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

@@ -113,9 +113,10 @@
    public R query(String condition) {
        EntityWrapper<BasCrnp> wrapper = new EntityWrapper<>();
        wrapper.like("crn_no", condition);
        Page<BasCrnp> page = basCrnpService.selectPage(new Page<>(0, 10), wrapper);
//        Page<BasCrnp> page = basCrnpService.selectPage(new Page<>(0, 10), wrapper);
        List<BasCrnp> basCrnpList = basCrnpService.selectList(wrapper);
        List<Map<String, Object>> result = new ArrayList<>();
        for (BasCrnp basCrnp : page.getRecords()){
        for (BasCrnp basCrnp : basCrnpList){
            Map<String, Object> map = new HashMap<>();
            map.put("id", basCrnp.getCrnNo());
            map.put("value", basCrnp.getCrnNo());

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

@@ -109,9 +109,10 @@
    public R query(String condition) {
        EntityWrapper<BasDevp> wrapper = new EntityWrapper<>();
        wrapper.like("dev_no", condition);
        Page<BasDevp> page = basDevpService.selectPage(new Page<>(0, 10), wrapper);
//        Page<BasDevp> page = basDevpService.selectPage(new Page<>(0, 10), wrapper);
        List<BasDevp> basDevps = basDevpService.selectList(wrapper);
        List<Map<String, Object>> result = new ArrayList<>();
        for (BasDevp basDevp : page.getRecords()){
        for (BasDevp basDevp : basDevps){
            Map<String, Object> map = new HashMap<>();
            map.put("id", basDevp.getDevNo());
            map.put("value", basDevp.getDevNo());

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

@@ -129,9 +129,11 @@
    public R query(String condition) {
        EntityWrapper<BasWrkIotype> wrapper = new EntityWrapper<>();
        wrapper.like("io_desc", condition);
        Page<BasWrkIotype> page = basWrkIotypeService.selectPage(new Page<>(0, 20), wrapper);
//        Page<BasWrkIotype> page = basWrkIotypeService.selectPage(new Page<>(0, 20), wrapper);
        List<BasWrkIotype> basWrkIotypeList = basWrkIotypeService.selectList(wrapper);

        List<Map<String, Object>> result = new ArrayList<>();
        for (BasWrkIotype basWrkIotype : page.getRecords()){
        for (BasWrkIotype basWrkIotype : basWrkIotypeList){
            Map<String, Object> map = new HashMap<>();
            map.put("id", basWrkIotype.getIoType());
            map.put("value", basWrkIotype.getIoDesc());

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

@@ -12,11 +12,13 @@
import com.core.common.Cools;
import com.core.common.R;
import com.zy.common.web.BaseController;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;

import java.util.*;

@Slf4j
@RestController
public class DeviceErrorController extends BaseController {

@@ -60,10 +62,10 @@
                    continue;
                }
                if (entry.getKey().equals("id")) {
                    id = Long.getLong(val);
                    id = (long) Integer.parseInt(val);
                } else if (entry.getKey().equals("device")) {
                    device = val;
                } else if (entry.getKey().equals("deviceId")) {
                } else if (entry.getKey().equals("device_id")) {
                    deviceId = Integer.valueOf(val);
                }
            }
@@ -72,6 +74,7 @@
            page1.setTotal(deviceErrorService.selectDeviceErrorListTotal(id,device,deviceId));
            return R.ok(page1);
        } catch (Exception e) {
            log.error("异常" + e);
            return R.error("异常" + e);
        }
    }

