From cf1e457065ca87ad3a1e7758e72f5f1718ec9ab1 Mon Sep 17 00:00:00 2001
From: 18516761980 <56479841@qq.com>
Date: 星期一, 26 五月 2025 18:38:16 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/hcddwcs-gdfs' into hcddwcs-gdfs

---
 src/main/java/com/zy/asrs/entity/BasCircularShuttle.java             |    5 
 src/main/java/com/zy/system/controller/LicenseCreatorController.java |    3 
 src/main/java/com/zy/asrs/controller/RgvController.java              |   47 +
 src/main/java/com/zy/asrs/controller/OpenController.java             |   30 +
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java          |   57 ++
 src/main/java/com/zy/asrs/entity/WrkMast.java                        |  186 +++++++++
 src/main/webapp/static/images/favicon.ico                            |    0 
 src/main/java/com/zy/core/thread/RgvThread.java                      |    4 
 src/main/java/com/zy/asrs/utils/Utils.java                           |  680 +++++++--------------------------
 src/main/webapp/static/images/zy-logo.png                            |    0 
 src/main/webapp/views/index.html                                     |  121 ++++-
 src/main/java/com/zy/core/MainProcess.java                           |    3 
 src/main/resources/mapper/BasCircularShuttleMapper.xml               |    1 
 src/main/resources/license.lic                                       |    0 
 src/main/java/com/zy/core/model/command/RgvCommand.java              |    3 
 src/main/resources/application.yml                                   |    6 
 16 files changed, 579 insertions(+), 567 deletions(-)

diff --git a/src/main/java/com/zy/asrs/controller/OpenController.java b/src/main/java/com/zy/asrs/controller/OpenController.java
index 4e157dc..43f1159 100644
--- a/src/main/java/com/zy/asrs/controller/OpenController.java
+++ b/src/main/java/com/zy/asrs/controller/OpenController.java
@@ -13,6 +13,7 @@
 
 import javax.servlet.http.HttpServletRequest;
 import java.util.ArrayList;
+import java.util.List;
 
 /**
  * Created by vincent on 2024/10/16
@@ -57,6 +58,35 @@
     }
 
     /**
+     * 娣诲姞鍑哄簱鍗�
+     */
+    @PostMapping("/task/cs/down/default/v2")
+    @AppAuth(memo = "WCS浠诲姟涓嬪彂")
+    public synchronized R wcsTaskDistribution2(@RequestHeader(required = false) String appkey,
+                                              @RequestBody List<WcsTaskDistributionParam> param1,
+                                              HttpServletRequest request) {
+        auth(appkey, param1, request);
+        for (WcsTaskDistributionParam param:param1){
+            if (Cools.isEmpty(param)) {
+                return R.parse(BaseRes.PARAM);
+            }
+            if (Cools.isEmpty(param.getTaskNo())) {
+                return R.error("宸ヤ綔鍙穂taskNo]涓嶈兘涓虹┖");
+            }
+            if (Cools.isEmpty(param.getStartSta()) || param.getStartSta$()==0) {
+                return R.error("璧风偣[startSta]涓嶈兘涓虹┖");
+            }
+            if (Cools.isEmpty(param.getEndSta())  || param.getEndSta$()==0) {
+                return R.error("缁堢偣[endSta]涓嶈兘涓虹┖");
+            }
+//        openService.wcsTaskDistribution(param);
+
+             openService.wcsTaskDistribution(param);
+        }
+        return R.ok();
+    }
+
+    /**
      * 鏁版嵁鍚屾
      */
     @PostMapping("/status/cs/default/v1")
diff --git a/src/main/java/com/zy/asrs/controller/RgvController.java b/src/main/java/com/zy/asrs/controller/RgvController.java
index d7a73c0..2bc391d 100644
--- a/src/main/java/com/zy/asrs/controller/RgvController.java
+++ b/src/main/java/com/zy/asrs/controller/RgvController.java
@@ -36,13 +36,11 @@
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.RestController;
 
 import javax.rmi.CORBA.Util;
-import java.util.ArrayList;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
+import java.util.*;
 
