RGV等待WCS确认、自动
@@ -577,6 +577,15 @@
                        }
                    } catch (Exception e){}
                    wrkMastService.updateById(wrkMast);
                } else if (rgvProtocol.getStatusType() == RgvStatusType.WAITING101
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1() != 0
                ){
                    boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                    if (!rgvComplete) {
                        log.error("小车复位失败，小车号{}！", rgvProtocol.getRgvNo());
                        break;
                    }
                }
            } catch (Exception e) {
                log.error("小车复位线程报错！" + e);
@@ -601,7 +610,15 @@
                ) {

                    RgvCommand rgvCommand = new RgvCommand();
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(6, rgvCommand))) {
                    rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
                    rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(rgvProtocol.getTaskNo1());
                    rgvCommand.setTaskMode1(RgvTaskModeType.CANCEL); // 工位1任务模式:  取消
                    rgvCommand.setSourceStaNo1((short)-1);   //工位1起点
                    rgvCommand.setDestinationStaNo1((short)-1);   //工位1目标站点
                    rgvCommand.setCommand((short) 1);   //工位1任务确认
                    rgvCommand.setRgvSome((short) 1);
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
                        //
                        log.error("RGV取消命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
                        continue;

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

@@ -13,10 +13,10 @@
    Outbound_operation_in_progress(7, "出站运行中","#21618C"),
    Outbound_completed(8, "出站完成","#85C1E9"),
    ROAM(11, "漫游","#95A5A6"),
    CANCEL(101, "等待取消","#95A5A6"),
    CANCEL(12, "等待取消","#95A5A6"),
    WALK(20, "走行","#F1C40F"),
    WAITING(100, "任务执行完成等待确认","#AED6F1"),
//    WAITING101(101, "任务执行完成等待确认","#AED6F1"),
    WAITING101(101, "任务执行完成等待确认","#AED6F1"),
    SOS110(110, "报警","#E74C3C"),
    SOS(999, "未知","#FF0000")
    ;

 src/main/webapp/views/index.html

@@ -335,6 +335,12 @@
                            <el-button
                                    type="danger"
                                    size="small"
                                    @click="taskDelete1(scope.row)">
                                初始化
                            </el-button>
                            <el-button
                                    type="danger"
                                    size="small"
                                    @click="taskDelete(scope.row)">
                                删除
                            </el-button>
@@ -610,7 +616,7 @@
                },
                taskDelete(row) {
                    let that = this;
                    that.$confirm('确认要删除该设备吗?', '提示', {
                    that.$confirm('确认要删除该任务吗?', '提示', {
                        confirmButtonText: '确定',
                        cancelButtonText: '取消',
                        type: 'warning'
@@ -634,6 +640,32 @@
                        });
                    });
                },
                taskDelete1(row) {
                    let that = this;
                    that.$confirm('确认要初始化该任务吗?', '提示', {
                        confirmButtonText: '确定',
                        cancelButtonText: '取消',
                        type: 'warning'
                    }).then(() => {
                        $.ajax({
                            url: baseUrl + "/rgv/disable/task/delete1",
                            headers: {'token': localStorage.getItem('token')},
                            method: 'POST',
                            data: {
                                wrkNo: row.wrkNo
                            },
                            success: function (res) {
                                if (res.code === 200) {
                                    that.$message.success('初始化成功');
                                    // 删除当前行
                                    // that.tableDataRight.splice(that.tableDataRight.indexOf(row), 1);
                                } else {
                                    that.$message.error('初始化失败');
                                }
                            }
                        });
                    });
                },
                toggleStatus(index, row) {
                    let that = this;
                    const currentStatus = row.status;