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

@@ -352,4 +352,15 @@
        return Math.abs(day) + "天" + Math.abs(hour) + "小时" + Math.abs(min) + "分" + Math.abs(s) + "秒";
    }



    public Integer getTargetPointConvert(){
        switch (targetPoint){
            case "11":
                return 11;
            default:
                return null;
        }
    }

}

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

@@ -13,25 +13,24 @@
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.CommandUtils;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.TrackRangeUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.service.CommonService;
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.RgvStatusCache;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.cache.*;
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -42,6 +41,7 @@

import java.io.IOException;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;

/**
 * 立体仓库WCS系统主流程业务
@@ -80,6 +80,8 @@
    private CommonService commonService;
    @Autowired
    private CrnController crnController;
    @Autowired
    private BasDevpPositionService basDevpPositionService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -99,6 +101,9 @@

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

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

    public void generateStoreWrkFile() {
        try {
@@ -1106,25 +1111,63 @@
        return taskWrk;
    }

    public boolean deviceDetection(RgvSlave slave){
    public String rgvOtherTaskWrk(RgvSlave slave){

        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
        ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
        if (!allTaskProtocol.isEmpty()){
            for (TaskProtocol taskProtocol : allTaskProtocol.values()){
                if (taskProtocol.getTaskNo() != 0 ){
                    return taskProtocol.getTaskNo().toString();
                }
            }
        }
        return "无";

    }
    public boolean rgvDetection(RgvSlave slave){
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        if (rgvProtocol == null) {
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

        if (rgvProtocol == null || rgvTaskProtocol ==null) {
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L)
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 || rgvProtocol.getRgvPosDestination() == 0L
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
        RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());

        if (rgvProtocolOther == null) {
            return false;
        }
        if (rgvProtocolOther.statusEnable){
            if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
            if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1  || rgvProtocolOther.getRgvPosDestination() == 0L) {
                return false;
            }
        }
        return true;
    }

    public TaskWrk deviceDetection(RgvSlave.RgvStn inSta){

        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
        StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
        if (staProtocol == null){
            return null;
        }
        // 判断是否满足取货条件
        if (staProtocol.isAutoing()
//                && staProtocol.isLoading()
                && staProtocol.getWorkNo()!=0) {
            TaskWrk taskWrk = taskWrkService.selectByTaskNo(staProtocol.getWorkNo().toString());
            if (taskWrk!=null){
                return taskWrk;
            }
        }
        return null;
    }

    public boolean rgvOtherStatusEnable(RgvSlave slave){
@@ -1134,42 +1177,257 @@
        }
        if (rgvProtocolOther.statusEnable){
//            if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
                return true;
            return true;
//            }
        }
        return false;
    }


    private void sc(){


        // 根据输送线plc遍历
    public synchronized void taskStart() {
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            if (!deviceDetection(rgvSlave)){
                continue;
            }
            RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
            try{
                if (rgvDetection(rgvSlave)){
                    String taskNoNow = rgvOtherTaskWrk(rgvSlave);
                    List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("PLC_POSITION", true));
                    boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
                    if (basDevpPositions.isEmpty()) {
                        log.error("获取所有站点信息异常");
                        continue;
                    }
                    List<TaskWrk> taskWrkList = new ArrayList<>();
                    List<Integer> staList = new ArrayList<>();
                    for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()){
                        TaskWrk taskWrk = deviceDetection(inSta);
                        if (taskWrk!=null){
                            if (taskWrk.getTaskNo().equals(taskNoNow)) continue;
                            taskWrkList.add(taskWrk);
                            staList.add(inSta.getStaNo());
                        }
                    }

            RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(rgvSlave.getOtherId());
                    if (taskWrkList.isEmpty() || staList.isEmpty()) continue;

            //求出当前车可运行范围
            Long[] farthestPoint = new Long[]{0L,0L};
            if (!rgvProtocolOther.statusEnable){
                farthestPoint = new Long[]{0L,0L};
            } else {
                if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)){
                    boolean sign = false;

                    if (rgvOtherStatusEnable(rgvSlave)){
                        //分成上下两部分任务
                        List<Integer>[] avoidRange = RouteUtils.gradeRange(staList, basDevpPositions);
                        List<Integer> rangeListSou = avoidRange[itSmall ? 0 : 1];
                        List<Integer> rangeListSouOther = avoidRange[itSmall ? 1 : 0];
                        //就近排序
                        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
                        List<Integer> rangeList = RouteUtils.SortNearby(rangeListSou, rgvProtocol.RgvPos, basDevpPositions);
                        List<Integer> rangeListOther = RouteUtils.SortNearby(rangeListSouOther, rgvProtocol.RgvPos, basDevpPositions);

                        //所属部分就进取货

                        //筛选范围内任务
                        //就近排序
                        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(rgvSlave.getOtherId());
                        //筛选在范围任务
                        List<Integer> belongToRange = RouteUtils.belongToRange(rangeList, rgvProtocolOther.getRgvPosDestination(), basDevpPositions);
                        for (Integer staNoNow : belongToRange){
                            for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
                                if (rgvStn.getStaNo().equals(staNoNow)){
                                    TaskWrk taskWrk = deviceDetection(rgvStn);
                                    if (taskWrk!=null){
                                        if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,taskWrk.getTargetPointConvert(),basDevpPositions)){
                                            sign = taskGenerate(rgvSlave,rgvStn,0);
                                        }
                                    }
                                    break;
                                }
                            }
                            if (sign){
                                break;
                            }
                        }
                        if (!sign){
                            //  筛选范围内取货任务
                            for (Integer staNoNow : belongToRange){
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
                                    if (rgvStn.getStaNo().equals(staNoNow)){
                                        sign = taskGenerate(rgvSlave,rgvStn,0);
                                        break;
                                    }
                                }
                                if (sign){
                                    break;
                                }
                            }
                        }