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

@@ -44,7 +44,11 @@
            wrapper.orderBy(humpToLine(orderByField), "asc".equals(orderByType));
        }
        wrapper.orderAsc(Collections.singleton("crn_no"));
        return R.ok(staDescService.selectPage(new Page<>(curr, limit), wrapper));
//        return R.ok(staDescService.selectPage(new Page<>(curr, limit), wrapper));
        List<StaDesc> staDescList = staDescService.selectList(wrapper);
        Page<StaDesc> page = new Page<StaDesc>(0, 10).setRecords(staDescList);
        page.setTotal(staDescList.size());
        return R.ok(page);
    }

    private <T> void convert(Map<String, Object> map, EntityWrapper<T> wrapper){

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

@@ -41,7 +41,11 @@
        EntityWrapper<WrkLastno> wrapper = new EntityWrapper<>();
        convert(param, wrapper);
        if (!Cools.isEmpty(orderByField)){wrapper.orderBy(humpToLine(orderByField), "asc".equals(orderByType));}
        return R.ok(wrkLastnoService.selectPage(new Page<>(curr, limit), wrapper));
//        return R.ok(wrkLastnoService.selectPage(new Page<>(curr, limit), wrapper));
        List<WrkLastno> wrkLastnoList = wrkLastnoService.selectList(wrapper);
        Page<WrkLastno> page = new Page<WrkLastno>(0, 10).setRecords(wrkLastnoList);
        page.setTotal(wrkLastnoList.size());
        return R.ok(page);
    }

    private <T> void convert(Map<String, Object> map, EntityWrapper<T> wrapper){

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

@@ -98,7 +98,8 @@
    private Double weight;

    @ApiModelProperty(value= "长度")
    private Double length;
    @TableField("man_length")
    private Double manLength;

    @ApiModelProperty(value= "体积")
    private Double volume;

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

@@ -103,6 +103,15 @@
    @Value("${wms.rgvOpen}")
    private boolean rgvOpen;

    @Value("${constant-parameters.trackEntireLength}")
    private Long trackEntireLength;

    @Value("${constant-parameters.trackBenchmark}")
    private Long trackBenchmark;

    @Value("${constant-parameters.trackProportion}")
    private Long trackProportion;

    public void generateStoreWrkFile() throws IOException, InterruptedException {
        try {


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

New file
@@ -0,0 +1,19 @@
package com.zy.asrs.utils;

import com.zy.core.enums.RouteCollectCountType;

import java.util.ArrayList;
import java.util.List;

import static java.util.stream.Collectors.toList;

/**
 * Created by Monkey D. Luffy on 2023/7/18
 */
public class CompleteRouteUtils {


    public static void main(String[] arge){

    }
}

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

@@ -448,127 +448,4 @@
            System.out.println(integer);
        }
    }

    public static short RgvPosSta(Integer rgvId,Short posId){
        switch (rgvId){
            case 1:
                return RgvPosStaOne(posId);
            case 2:
                return RgvPosStaTwo(posId);
            default:
                return 1;
        }
    }

    public static short RgvPosStaOne(Short posId){
        switch (posId.intValue()){
            case 1:
            case 2:
                return 102;
            case 3:
            case 4:
                return 122;
            case 5:
            case 6:
                return 105;
            case 7:
            case 8:
            case 9:
                return 118;
            case 10:
            case 11:
                return 119;
            case 12:
            case 13:
            case 14:
                return 110;
            case 15:
                return 120;
            case 16:
            case 17:
            case 18:
                return 111;
            case 19:
                return 121;
            case 20:
            case 21:
            case 22:
                return 113;
            case 23:
            case 24:
                return 123;
            case 25:
                return 114;
            case 26:
            case 27:
                return 1142;
            case 28:
                return 116;
            default:
                return 1142;
        }
    }

    public static short RgvPosStaTwo(Short posId){
        switch (posId.intValue()){
            case 1:
                return 116;
            case 28:
            case 2:
                return 1142;
            case 3:
            case 4:
                return 114;
            case 5:
                return 123;
            case 6:
            case 7:
            case 8:
                return 113;
            case 9:
            case 10:
                return 121;
            case 11:
            case 12:
            case 13:
            case 14:
                return 120;
            case 15:
            case 16:
                return 110;
            case 17:
            case 18:
                return 119;
            case 19:
                return 108;
            case 20:
            case 21:
            case 22:
                return 107;
            case 23:
            case 24:
                return 105;
            case 25:
            case 26:
            case 27:
                return 104;
            default:
                return 104;
        }
    }

    public static Integer CrnStaEnd(Integer endSta,Integer souSta) {
        switch (souSta) {
            case 100:
            case 103:
            case 106:
            case 109:
            case 112:
            case 115:
                return souSta + 1;
            default:
                return endSta;
        }
    }