 /**
  * RGV鎺ュ彛
@@ -353,7 +351,7 @@
 //            ringThroughParam.setIndex(i);
 //            double[] doubles = Utils.RingThroughXY2(perimeter, NumUtils.GetRandomIntInRange(183));
 //            double[] doubles = Utils.RingThroughXYRgv(perimeter, perimeter-rgvProtocol.RgvPos.doubleValue());
-            double[] doubles = Utils.getRgvPos(perimeter, rgvProtocol.RgvPos.doubleValue());
+            double[] doubles = Utils.getRgvPosNew(perimeter, rgvProtocol.RgvPos.doubleValue());
 //            double[] doubles = Utils.RingThroughXY2(183.0, 100*i );
 
             ringThroughParam.setValueX(doubles[0]-2.94);
@@ -372,11 +370,17 @@
         List<RingThroughParam> result = new ArrayList<>();
         List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<>());
         for (BasDevpPosition basDevpPosition : basDevpPositions){
+            if (basDevpPosition.getDevNo() == 134){
+                continue;
+            }
             RingThroughParam ringThroughParam = new RingThroughParam();
             ringThroughParam.setIndex(basDevpPosition.getDevNo());
-            double[] doubles = Utils.RingThroughXYSta(perimeter, perimeter-basDevpPosition.getPlcPosition());
-            ringThroughParam.setValueX(doubles[0]>50? doubles[0]+6:doubles[0]-1);
-            ringThroughParam.setValueY(doubles[1]>50? doubles[1]+6:doubles[1]-1);
+//            double[] doubles = Utils.RingThroughXYSta(perimeter, perimeter-basDevpPosition.getPlcPosition());
+//            ringThroughParam.setValueX(doubles[0]>50? doubles[0]+6:doubles[0]-1);
+//            ringThroughParam.setValueY(doubles[1]>50? doubles[1]+6:doubles[1]-1);
+            double[] doubles = Utils.getRgvPosNew(basDevpPosition.getDevNo(),perimeter, basDevpPosition.getPlcPosition());
+            ringThroughParam.setValueX(doubles[0]);
+            ringThroughParam.setValueY(doubles[1]);
             result.add(ringThroughParam);
         }
         return R.ok().add(result);
@@ -472,4 +476,31 @@
         return R.ok().add(result);
     }
 
+
+    @PostMapping("/disable/rgv/status")
+//    @ManagerAuth(memo = "淇敼RGV鐘舵��")
+    public R rgvDisableStatus(@RequestParam Integer rgvNo,
+                              @RequestParam Integer status){
+        log.info("/disable/rgv/status===銆嬩慨鏀筊GV鐘舵�侊紒锛侊紒rgvNo:{},status:{},data:{}",rgvNo,status,new Date());
+        BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_no", rgvNo));
+        if (basCircularShuttle == null){
+            return R.error().add("鏈壘鍒版RGV锛屽紓甯革紒锛侊紒");
+        }
+        basCircularShuttle.setStatus(status);
+        basCircularShuttleService.updateById(basCircularShuttle);
+        return R.ok();
+    }
+
+    @PostMapping("/disable/task/delete")
+//    @ManagerAuth(memo = "鍒犻櫎浠诲姟")
+    public R taskDisabledelete(@RequestParam Long wrkNo){
+        log.info("/disable/task/delete===銆嬪垹闄や换鍔★紒锛侊紒wrkNo:{},data:{}",wrkNo,new Date());
+        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", wrkNo));
+        if (Cools.isEmpty(wrkMast)){
+            return R.error().add("鏈壘鍒版浠诲姟锛屽紓甯革紒锛侊紒");
+        }
+        wrkMastService.deleteById(wrkMast);
+        return R.ok();
+    }
+
 }
\ No newline at end of file
diff --git a/src/main/java/com/zy/asrs/entity/BasCircularShuttle.java b/src/main/java/com/zy/asrs/entity/BasCircularShuttle.java
index 3f822b0..5ee2261 100644
--- a/src/main/java/com/zy/asrs/entity/BasCircularShuttle.java
+++ b/src/main/java/com/zy/asrs/entity/BasCircularShuttle.java
@@ -36,6 +36,11 @@
     @ApiModelProperty(value= "0:姝e父锛�1锛氱鐢�")
     private Integer status;
 