                        if (!sign){
                            for (Integer staNoNow : rangeList){
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
                                    if (rgvStn.getStaNo().equals(staNoNow)){
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk!=null){
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,taskWrk.getTargetPointConvert(),basDevpPositions)){
                                                sign = taskGenerate(rgvSlave,rgvStn,0);
                                            }
                                        }
                                        break;
                                    }
                                }
                                if (sign){
                                    break;
                                }
                            }
                        }
                        if (!sign){
                            //  半边区域内取货任务
                            for (Integer staNoNow : rangeList){
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
                                    if (rgvStn.getStaNo().equals(staNoNow)){
                                        sign = taskGenerate(rgvSlave,rgvStn,0);
                                        break;
                                    }
                                }
                                if (sign){
                                    break;
                                }
                            }
                        }
                        if (!sign){
                            //  半边区域内放货任务
                            for (Integer staNoNow : rangeListOther){
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
                                    if (rgvStn.getStaNo().equals(staNoNow)){
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk!=null){
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,taskWrk.getTargetPointConvert(),basDevpPositions)){
                                                sign = taskGenerate(rgvSlave,rgvStn,0);
                                            }
                                        }
                                        break;
                                    }
                                }
                                if (sign){
                                    break;
                                }
                            }
                        }
                    } else {
                        //可用区域就近取货
                        //就近排序
                        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
                        List<Integer> rangeList = RouteUtils.SortNearby(staList, rgvProtocol.RgvPos, basDevpPositions);
                        //  半边区域内取货任务
                        for (Integer staNoNow : rangeList){
                            for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
                                if (rgvStn.getStaNo().equals(staNoNow)){
                                    sign = taskGenerate(rgvSlave,rgvStn,0);
                                    break;
                                }
                            }
                            if (sign){
                                break;
                            }
                        }
                    }
                }
            }


            // 遍历入库口
            for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSStn()) {

            } catch (Exception e){
                log.error("任务生成失败===》异常信息：{}",e.getMessage());
            }
        }

    }
    //获取起点与终点对象
    public RgvSlave.RgvStn getRgvStnNow(RgvSlave rgvSlave,Integer staNo) {
        for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
            if (rgvStn.getStaNo().equals(staNo)){
                return rgvStn;
            }
        }
        for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvOutSta()){
            if (rgvStn.getStaNo().equals(staNo)){
                return rgvStn;
            }
        }
        return null;
    }

    //获取起点与终点对象
    public RgvSlave.RgvStn[] getRgvStnAll(RgvSlave rgvSlave,Integer souSta,Integer endSta) {
        RgvSlave.RgvStn[] rgvStns = new RgvSlave.RgvStn[2];
        for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
            if (rgvStn.getStaNo().equals(souSta)){
                rgvStns[0] = rgvStn;
            }
        }
        for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvOutSta()){
            if (rgvStn.getStaNo().equals(endSta)){
                rgvStns[1] = rgvStn;
            }
        }
        return rgvStns;
    }

    public boolean taskGenerate(RgvSlave rgvSlave,RgvSlave.RgvStn rgvStn,Integer sign) {
        try{
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();

            TaskProtocol issuedTake = new TaskProtocol();
            TaskProtocol issuedPut = new TaskProtocol();
            try{
                ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
                if (allTaskProtocol.size() > 0){
                    return false;
                }
                TaskWrk taskWrk = deviceDetection(rgvStn);
                if (taskWrk == null){
                    return false;
                }
                Integer targetPointConvert = taskWrk.getTargetPointConvert();
                if (targetPointConvert == null){
                    return false;
                }
                RgvSlave.RgvStn rgvStnEnd = getRgvStnNow(rgvSlave, targetPointConvert);
                if (rgvStnEnd == null){
                    return false;
                }

                BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
                BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
                //执行
                issuedTake.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
                issuedTake.setTaskStatus(1);
                issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(),issuedTake.getTaskStatus()));
                issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
                issuedTake.setIsRunning(1);
                issuedTake.setDirection(rgvStn.isDirection());


                issuedPut.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
                issuedPut.setTaskStatus(2);
                issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(),issuedPut.getTaskStatus()));
                issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
                issuedPut.setIsRunning(1);
                issuedPut.setDirection(rgvStnEnd.isDirection());
            }catch (Exception e){
                log.error("任务生成失败issued1===》异常信息：{}",e.getMessage());
                return false;
            }

            switch (sign){
                case 1:
                    taskProtocolCache.updateTaskProtocol(issuedTake);
                    break;
                case 2:
                    taskProtocolCache.updateTaskProtocol(issuedPut);
                    break;
                default:
                    taskProtocolCache.updateTaskProtocol(issuedTake);
                    taskProtocolCache.updateTaskProtocol(issuedPut);
                    break;
            }
        } catch (Exception e){
            log.error("任务生成失败issued2===》异常信息：{}",e.getMessage());
        }
        return true;
    }



}

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

@@ -1,6 +1,10 @@
package com.zy.asrs.utils;

import com.zy.asrs.entity.BasDevpPosition;
import com.zy.asrs.entity.TaskWrk;
import com.zy.asrs.entity.WrkMast;
import com.zy.core.enums.RouteCollectCountType;
import com.zy.core.model.RgvSlave;

import java.util.ArrayList;
import java.util.List;
@@ -11,441 +15,56 @@
 * Created by Monkey D. Luffy on 2023/7/18
 */
public class RouteUtils {
    //排序  执行方向（面朝轨道 定位值左小右大）  0:左 小   1:右 大
    public static List<Integer>[] gradeRange(List<Integer> staNoList,List<BasDevpPosition> basDevpPositions) {
        List<Integer>[] avoidRangeArray = new ArrayList[2];

    public static final List<Integer> MERGE_STA_NO_One = new ArrayList<Integer>() {{
        add(171);add(116);add(117);
    }};

    public static final List<Integer> MERGE_STA_NO_TWO = new ArrayList<Integer>() {{
        add(113);add(123);add(114);add(1142);
    }};

    public static final List<Integer> MERGE_STA_NO_THREE = new ArrayList<Integer>() {{
        add(107);add(118);add(108);add(119);
    }};

    public static final List<Integer> MERGE_STA_NO_FOUR = new ArrayList<Integer>() {{
        add(110);add(120);add(111);add(121);
    }};

    public static final List<Integer> MERGE_STA_NO_FIVE = new ArrayList<Integer>() {{
        add(104);add(122);add(105);
    }};

    public static final List<Integer> MERGE_STA_NO_SIX = new ArrayList<Integer>() {{
        add(108);add(119);add(110);add(120);
    }};
        return avoidRangeArray;
    }

    public static final List<Integer> MERGE_STA_NO_SEVEN = new ArrayList<Integer>() {{