}

 src/main/java/com/zy/core/model/command/RgvCommand.java

@@ -21,109 +21,41 @@
    private Short ackFinish1 = 0;

    // 工位1任务号
    private Short taskNo1 = 0;
    private Short taskNo = 0;

    /**
     * 任务模式：
     * 0 = 无
     * 1 = 取货
     * 2 = 放货
     * 3 = 取放货
     * 3 = 行走
     */
    private Short taskMode1 = 0;
    private Short taskMode = 0;

    @JSONField(serialize = false)
    private RgvTaskModeType taskModeType1;
    private RgvTaskModeType taskModeType;

    /*
    工位1源站
     */
    private Short sourceStaNo1 = 0;
    * 作业点
    * */
    private Long destinationStaNo = 0L;

    /*
    工位1目标站
     */
    private Short destinationStaNo1 = 0;

    //////////////////////     工位2定义   //////////////////////////////////////////////////
    // 工位1任务完成确认位
    private Short ackFinish2 = 0;

    // 工位2任务号
    private Short taskNo2 = 0;
    private Short ackFinish = 0;

    /**
     * 任务模式：
     * 0 = 无
     * 1 = 取货
     * 2 = 放货
     * 3 = 取放货
     */
    private Short taskMode2 = 0;

    @JSONField(serialize = false)
    private RgvTaskModeType taskModeType2;

    /*
    工位1源站
     */
    private Short sourceStaNo2 = 0;

    /*
    工位1目标站
     */
    private Short destinationStaNo2 = 0;
    ///////////////////////////////////////////////////////////////////////////////////////

    /**
     * 任务模式：
     * 0 = 未确认
     * 1 = 工位1任务确认
     * 2 = 工位2任务确认
     * 3 = 工位1、2任务同时确认
     */
    private Short command = 0;

    public void setTaskMode1(Short taskMode1){
        this.taskMode1 = taskMode1;
        this.taskModeType1 = RgvTaskModeType.get(taskModeType1);
    public void setTaskMode(Short taskMode){
        this.taskMode = taskMode;
        this.taskModeType = RgvTaskModeType.get(taskModeType);
    }

    public void setTaskMode1(RgvTaskModeType type1) {
        this.taskModeType1 = type1;
        this.taskMode1 = RgvTaskModeType.get(type1).id.shortValue();
    public void setTaskMode(RgvTaskModeType type) {
        this.taskModeType = type;
        this.taskMode = RgvTaskModeType.get(type).id.shortValue();
    }

    public void setTaskMode2(Short taskMode2){
        this.taskMode2 = taskMode2;
        this.taskModeType2 = RgvTaskModeType.get(taskModeType2);
    }

    public void setTaskMode2(RgvTaskModeType type2) {
        this.taskModeType2 = type2;
        this.taskMode2 = RgvTaskModeType.get(type2).id.shortValue();
    }

    public static void main(String[] args) {
        Date date = new Date();
        Calendar cal = Calendar.getInstance();
        cal.setTime(date);

        System.out.println(cal.get(Calendar.YEAR));
        //默认从0-11
        System.out.println(cal.get(Calendar.MONTH)+1);
        System.out.println(cal.get(Calendar.DATE));
        int hour = cal.get(Calendar.HOUR_OF_DAY);
        System.out.println("时");
        System.out.println(hour);
        int minute = cal.get(Calendar.MINUTE);
        System.out.println("分");
        System.out.println(minute);
        int second = cal.get(Calendar.SECOND);
        System.out.println("秒");
        System.out.println(second);
        int mm = cal.get(Calendar.DAY_OF_WEEK) - 1; // 星期：0(日)～6(六)
        System.out.println("礼拜");
        System.out.println(mm);
    }
}

 src/main/java/com/zy/core/model/protocol/RgvProtocol.java

@@ -36,33 +36,19 @@
    public RgvStatusType statusType;