+
+    @ApiModelProperty(value= "")
+    @TableField("rgv_some")
+    private int rgvSome = 1;
+
     public BasCircularShuttle() {}
 
     public BasCircularShuttle(Integer rgvId,Integer rgvNo,Integer status) {
diff --git a/src/main/java/com/zy/asrs/entity/WrkMast.java b/src/main/java/com/zy/asrs/entity/WrkMast.java
index a45aa9e..64f7e78 100644
--- a/src/main/java/com/zy/asrs/entity/WrkMast.java
+++ b/src/main/java/com/zy/asrs/entity/WrkMast.java
@@ -496,4 +496,190 @@
         }
     }
 
+    public Integer getStaNoCs(int[] autoZ){
+        switch (staNo){
+            case 114:
+            case 115:
+            case 116:
+            case 117:
+            case 118:
+                return 102;
+            case 120:
+            case 121:
+            case 122:
+                return 104;
+            case 124:
+            case 125:
+            case 126:
+                return 106;
+            case 128:
+            case 129:
+            case 130:
+                return 108;
+            case 133:
+                return 111;
+            case 102:
+                switch (autoZ[0]){
+                    case 0:
+                        autoZ[0]++;
+                        return 114;
+                    case 1:
+                        autoZ[0]++;
+                        return 115;
+                    case 2:
+                        autoZ[0]++;
+                        return 116;
+                    case 3:
+                        autoZ[0]++;
+                        return 117;
+                    default:
+                        autoZ[0] = 0;
+                        return 118;//117
+                }
+            case 104:
+                switch (autoZ[1]){
+                    case 0:
+                        autoZ[1]++;
+                        return 120;
+                    case 1:
+                        autoZ[1]++;
+                        return 121;
+                    default:
+                        autoZ[1] = 0;
+                        return 122;//121
+                }
+            case 106:
+                switch (autoZ[2]){
+                    case 0:
+                        autoZ[2]++;
+                        return 124;
+                    case 1:
+                        autoZ[2]++;
+                        return 125;
+                    default:
+                        autoZ[2] = 0;
+                        return 126;//125
+                }
+            case 108:
+                switch (autoZ[3]){
+                    case 0:
+                        autoZ[3]++;
+                        return 128;
+                    case 1:
+                        autoZ[3]++;
+                        return 129;
+                    default:
+                        autoZ[3] = 0;
+                        return 130;
+                }
+            case 111:
+                return 133;
+        }
+        return 0;
+    }
+    public Integer getStaNoCs(){
+        switch (staNo){
+            case 114:
+                return 102;
+            case 120:
+                return 104;
+            case 124:
+                return 106;
+            case 128:
+                return 108;
+            case 133:
+                return 111;
+            case 102:
+                return 114;
+            case 104:
+                return 120;
+            case 106:
+                return 124;
+            case 108:
+                return 128;
+            case 111:
+                return 133;
+        }
+        return 0;
+    }
+
+    public Integer getSourceNoCs(int[] autoZ){
+        switch (sourceStaNo){
+            case 101:
+                switch (autoZ[4]){
+                    case 0:
+                        autoZ[4]++;
+                        return 112;
+                    default:
+                        autoZ[4] = 0;
+                        return 113;
+                }
+            case 103:
+                return 119;
+            case 105:
+                return 123;
+            case 107:
+                return 127;
+            case 109:
+            case 110:
+            case 111:
+                switch (autoZ[5]){
+                    case 0:
+                        autoZ[5]++;
+                        return 131;
+                    default:
+                        autoZ[5] = 0;
+                        return 132;
+                }
+            case 112:
+            case 113:
+                return 101;
+            case 119:
+                return 103;
+            case 123:
+                return 105;
+            case 127:
+                return 107;
+            case 131:
+            case 132:
+                switch (autoZ[6]){
+                    case 0:
+                        autoZ[6]++;
+                        return 109;
+                    case 1:
+                        autoZ[6]++;
+                        return 110;
+                    default:
+                        autoZ[6] = 0;
+                        return 111;
+                }
+        }
+        return 0;
+    }
+    public Integer getSourceNoCs(){
+        switch (sourceStaNo){
+            case 101:
+                return 112;
+            case 103:
+                return 119;
+            case 105:
+                return 123;
+            case 107:
+                return 127;
+            case 109:
+                return 131;
+            case 112:
+                return 101;
+            case 119:
+                return 103;
+            case 123:
+                return 105;
+            case 127:
+                return 107;
+            case 131:
+                return 109;
+        }
+        return 0;
+    }
+
 }
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 5947e0a..a9bf2ea 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -16,6 +16,7 @@
 import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
 import com.zy.asrs.utils.TimeCalculatorUtils;
 import com.zy.common.CodeRes;
+import com.zy.common.service.CommonService;
 import com.zy.common.utils.HttpHandler;
 import com.zy.core.cache.MessageQueue;
 import com.zy.core.cache.SlaveConnection;
@@ -54,6 +55,8 @@
     private BasCircularShuttleService basCircularShuttleService;
     @Autowired
     private WrkMastService wrkMastService;
+    @Autowired
+    private CommonService commonService;
 