    }};

    public static final List<Integer> MERGE_STA_NO_EIGHT = new ArrayList<Integer>() {{

    }};
    //获取在范围的站点
    public static List<Integer> belongToRange(List<Integer> staNoList,Long position,List<BasDevpPosition> basDevpPositions){
        List<Integer> siteList = new ArrayList<>();

    public static final List<Integer> MERGE_STA_NO_NINE = new ArrayList<Integer>() {{
        return siteList;
    }

    }};

    //    正序
    public static final List<Integer> TRACK_POSITION_POSITIVE_SEQUENCE1 = new ArrayList<Integer>() {{
        add(101);add(102);add(104);add(122);add(105);add(107);add(118);add(108);
    }};
    //    反序
    public static final List<Integer> TRACK_POSITION_REVERSE_SEQUENCE2 = new ArrayList<Integer>() {{
        add(117);add(116);add(171);add(1142);add(114);add(123);add(113);add(121);add(111);add(120);add(110);
    }};

    public static Integer getEndRoute(Integer endRoute,Integer rgvNo){
        if (rgvNo == 1){
            if (TRACK_POSITION_POSITIVE_SEQUENCE1.contains(endRoute)){
                return endRoute;
            } else {
                return 108;
            }
        } else if (rgvNo == 2){
            if (TRACK_POSITION_REVERSE_SEQUENCE2.contains(endRoute)){
                return endRoute;
            } else {
                return 110;
    //提取站点集合
    public static List<Integer> BasDevpPositionExtractSites(List<BasDevpPosition> basDevpPositions){
        List<Integer> siteList = new ArrayList<>();
        for (BasDevpPosition basDevpPosition : basDevpPositions){
            if (!siteList.contains(basDevpPosition.getDevNo())){
                siteList.add(basDevpPosition.getDevNo());
            }
        }
        return endRoute;
        return siteList;
    }

//    正序
    public static final List<Integer> TRACK_POSITION_POSITIVE_SEQUENCE = new ArrayList<Integer>() {{
        add(101);add(102);add(104);add(122);add(105);add(107);add(118);add(108);add(119);add(110);add(120);add(111);add(121);add(113);add(123);add(114);add(1142);add(171);add(116);add(117);
    }};
//    反序
    public static final List<Integer> TRACK_POSITION_REVERSE_SEQUENCE = new ArrayList<Integer>() {{
        add(117);add(116);add(171);add(1142);add(114);add(123);add(113);add(121);add(111);add(120);add(110);add(119);add(108);add(118);add(107);add(105);add(122);add(104);add(102);add(101);
    }};
    //提取站点集合
    public static List<Integer> SortNearby(List<Integer> staNoList,Long rgvNowPos,List<BasDevpPosition> basDevpPositions){
        List<Integer> siteList = new ArrayList<>();

    public static String zerofill(String msg, Integer count){
        if (msg.length() == count){
            return msg;
        } else if (msg.length() > count){
            return msg.substring(0, 16);
        } else {
            StringBuilder msgBuilder = new StringBuilder(msg);
            for (int i = 0; i<count-msg.length(); i++){
                msgBuilder.insert(0,"0");
            }
            return msgBuilder.toString();
        return siteList;
    }



    //检测是否在范围
    public static boolean CheckIfItIsWithinTheRange(List<Integer> staNoList,Integer staNo,List<BasDevpPosition> basDevpPositions){
        List<Integer> siteList = new ArrayList<>();
        if (staNoList.isEmpty()){
            return true;
        }
    }
//    /*
//     * 获取干涉最远站点
//     * */
//    public static Integer RouteIndexFarMas(int rgvNo,Integer staNo){
//        List<Integer> staFall = new ArrayList<>();
//        if (MERGE_STA_NO_SIX.contains(staNo)){
//            staFall = MERGE_STA_NO_SIX;
//        }else if (MERGE_STA_NO_One.contains(staNo)){
//            staFall = MERGE_STA_NO_One;
//        }else if (MERGE_STA_NO_TWO.contains(staNo)){
//            staFall = MERGE_STA_NO_TWO;
//        }else if (MERGE_STA_NO_THREE.contains(staNo)){
//            staFall = MERGE_STA_NO_THREE;
//        }else if (MERGE_STA_NO_FOUR.contains(staNo)){
//            staFall = MERGE_STA_NO_FOUR;
//        }else if (MERGE_STA_NO_FIVE.contains(staNo)){
//            staFall = MERGE_STA_NO_FIVE;
//        }else {
//            return staNo;
//        }
//
//        int indexNo = 0;
//        if (rgvNo==1){
//            indexNo=staFall.size()-1;
//        }
//        return staFall.get(indexNo);
//    }

    /*
     * 获取干涉最远站点
     * */
    public static Integer RouteIndexFarMas(int rgvNo,Integer staNo){
        if (rgvNo==1){
            switch (staNo){
                case 101:
                case 102: return  102;
                case 104:
                case 122: return  118;
                case 105: return  119;
                case 107:
                case 118: return  108;
                case 108:
                case 119: return  111;
                case 110:
                case 120: return  113;
                case 111:
                case 121: return  113;
                case 113: return  114;
                case 123:
                case 114: return  1142;
                default:
                    return 116;
            }
        }else {
            switch (staNo){
                case 117:
                case 116:
                case 171:
                    return  1142;
                case 1142:
                case 114: return  113;
                case 123:
                case 113: return  111;
                case 121: return  110;
                case 111: return  110;
                case 120:
                case 110: return 108;
                case 119:
                case 108: return  107;
                case 118:
                case 107: return  105;
                case 105:
                case 122:
                case 104: return  104;
                default:
                    return 102;
            }
        }
    }
    /*
     * 获取干涉最远站点
     * */
    public static Integer RouteIndexFarMasL(int rgvNo,Integer staNo){
        if (rgvNo==1){
            switch (staNo){
                case 101:
                case 102:
                case 104:
                case 122:
                case 105:
                case 107:
                    return 118;
                case 118:
                    return staNo;
                default:
                    return 108;
            }
        }else {
            switch (staNo){
                case 117:
                case 116:
                case 171:
                case 1142:
                case 114:
                case 123:
                case 113:
                case 121:
                    return 121;
                case 111:
                    return staNo;
                default:
                    return 110;
            }
        }
    }