    /**
     * 工位1任务号
     * 任务号
     */
    public Short taskNo1 = 0;

    /**
     * RGV工位1当前状态
     * 0：空闲，无任务
     * 11：取货中
     * 12：放货中
     * 10：任务完成等待WCS确认
     */
    public Short status1;

    /**
     * 状态枚举
     */
    public RgvStatusType statusType1;
    public Short taskNo = 0;

    /**
     * 工位1有物
     */
    public Short loaded1;//0 无物；1 有物
    public Short loaded;//0 无物；1 有物

    /**
     * RGV当前位置
     */
    public Short RgvPos;
    public Long RgvPos;

    /**
     * 走行在定位
@@ -71,51 +57,10 @@
     */
    public Short walkPos;

    //////////////////////     工位2定义   //////////////////////////////////////////////////
    /**
     * 工位2任务号
     */
    public Short taskNo2 = 0;

    /**
     * RGV工位2当前状态
     * 0：空闲，无任务
     * 11：取货中
     * 12：放货中
     * 10：任务完成等待WCS确认
     */
    public Short status2;

    /**
     * 状态枚举
     */
    public RgvStatusType statusType2;

    /**
     * 工位2有物
     */
    public Short loaded2;  //0 无物；1 一层无物二层有物（只能拆叠）  ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
    ///////////////////////////////////////////////////////////////////////////////////////

    /**
     * 异常码
     */
    public Short alarm;

    /**
     * 心跳指令 1-2每秒切换一次
     */
    public Short heart;

    private Short temp1;

    private Short temp2;

    private Short temp3;

    private Short temp4;

    private Short temp5;

    /**
     * X行走行速度m/min
@@ -123,12 +68,12 @@
    private Float xSpeed;

    /**
     * 堆垛机累计走行距离km
     * 累计走行距离km
     */
    public Float xDistance;

    /**
     * 堆垛机累计走行时长h
     * 累计走行时长h
     */
    public Float xDuration;

@@ -152,40 +97,11 @@
        this.status = RgvStatusType.get(type).id.shortValue();
    }

    public void setStatus1(Short status1){
        this.status1 = status1;
        this.statusType1 = RgvStatusType.get(status1);
    }

    public void setStatus1(RgvStatusType type1){
        this.statusType1 = type1;
        this.status1 = RgvStatusType.get(type1).id.shortValue();
    }

    public void setStatus2(Short status2){
        this.status2 = status2;
        this.statusType2 = RgvStatusType.get(status2);
    }

    public void setStatus2(RgvStatusType type2){
        this.statusType2 = type2;
        this.status2 = RgvStatusType.get(type2).id.shortValue();
    }

    /**
     * 最近一次入出库类型
     *       I:入库
     *       O:出库
     */
    private String lastIo = "I";


    public BasRgv toSqlModel(BasRgv basRgv){
        if (alarm!=null) {
            basRgv.setRgvErr(alarm.longValue());
        }
        basRgv.setWrkNo1(taskNo1.intValue());
        basRgv.setWrkNo2(taskNo2.intValue());
        basRgv.setWrkNo1(taskNo.intValue());
        return basRgv;
    }