    // 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 = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(groupStart) < TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(groupEnd);
        List<Integer> result = new ArrayList<>();
        List<Integer> groupRoute = new ArrayList<>();
        if (sign){
            groupRoute = TRACK_POSITION_POSITIVE_SEQUENCE;
        }else {
            groupRoute = TRACK_POSITION_REVERSE_SEQUENCE;
        }
        if (groupRoute.contains(groupStart) && groupRoute.contains(groupEnd)) {
            sign = false;
            for (Integer route : groupRoute) {
                if (route.equals(groupStart)){
                    sign=true;
                }
                if (route.equals(groupEnd)){
                    result.add(route);
                    break;
                }
                if (sign){
                    result.add(route);
                }
            }
        }else {
            return null;
        }
        return result;
    }

    /*
    * 获取最远站点
    * */
    public static Integer RouteIndexFarMas(Integer a,Integer b,Integer c,Integer d){
        int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(a);
        int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(b);
        int ic = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(c);
        int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
        if (id==0){
            if (ia>ib){
                if (ia>ic){
                    return a;
                }else {
                    return c;
                }
            }else {
                if (ib>ic){
                    return b;
                }else {
                    return c;
                }
            }
        }else {
            if (ia<ib){
                if (ia<ic){
                    return a;
                }else {
                    return c;
                }
            }else {
                if (ib<ic){
                    return b;
                }else {
                    return c;
                }
            }
        }
    }

    /*
     * 获取最远站点
     * a:当前位置
     * b:开始位置
     * c:结束位置
     * d:锁开始位置
     * */
    public static Integer RouteIndexFarMasNew(Integer a,Integer b,Integer c,Integer d){
        int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(a);
        int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(b);
        int ic = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(c);
        int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
        if (id==0){
            if (ia>ib){
                if (ia>ic){
                    return a;
                }else {
                    return c;
                }
            }else {
                if (ib>ic){
                    return b;
                }else {
                    return c;
                }
            }
        }else {
            if (ia<ib){
                if (ia<ic){
                    return a;
                }else {
                    return c;
                }
            }else {
                if (ib<ic){
                    return b;
                }else {
                    return c;
                }
            }
        }
    }

    public static Integer[] RouteIndexFarArr(Integer a,Integer b,Integer c,Integer d){
        int ia = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(a);
        int ib = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(b);
        int ic = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(c);
        int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
        return new Integer[]{ia,ib,ic,id};
    }

    /*
     * 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
     * d  小车初始位置
     * 获取最大路径差值
     * */
    public static List<Integer>  RouteMapCurrentFar(Integer a,Integer b,Integer c,Integer d){
        Integer farStn = RouteIndexFarMas(a, b, c, d);
        return getRouteIntersection(TRACK_POSITION_POSITIVE_SEQUENCE,getRoute(farStn, d), RouteCollectCountType.DIFFERENCESET);
    }

    public static List<Integer>  RouteMapCurrentFar(Integer farStn,Integer d){
        return getRouteIntersection(TRACK_POSITION_POSITIVE_SEQUENCE,getRoute(farStn, d), RouteCollectCountType.DIFFERENCESET);
    }

    /*
    * 另一台小车最远位置
    * */
    public static Integer RouteMapOtherFarStnNo(List<Integer> routeDIFF,Integer d){
        int id = TRACK_POSITION_POSITIVE_SEQUENCE.indexOf(d);
        if (id==0){
            return routeDIFF.get(0);
        }else {
            int size = routeDIFF.size();
            return routeDIFF.get(size-1);
        }
    }

    //是否有交集
    public static boolean getRouteBoolean(List<Integer> groupCurrent,List<Integer> groupOther){
        for (Integer positionCurrent : groupCurrent){
            for (Integer positionOther : groupOther){
                if (positionCurrent.equals(positionOther)){
                    return true;
                }
            }
        }
        return false;
    }

    //集合运算
    public static List<Integer> getRouteIntersection(List<Integer> groupCurrent, List<Integer> groupOther, RouteCollectCountType routeCollectCountType){
        switch (routeCollectCountType){
            case INTERSECTION:
                //交集
                return groupCurrent.stream().filter(item -> groupOther.contains(item)).collect(toList());
            case DIFFERENCESET:
                //差集
                return groupCurrent.stream().filter(item -> !groupOther.contains(item)).collect(toList());
            case UNION:
                //并集
                groupCurrent.addAll(groupOther);
                return groupCurrent;
            case DEDUPLICATIONUNION:
                //去重并集
                groupCurrent.addAll(groupOther);
                return groupCurrent.stream().distinct().collect(toList());
            default:
                return null;
        }
    }

    /*
    * 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 List<Integer> RouteAutoBoolean(Integer a,Integer b,Integer c){
        return getRouteIntersection(getRoute(a, c), getRoute(b, c), RouteCollectCountType.DEDUPLICATIONUNION);
    }



    public static void main(String[] arge){
        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);

        boolean routeBoolean = getRouteBoolean(routeCurrent, routeOther);  //是否有交集
        System.out.println("是否有交集:\t"+routeBoolean);

        List<Integer> routeIntersection = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.INTERSECTION);//交集
        System.out.println("路径交集：\t"+routeIntersection);

        List<Integer> routeIntersection1 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.DIFFERENCESET);//差集
        System.out.println("路径差集：\t"+routeIntersection1);

        List<Integer> routeIntersection2 = getRouteIntersection(routeCurrent, routeOther, RouteCollectCountType.UNION);//并集
        System.out.println("路径并集：\t"+routeIntersection2);

        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));

        List<Integer> routeDIFF = RouteMapCurrentFar(114, 104, 119, 117);
        System.out.println("当前路径最大集合：\t"+ routeDIFF);

        Integer routeFarOther= RouteMapOtherFarStnNo(routeDIFF,117);
        System.out.println("另一台小车最远站点：\t"+routeFarOther);


        Integer[] integers = RouteIndexFarArr(114, 104, 119, 101);
        for (Integer integer:integers){
            System.out.println(integer);
        }
    }
}

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

New file
@@ -0,0 +1,49 @@
package com.zy.asrs.utils;

import com.zy.core.cache.RgvStatusCache;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.protocol.RgvProtocol;

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

    public boolean IsItSmall(RgvSlave slave) {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
        if (rgvProtocol.getRgvPos() < rgvProtocolOther.getRgvPos()) {
            return true;
        }
        return false;
    }

    public Long[][] avoidRange(RgvSlave slave, Long trackEntireLength, Long trackBenchmark, Long avoidDistance) {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());

        RgvProtocol rgvProtocolE, rgvProtocolB;
        if (rgvProtocol.getRgvPos() < rgvProtocolOther.getRgvPos()) {
            rgvProtocolE = rgvProtocolOther;
            rgvProtocolB = rgvProtocol;
        } else {
            rgvProtocolE = rgvProtocol;
            rgvProtocolB = rgvProtocolOther;
        }

        long entireLengthE = trackEntireLength - rgvProtocolE.getCarBodyKunPeng();
        long benchmarkE = trackBenchmark + rgvProtocolB.getCarBodyJiaoMing() + rgvProtocolB.getCarBodyKunPeng() + avoidDistance + rgvProtocolE.getCarBodyJiaoMing();

        long entireLengthB = trackEntireLength - rgvProtocolE.getCarBodyKunPeng() - rgvProtocolE.getCarBodyJiaoMing() - avoidDistance - rgvProtocolB.getCarBodyKunPeng();
        long benchmarkB = trackBenchmark + rgvProtocolB.getCarBodyJiaoMing();


        return new Long[][]{new Long[]{entireLengthE, benchmarkE}, new Long[]{entireLengthB, benchmarkB}};

    }

    public boolean avoidRange(Long avoid, Long[] range) {
        return avoid < range[0] && avoid > range[1];
    }

}

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

@@ -51,6 +51,9 @@
                    // 堆垛机异常信息记录
                    mainService.recCrnErr();

                    // 任务下发
                    mainService.taskStart();



                } catch (Exception e) {

 src/main/java/com/zy/core/cache/TaskProtocolCache.java

@@ -15,7 +15,7 @@
@Slf4j
public class TaskProtocolCache {
    // 本地缓存，键为 taskNo，值为 TaskProtocol
    private final ConcurrentHashMap<Long, TaskProtocol> cache = new ConcurrentHashMap<>();
    private final ConcurrentHashMap<String, TaskProtocol> cache = new ConcurrentHashMap<>();

    // 读写锁，确保线程安全
//    private final ReentrantReadWriteLock lock = new ReentrantReadWriteLock();
@@ -24,28 +24,16 @@
     * 更新设备状态
     */
    public void updateTaskProtocol(TaskProtocol status) {
        cache.put(status.getTaskNo(), status);
        cache.put(status.getTaskNoDirection(), status);
    }

    /**
     * 删除任务缓存
     */
    public TaskProtocol removeTaskProtocol(String taskNo) {
    public TaskProtocol removeTaskProtocol(String taskNoDirection) {
//        lock.readLock().lock(); // 加读锁
        try {
            return cache.remove(taskNo);
        } finally {
//            lock.readLock().unlock(); // 释放读锁
        }
    }

    /**
     * 获取任务缓存
     */
    public TaskProtocol getTaskProtocol(String taskNo) {
//        lock.readLock().lock(); // 加读锁
        try {
            return cache.get(taskNo);
            return cache.remove(taskNoDirection);
        } finally {
//            lock.readLock().unlock(); // 释放读锁
        }
@@ -54,7 +42,7 @@
    /**
     * 获取所有任务
     */
    public ConcurrentHashMap<Long, TaskProtocol> getAllTaskProtocol() {
    public ConcurrentHashMap<String, TaskProtocol> getAllTaskProtocol() {
//        lock.readLock().lock(); // 加读锁
        try {
            return new ConcurrentHashMap<>(cache); // 返回副本
@@ -74,6 +62,10 @@
        }
        return new ArrayList<>();
    }

    /**
     * 获取所有取任务
     */
    public List<TaskProtocol> getAllTakeTaskProtocol() {
//        lock.readLock().lock(); // 加读锁
        try {
@@ -90,7 +82,7 @@
    }

    /**
     * 获取所有取任务
     * 获取所有放任务
     */
    public List<TaskProtocol> getAllPutTaskProtocol() {
//        lock.readLock().lock(); // 加读锁
@@ -108,7 +100,7 @@
    }

    /**
     * 获取所有取任务
     * 获取所有行走任务
     */
    public List<TaskProtocol> getAllWalkTaskProtocol() {
//        lock.readLock().lock(); // 加读锁

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

@@ -29,7 +29,8 @@
    private Long carBodyKunPeng;

    // RGV入库源站点
    private List<RgvStn> rgvInSStn = new ArrayList<>();
    private List<RgvStn> rgvInSta = new ArrayList<>();
    private List<RgvStn> rgvOutSta = new ArrayList<>();

    @Data
    public static class RgvStn {
@@ -40,6 +41,9 @@
        // RGV站点编号
        private Integer staNo;

        // RGV站点编号
        private boolean direction;

//        // 排
//        private Integer row;
//

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

@@ -49,6 +49,10 @@
     * RGV当前位置
     */
    public Long RgvPos = 0L;

    /**
     * RGV目的位置
     */
    public Long RgvPosDestination = 0L;