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

@@ -72,14 +72,6 @@
                    case 2:
                        write((RgvCommand) task.getData());
                        break;
                    //工位1写入数据
                    case 4:
                        write1((RgvCommand) task.getData());
                        break;
                    //工位2写入数据
                    case 5:
                        write2((RgvCommand) task.getData());
                        break;
                    // 复位
                    case 3:
                        RgvCommand command = (RgvCommand) task.getData();
@@ -87,44 +79,19 @@
                            command = new RgvCommand();
                        }
                        command.setRgvNo(slave.getId()); // RGV编号
                        command.setTaskNo1((short) 0); // 工作号
                        command.setAckFinish1((short) 1);  // 任务完成确认位
                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo1((short)0);     // 源站
                        command.setDestinationStaNo1((short)0);     // 目标站
                        command.setTaskNo2((short) 0); // 工作号
                        command.setAckFinish2((short) 1);  // 任务完成确认位
                        command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo2((short)0);     // 源站
                        command.setDestinationStaNo2((short)0);     // 目标站
                        command.setTaskNo((short) 0); // 工作号
                        command.setAckFinish((short) 1);  // 任务完成确认位
                        command.setTaskMode(RgvTaskModeType.NONE); // 任务模式
                        command.setDestinationStaNo(0L);     // 目标站
                        command.setCommand((short)0);
                        write(command);
                        break;
                    // 回原点  避让
                    case 9:
                        RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
                        if (null == commandAvoidanceXY) {
                            commandAvoidanceXY = new RgvCommand();
                        }
                        commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号
                        commandAvoidanceXY.setTaskNo1((short) 32222); // 工作号
                        commandAvoidanceXY.setAckFinish1((short) 1);  // 任务完成确认位
                        commandAvoidanceXY.setTaskMode1(RgvTaskModeType.X_MOVE); // 任务模式
                        commandAvoidanceXY.setSourceStaNo1((short)0);     // 源站
                        commandAvoidanceXY.setDestinationStaNo1(slave.getId()==1? (short) 101:(short)116);     // 目标站
                        commandAvoidanceXY.setTaskNo2((short) 0); // 工作号
                        commandAvoidanceXY.setAckFinish2((short) 1);  // 任务完成确认位
                        commandAvoidanceXY.setTaskMode2(RgvTaskModeType.X_MOVE); // 任务模式
                        commandAvoidanceXY.setSourceStaNo2((short)0);     // 源站
                        commandAvoidanceXY.setDestinationStaNo2(slave.getId()==1? (short) 101:(short)117);     // 目标站
                        commandAvoidanceXY.setCommand((short)0);
                        write(commandAvoidanceXY);
                        break;
                    default:
                        break;
                }
                Thread.sleep(500);
            } catch (Exception e) {
                log.error("RGV线程异常！！！"+e.getMessage());
//                e.printStackTrace();
            }

@@ -140,14 +107,8 @@
        }
        rgvProtocol.setMode((short) -1);
        rgvProtocol.setStatus((short)-1);
        rgvProtocol.setTaskNo1((short)0);
        rgvProtocol.setStatus1((short)-1);
        rgvProtocol.setLoaded1((short)0);
        rgvProtocol.setWalkPos((short)0);
        rgvProtocol.setRgvPos((short)0);
        rgvProtocol.setTaskNo2((short)0);
        rgvProtocol.setStatus2((short)-1);
        rgvProtocol.setLoaded2((short)0);
        rgvProtocol.setRgvPos(0L);
        rgvProtocol.setAlarm((short)0);
        rgvProtocol.setxSpeed((short) 0);
        rgvProtocol.setxDistance((short) 0);
@@ -187,47 +148,21 @@
                }
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
                rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
                rgvProtocol.setRgvPos(RouteUtils.RgvPosSta(slave.getId(),siemensNet.getByteTransform().TransInt16(result.Content, 10)));
                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
                rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 18));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 10));
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
                rgvProtocol.setHeart(siemensNet.getByteTransform().TransInt16(result.Content, 22));
                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
                rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));
                rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));
                rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));
//                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
//                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
//                rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));

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

                // 工位1复位信号
                if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
                if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag1) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish1((short)1);
                        if (write(rgvCommand)) {
                            resetFlag1 = false;
                        }
                    }
                }

                // 工位2复位信号
                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag2) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish2((short)1);
                        if (write(rgvCommand)) {
                            resetFlag2 = false;
                        }
                    }
                }
@@ -257,7 +192,7 @@
    }

    /**
     * 工位1、2同时写入数据
     * 写入数据
     */
    private boolean write(RgvCommand command) throws InterruptedException {
        if (null == command) {
@@ -268,19 +203,13 @@
        command.setRgvNo(slave.getId());
        short[] array = new short[11];
        array[0] = command.getAckFinish1();
        array[1] = command.getTaskNo1();
        array[2] = command.getTaskMode1();
        array[3] = command.getSourceStaNo1();
        array[4] = command.getDestinationStaNo1();
        array[5] = command.getAckFinish2();
        array[6] = command.getTaskNo2();
        array[7] = command.getTaskMode2();
        array[8] = command.getSourceStaNo2();
        array[9] = command.getDestinationStaNo2();
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();
//        array[4] = command.getDestinationStaNo();
        array[10] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", array);

        if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
        if (command.getAckFinish1() == 0) {
            short commandFinish = 3;  //工位1、2任务同时写入
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.20", commandFinish);
@@ -290,15 +219,15 @@
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1().intValue(),
                    command.getTaskNo2().intValue(),
                    command.getTaskNo().intValue(),
                    command.getTaskNo().intValue(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskModeType1().toString(),
                    command.getSourceStaNo1().intValue(),
                    command.getDestinationStaNo1().intValue(),
                    command.getSourceStaNo2().intValue(),
                    command.getDestinationStaNo2().intValue(),
                    command.getTaskModeType().toString(),
                    null,
                    null,
                    null,
                    command.getDestinationStaNo().intValue(),
                    null,
                    new Date(),
                    null
@@ -319,146 +248,9 @@
        }
    }

    /**
     * 工位1写入数据
     */
    private boolean write1(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

//        siemensNet.Write("DB100.20", command.getCommand());

        command.setRgvNo(slave.getId());
        short[] array = new short[5];
        array[0] = command.getAckFinish1();
        array[1] = command.getTaskNo1();
        array[2] = command.getTaskMode1();//任务模式
        array[3] = command.getSourceStaNo1();
        array[4] = command.getDestinationStaNo1();
//        siemensNet.Write("DB100.20", 0);

        OperateResult result = siemensNet.Write("DB100.0", array);

        if (command.getAckFinish1() == 0) {
            short commandFinish = 1;  //工位1任务写入
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.20", commandFinish);
        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1().intValue(),
                    command.getTaskNo2().intValue(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskModeType1().toString(),
                    command.getSourceStaNo1().intValue(),
                    command.getDestinationStaNo1().intValue(),
                    command.getSourceStaNo2().intValue(),
                    command.getDestinationStaNo2().intValue(),
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位1数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位1数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    /**
     * 工位2写入数据
     */
    private boolean write2(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

        command.setRgvNo(slave.getId());
        short[] array = new short[6];
        array[0] = command.getAckFinish2();//任务完成确认位
        array[1] = command.getTaskNo2();//任务号
        array[2] = command.getTaskMode2();//任务模式
        array[3] = command.getSourceStaNo2();//源站
        array[4] = command.getDestinationStaNo2();//目标站
        array[5] = command.getCommand();//任务下发确认

        OperateResult result = siemensNet.Write("DB100.10", array);

        if (command.getAckFinish2() == 0) {
            short commandFinish = 2;  //工位2任务写入
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.20", commandFinish);
        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1().intValue(),
                    command.getTaskNo2().intValue(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskModeType1().toString(),
                    command.getSourceStaNo1().intValue(),
                    command.getDestinationStaNo1().intValue(),
                    command.getSourceStaNo2().intValue(),
                    command.getDestinationStaNo2().intValue(),
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位2命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位2命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位2数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位2数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    @Override
    public void close() {
        siemensNet.ConnectClose();
    }