    /**

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

@@ -7,27 +7,42 @@
 */
@Data
public class TaskProtocol {
    private volatile String taskNoDirection; // 任务号（主属性）
    private volatile Long taskNo; // 任务号（主属性）
    private volatile Long targetPosition = 0L; // 目标位置
    private volatile Long currentPosition = 0L; // 当前位置

    private volatile int isRunning = 0; // 运行状态  0：初始  1：等待执行  2：执行中 3：执行中断 4：完结

    private volatile int taskStatus = 0; //作业模式  0：行走  1：取  2：放

    private volatile boolean direction; // 执行方向（面朝轨道 定位值左小右大）  true:左   false:右

    public TaskProtocol(){}

    public TaskProtocol(Long taskNo, Long targetPosition, Long currentPosition, int isRunning, int taskStatus) {
    public TaskProtocol(Long taskNo, Long targetPosition, int isRunning, int taskStatus, boolean direction) {
        this.taskNo = taskNo;
        this.targetPosition = targetPosition;
        this.currentPosition = currentPosition;
        this.isRunning = isRunning;
        this.taskStatus = taskStatus;
        this.direction = direction;
    }

    public TaskProtocol(TaskProtocol taskProtocol) {
        this.taskNo = taskProtocol.getTaskNo();
        this.targetPosition = taskProtocol.getTargetPosition();
        this.taskStatus = taskProtocol.getTaskStatus();
        this.direction = taskProtocol.direction;
    }


    public String gettaskNoDirection$(Long taskNo,int taskStatus){
        String taskStatusStr = "Walk";
        switch (taskStatus){
            case 1:
                taskStatusStr = "Tack";
            case 2:
                taskStatusStr = "Put";
        }
        return taskNo+"_"+taskStatusStr;
    }
}

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

@@ -13,6 +13,7 @@
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.TrackRangeUtils;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.*;
import com.zy.core.enums.RgvModeType;
@@ -44,7 +45,7 @@

    private SiemensS7Net siemensNet;
    private RgvSlave slave;
//    private RgvProtocol rgvProtocol;
    //    private RgvProtocol rgvProtocol;
    private TaskProtocolCache taskProtocolCache = new TaskProtocolCache();
    // # 轨道总长
    private Long trackEntireLength = 100L;
@@ -70,7 +71,7 @@
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        boolean connect = this.connect();
        if (connect){
        if (connect) {

            // 启动读数据线程
            new Thread(this::readStatusRgv).start();
@@ -83,7 +84,7 @@
        }
    }

    private void readStatusRgv(){
    private void readStatusRgv() {
        while (true) {
            try {
                Thread.sleep(100);
@@ -91,7 +92,7 @@
                readStatus();

            } catch (Exception e) {
                log.error("RGV数据读取线程异常！！！"+e.getMessage());
                log.error("RGV数据读取线程异常！！！" + e.getMessage());
                initRgv();
//                e.printStackTrace();
            }
@@ -109,7 +110,7 @@
                // 休眠 1 秒
                Thread.sleep(100);

                if (!deviceDetection()){
                if (!deviceDetection()) {
                    continue;
                }
                RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
@@ -130,7 +131,7 @@
                RgvTaskCache.updateRgvStatus(rgvTaskProtocol);

            } catch (Exception e) {
                log.error("RGV行走任务下发线程异常！！！"+e.getMessage());
                log.error("RGV行走任务下发线程异常！！！" + e.getMessage());
//                e.printStackTrace();
            }
        }
@@ -144,7 +145,7 @@
            try {
                // 休眠 1 秒
                Thread.sleep(100);
                if (!deviceDetection()){
                if (!deviceDetection()) {
                    continue;
                }
                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
@@ -159,36 +160,36 @@
                }

                List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getTakeOrPutTaskProtocol(rgvProtocol.getLoaded());
                for(TaskProtocol taskProtocol: allTakeTaskProtocol){
                    if (taskProtocol.getIsRunning() == 1){//准备下发
                for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
                    if (taskProtocol.getIsRunning() == 1) {//准备下发
                        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
                        //双车
                        if (rgvOtherStatusEnable()){
                        if (rgvOtherStatusEnable()) {
                            //另一台车是否允许此台车执行
                            if (!otherRgvAvoid(taskProtocol.getTargetPosition())){
                            if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
                                continue;
                            }
                        }
                        Thread.sleep(200);
                        Thread.sleep(100);
                        TaskProtocol issued = new TaskProtocol(taskProtocol);
                        write(issued);
                        taskProtocol.setIsRunning(taskProtocol.getIsRunning() +1);
                        taskProtocol.setIsRunning(taskProtocol.getIsRunning() + 1);
                        taskProtocolCache.updateTaskProtocol(taskProtocol);
                        break;
                    }
                }
            } catch (Exception e) {
                log.error("RGV取货任务下发线程异常！！！"+e.getMessage());
                log.error("RGV取货任务下发线程异常！！！" + e.getMessage());
//                e.printStackTrace();
            }
        }
    }

    public boolean deviceDetection(){
    public boolean deviceDetection() {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

        if (rgvProtocol == null || rgvTaskProtocol ==null) {
        if (rgvProtocol == null || rgvTaskProtocol == null) {
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 || rgvProtocol.getRgvPosDestination() == 0L
@@ -201,20 +202,20 @@
        if (rgvProtocolOther == null) {
            return false;
        }
        if (rgvProtocolOther.statusEnable){
            if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1  || rgvProtocolOther.getRgvPosDestination() == 0L) {
        if (rgvProtocolOther.statusEnable) {
            if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
                return false;
            }
        }
        return true;
    }

    public boolean rgvOtherStatusEnable(){
    public boolean rgvOtherStatusEnable() {
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
        if (rgvProtocolOther == null) {
            return true;
        }
        if (rgvProtocolOther.statusEnable){
        if (rgvProtocolOther.statusEnable) {
//            if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
            return true;
//            }
@@ -222,134 +223,118 @@
        return false;
    }

    public boolean otherRgvAvoid(Long targetPosition){
    public boolean otherRgvAvoid(Long targetPosition) {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
        RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
        Long[][] avoidRange = new TrackRangeUtils().avoidRange(slave, trackEntireLength, trackBenchmark, avoidDistance);