    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/
    /*****************************************************************************************/
    public static void main(String[] args) throws InterruptedException {
        RgvSlave slave = new RgvSlave();
        slave.setId(1);
        slave.setIp("192.168.6.9");
        slave.setRack(0);
        slave.setSlot(0);
        RgvThread rgvThread = new RgvThread(slave);
        rgvThread.connect();
        rgvThread.readStatus();
        System.out.println(JSON.toJSONString(rgvThread.rgvProtocol));
        Thread.sleep(3000L);

    }

}

 src/main/resources/application.yml

@@ -47,6 +47,14 @@
  licensePath: license.lic
  publicKeysStorePath: publicCerts.keystore

constant-parameters:
  # 轨道总长
  trackEntireLength: 1737000
  # 轨道基准点
  trackBenchmark: 1
  # 轨道转换为米比例
  trackProportion: 10000

wms:
  # 是否开启上报
  start: true

 src/main/resources/mapper/ApiConfigMapper.xml

@@ -17,10 +17,10 @@

    <sql id="batchSeq">
        <if test="id != null and id != 0">
            and a.ID = #{id}
            and ID = #{id}
        </if>
        <if test="url != null and url != ''">
            and a.URL = #{url}
            and URL = #{url}
        </if>
    </sql>


 src/main/resources/mapper/DeviceErrorMapper.xml

@@ -13,13 +13,13 @@

    <sql id="batchSeq">
        <if test="id != null and id != 0">
            and a.ID = #{id}
            and ID = #{id}
        </if>
        <if test="device != null and device != ''">
            and a.DEVICE = #{device}
            and DEVICE = #{device}
        </if>
        <if test="deviceId != null and deviceId != 0">
            and a.DEVICE_ID = #{deviceId}
            and DEVICE_ID = #{deviceId}
        </if>
    </sql>


 src/main/resources/mapper/LocDetlMapper.xml

@@ -27,7 +27,7 @@
        <result column="ITEM_NUM" property="itemNum" />
        <result column="SAFE_QTY" property="safeQty" />
        <result column="WEIGHT" property="weight" />
        <result column="LENGTH" property="length" />
        <result column="MAN_LENGTH" property="manLength" />
        <result column="VOLUME" property="volume" />
        <result column="THREE_CODE" property="threeCode" />
        <result column="SUPP" property="supp" />

 src/main/resources/mapper/LocMastMapper.xml

@@ -63,31 +63,29 @@
    </sql>

    <select id="selectLocMastListSix" resultMap="BaseResultMap">
        SELECT * FROM "SOURCE"."sys_role"
        SELECT * FROM "SOURCE"."asr_loc_mast"
        WHERE 1=1
        <include refid="batchSeq"></include>
        ORDER BY ID DESC
        LIMIT #{pageSize} OFFSET ((#{pageNumber} - 1) * #{pageSize});
    </select>

    <select id="selectLocMastListTotalSix" resultType="Long">
        SELECT count(1) FROM "SOURCE"."sys_role"
        SELECT count(1) FROM "SOURCE"."asr_loc_mast"
        WHERE 1=1
        <include refid="batchSeq"></include>
    </select>

    <select id="selectLocMastList" resultMap="BaseResultMap">
        SELECT * FROM "SOURCE"."sys_role"
        SELECT * FROM "SOURCE"."asr_loc_mast"
        WHERE 1=1
        <if test="locNo != null and locNo != ''">
            and LOC_NO like '%' + #{locNo} + '%'
        </if>
        ORDER BY ID DESC
        LIMIT #{pageSize} OFFSET ((#{pageNumber} - 1) * #{pageSize});
    </select>

    <select id="selectLocMastListTotal" resultType="Long">
        SELECT count(1) FROM "SOURCE"."sys_role"
        SELECT count(1) FROM "SOURCE"."asr_loc_mast"
        WHERE 1=1
        <if test="locNo != null and locNo != ''">
            and LOC_NO like '%' + #{locNo} + '%'