        if (rgvProtocol.getRgvPos()<rgvProtocolOther.getRgvPos()){
            if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)){
                if ((rgvProtocolOther.getRgvPos()-rgvProtocolOther.getCarBodyJiaoMing())
                        - (targetPosition+rgvProtocol.getCarBodyKunPeng())
                        > avoidDistance){//无需避让
        if (new TrackRangeUtils().IsItSmall(slave)) {

            if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
                if ((rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing())
                        - (targetPosition + rgvProtocol.getCarBodyKunPeng())
                        > avoidDistance) {//无需避让
                    return true;
                } else {
                    long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
                    if (avoid > trackEntireLength-rgvProtocolOther.getCarBodyKunPeng()){
                        log.error("避让超出范围！！！任务异常  联系管理员！！！");
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
                        log.error("行走超出范围！！！任务异常  联系管理员！！！");
                        return false;
                    }
                    rgvTaskProtocol.setAvoid(1);
                    rgvTaskProtocol.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                    rgvTaskProtocolOther.setAvoid(1);
                    rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
                    return true;
                }
            } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)){
                if ((rgvProtocolOther.getRgvPosDestination()-rgvProtocolOther.getCarBodyJiaoMing())
                        - (targetPosition+rgvProtocol.getCarBodyKunPeng())
                        > avoidDistance){//无需避让
            } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
                if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
                        - (targetPosition + rgvProtocol.getCarBodyKunPeng())
                        > avoidDistance) {//无需避让
                    return true;
                } else {
                    long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
                    if (avoid > trackEntireLength-rgvProtocolOther.getCarBodyKunPeng()){
                        log.error("避让超出范围！！！任务异常  联系管理员！！！");
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
                        log.error("行走超出范围！！！任务异常  联系管理员！！！");
                        return false;
                    }
                    rgvTaskProtocol.setAvoid(1);
                    rgvTaskProtocol.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                    rgvTaskProtocolOther.setAvoid(1);
                    rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
                    return true;
                }
            } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)){
                if ((rgvProtocolOther.getRgvPosDestination()-rgvProtocolOther.getCarBodyJiaoMing())
                        - (targetPosition+rgvProtocol.getCarBodyKunPeng())
                        > avoidDistance){//无需避让
            } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
                if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
                        - (targetPosition + rgvProtocol.getCarBodyKunPeng())
                        > avoidDistance) {//无需避让
                    return true;
                } else {
                    RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvProtocolOther.getRgvNo());
                    TaskProtocolCache taskProtocolCacheOther = rgvThreadOther.getTaskProtocolCache();
                    List<TaskProtocol> allPutTaskProtocol = taskProtocolCacheOther.getAllPutTaskProtocol();
                    if (allPutTaskProtocol.size() > 1){
                        return false;
                    }
                    for (TaskProtocol taskProtocol : allPutTaskProtocol){
                        if (taskProtocol.getTargetPosition()>=rgvProtocolOther.getRgvPos()){
                            long avoid = rgvProtocolOther.getRgvPos()-rgvProtocolOther.getCarBodyJiaoMing()-avoidDistance-rgvProtocol.getCarBodyKunPeng();
                            if (avoid > trackEntireLength-rgvProtocolOther.getCarBodyKunPeng()){
                                log.error("行走超出范围！！！任务异常  联系管理员！！！");
                                return false;
                            }
                            rgvTaskProtocol.setAvoid(1);
                            rgvTaskProtocol.setAvoidingTheDestination(avoid);
                            RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                            return false;
                        } else {
                    if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()) {
                        long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
                        if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                            log.error("行走超出范围！！！任务异常  联系管理员！！！");
                            return false;
                        }
                        rgvTaskProtocol.setAvoid(1);
                        rgvTaskProtocol.setAvoidingTheDestination(avoid);
                        RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                        return false;
                    }
                    return false;
                }
            }
        } else {
            if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)){
                if ((targetPosition-rgvProtocol.getCarBodyJiaoMing())
                        - (rgvProtocolOther.getRgvPos()+rgvProtocolOther.getCarBodyKunPeng())
                        > avoidDistance){//无需避让
            if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
                if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
                        - (rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng())
                        > avoidDistance) {//无需避让
                    return true;
                } else {
                    long avoid = targetPosition -rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
                    if (avoid < trackBenchmark + rgvProtocolOther.getCarBodyJiaoMing()){
                        log.error("避让超出范围！！！任务异常  联系管理员！！！");
                    long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                        log.error("行走超出范围！！！任务异常  联系管理员！！！");
                        return false;
                    }
                    rgvTaskProtocol.setAvoid(1);
                    rgvTaskProtocol.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                    rgvTaskProtocolOther.setAvoid(1);
                    rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
                    return true;
                }
            } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)){
                if ((targetPosition-rgvProtocol.getCarBodyJiaoMing())
                        - (rgvProtocolOther.getRgvPosDestination()+rgvProtocolOther.getCarBodyKunPeng())
                        > avoidDistance){//无需避让
            } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
                if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
                        - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
                        > avoidDistance) {//无需避让
                    return true;
                } else {
                    long avoid = targetPosition -rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
                    if (avoid < trackBenchmark + rgvProtocolOther.getCarBodyJiaoMing()){
                        log.error("避让超出范围！！！任务异常  联系管理员！！！");
                    long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                        log.error("行走超出范围！！！任务异常  联系管理员！！！");
                        return false;
                    }
                    rgvTaskProtocol.setAvoid(1);
                    rgvTaskProtocol.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                    rgvTaskProtocolOther.setAvoid(1);
                    rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
                    return true;
                }
            } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)){
                if ((targetPosition-rgvProtocol.getCarBodyJiaoMing())
                        - (rgvProtocolOther.getRgvPosDestination()+rgvProtocolOther.getCarBodyKunPeng())
                        > avoidDistance){//无需避让

            } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
                if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
                        - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
                        > avoidDistance) {//无需避让
                    return true;
                } else {
                    RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvProtocolOther.getRgvNo());
                    TaskProtocolCache taskProtocolCacheOther = rgvThreadOther.getTaskProtocolCache();
                    List<TaskProtocol> allPutTaskProtocol = taskProtocolCacheOther.getAllPutTaskProtocol();
                    if (allPutTaskProtocol.size() > 1){
                        return false;
                    }
                    for (TaskProtocol taskProtocol : allPutTaskProtocol){
                        if (taskProtocol.getTargetPosition()<=rgvProtocolOther.getRgvPos()){
                            long avoid = rgvProtocolOther.getRgvPos()+rgvProtocolOther.getCarBodyKunPeng()+avoidDistance+rgvProtocol.getCarBodyJiaoMing();
                            if (avoid < trackBenchmark + rgvProtocolOther.getCarBodyJiaoMing()){
                                log.error("行走超出范围！！！任务异常  联系管理员！！！");
                                return false;
                            }
                            rgvTaskProtocol.setAvoid(1);
                            rgvTaskProtocol.setAvoidingTheDestination(avoid);
                            RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                            return false;
                        } else {
                    if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos()) {
                        long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
                        if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
                            log.error("行走超出范围！！！任务异常  联系管理员！！！");
                            return false;
                        }
                        rgvTaskProtocol.setAvoid(1);
                        rgvTaskProtocol.setAvoidingTheDestination(avoid);
                        RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                        return false;
                    }
                    return false;
                }
@@ -368,25 +353,25 @@
            rgvProtocol.setRgvNo(slave.getId());
        }
        rgvProtocol.setMode((short) -1);
        rgvProtocol.setStatus((short)-1);
        rgvProtocol.setWalkPos((short)0);
        rgvProtocol.setStatus((short) -1);
        rgvProtocol.setWalkPos((short) 0);
        rgvProtocol.setRgvPos(0L);
        rgvProtocol.setAlarm((short)0);
        rgvProtocol.setAlarm((short) 0);
        rgvProtocol.setxSpeed((short) 0);
        rgvProtocol.setxDistance((short) 0);
        rgvProtocol.setxDuration((short) 0);
        rgvProtocol.setCarBodyJiaoMing(0L);
        rgvProtocol.setCarBodyKunPeng(0L);
        try{
        try {
            BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
            BasRgv rgv = basRgvService.selectById(slave.getId());
            if (!Cools.isEmpty(rgv)){
            if (!Cools.isEmpty(rgv)) {
                rgvProtocol.setStatusEnable(rgv.getStatus() == 1);
            } else {
                rgvProtocol.setStatusEnable(false);
            }
        } catch (Exception e){
            log.error("RGV异常！！！"+e.getMessage());
        } catch (Exception e) {
            log.error("RGV异常！！！" + e.getMessage());
            rgvProtocol.setStatusEnable(true);
        }

@@ -411,7 +396,7 @@
        siemensNet.setRack(slave.getRack().byteValue());
        siemensNet.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensNet.ConnectServer();
        if(connect.IsSuccess){
        if (connect.IsSuccess) {
            result = true;
//            OutputQueue.RGV.offer(MessageFormat.format( "【{0}】RGV plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.info("RGV plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
@@ -428,7 +413,7 @@
    /**
     * 读取状态
     */
    private void readStatus(){
    private void readStatus() {
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 34);
            if (result.IsSuccess) {
@@ -446,7 +431,7 @@
//                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()));
                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.getStatusType().equals(RgvStatusType.WAITING)
//                        || rgvProtocol.getStatusType().equals(RgvStatusType.FETCHWAITING)) {
@@ -463,18 +448,18 @@
                    // 根据实时信息更新数据库
                    BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
                    BasRgv basRgv = basRgvService.selectById(slave.getId());
                    if (!Cools.isEmpty(basRgv)){
                    if (!Cools.isEmpty(basRgv)) {
                        rgvProtocol.setStatusEnable(basRgv.getStatus() == 1);
                    } else {
                        rgvProtocol.setStatusEnable(false);
                    }
//                    BasRgv basRgv = new BasRgv();
                    basRgv.setRgvNo(slave.getId());
                    basRgv.setRgvSts((int)rgvProtocol.getMode());
                    if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
                    basRgv.setRgvSts((int) rgvProtocol.getMode());
                    if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))) {
                        log.error("RGV plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                    }
                } catch (Exception ignore){
                } catch (Exception ignore) {

                }

@@ -512,6 +497,7 @@
//        array[4] = command.getDestinationStaNo();
//        array[10] = taskProtocol.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", taskProtocol.getTaskNo());
        OperateResult result1 = siemensNet.Write("DB100.1", taskProtocol.isDirection()); // 执行方向（面朝轨道 定位值左小右大）    true:左   false:右

//        if (taskProtocol.getAckFinish1() == 0) {
//            short commandFinish = 3;  //工位1、2任务同时写入
@@ -531,13 +517,14 @@
                    null,
                    null,
                    null,
                    result.IsSuccess? 1 : 0,
                    result.IsSuccess ? 1 : 0,
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}
        } catch (Exception ignore) {
        }

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);

 src/main/resources/application-prod.yml

@@ -43,12 +43,25 @@
    carBodyJiaoMing: 100
    carBodyKunPeng: 100
    #RGV源站点
    rgvInSStn[0]:
    rgvInSta[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 100
    rgvInSStn[1]:
      direction: true
    rgvInSta[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 101
      #执行方向（面朝轨道 定位值左小右大）  true:左   false:右
      direction: false
    #RGV目标站点
    rgvOutSta[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 100
      direction: true
    rgvOutSta[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 101
      #执行方向（面朝轨道 定位值左小右大）  true:左   false:右
      direction: false
  # RGV穿梭车2
  rgv[1]:
    id: 2
@@ -60,9 +73,22 @@
    carBodyJiaoMing: 100
    carBodyKunPeng: 100
    #RGV源站点
    rgvInSStn[0]:
    rgvInSta[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 100
    rgvInSStn[1]:
      direction: true
    rgvInSta[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 101
      staNo: 101
      #执行方向（面朝轨道 定位值左小右大）  true:左   false:右
      direction: false
    #RGV目标站点
    rgvOutSta[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 100
      direction: true
    rgvOutSta[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 101
      #执行方向（面朝轨道 定位值左小右大）  true:左   false:右
      direction: false