     @Value("${constant-parameters.perimeter}")
     private Long perimeter;
@@ -65,12 +68,23 @@
     private Long rgvCount;
     @Value("${constant-parameters.rgvDate}")
     private Double rgvDate;
+    @Value("${wms.url}")
+    private String wmsUrl;
+    @Value("${wms.reportOutPath}")
+    private String wmsOutPath;
+    @Value("${wms.reportSwitch}")
+    private boolean reportSwitch;
+    @Value("${wms.reportSwitchAuto}")
+    private boolean reportSwitchAuto;
 
     /*
     * 楠岃瘉璁稿彲璇佹槸鍚︽湁鏁�
     * */
     public synchronized boolean licenseVerify() {
         try{
+//            if (true) {
+//                return true;
+//            }
             return new LicenseVerify().verify();
         } catch (Exception e){
             log.info("璁稿彲璇侀獙璇佸け璐ワ紒锛佸紓甯革細{}",e.getMessage());
@@ -123,7 +137,7 @@
                 log.info("鏇存柊灏忚溅鎺掑簭淇℃伅寮傚父={}", rgvNo);
                 return;
             }
-            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
+            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0).orderBy("rgv_id", true));
             if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
                 return;
             }
@@ -163,6 +177,10 @@
             Integer rgvNo = 0;
             List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
             for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
+                if (basCircularShuttle.getStatus() != 0){
+                    sign = true;
+                    continue;
+                }
                 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                 RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                 if (rgvProtocol == null) {
@@ -273,6 +291,9 @@
                         break runRgv;
                     }
                     BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
+                    if (basCircularShuttle.getStatus() != 0){
+                        continue ;
+                    }
                     RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                     RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                     if (rgvProtocol == null) {
@@ -313,6 +334,7 @@
                         rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue());   //宸ヤ綅1璧风偣
                         rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue());   //宸ヤ綅1鐩爣绔欑偣
                         rgvCommand.setCommand((short) 1);   //宸ヤ綅1浠诲姟纭
+                        rgvCommand.setRgvSome(basCircularShuttle.getRgvSome()==1 ? (short) 1 : (short) 0);
                         if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
                             //
                             log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
@@ -339,7 +361,7 @@
     }
 
     //浠诲姟瀹屾垚
-    public synchronized void rgvCompleteWrkMastSta() {
+    public synchronized void rgvCompleteWrkMastSta(int[] autoZ) {
         try {
             for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
                 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
@@ -376,15 +398,36 @@
                     wrkMast.setAppeTime(now);
                     try{
                         try{
-                            RgvTaskReportingParam rgvTaskReportingParam = new RgvTaskReportingParam(wrkMast);
-                            ReturnT<String> result = new PostMesDataUtils().postMesDataWcs("", "", rgvTaskReportingParam);
-                            if (result.getCode()==200){
+                            if (reportSwitch){
+                                RgvTaskReportingParam rgvTaskReportingParam = new RgvTaskReportingParam(wrkMast);
+                                ReturnT<String> result = new PostMesDataUtils().postMesDataWcs(wmsUrl, wmsOutPath, rgvTaskReportingParam);
+                                if (result.getCode()==200){
+                                    wrkMast.setWrkSts(4L);
+                                    wrkMast.setAppeTime(now);
+                                    wrkMastService.updateById(wrkMast);
+                                    continue;
+                                }else {
+                                    log.error("宸ヤ綔鍙�"+wrkMast.getWrkNo()+"浠诲姟瀹屾垚淇℃伅涓婁紶澶勭悊澶辫触");
+                                }
+                            } else {
+                                //娴嬭瘯鐢�
                                 wrkMast.setWrkSts(4L);
                                 wrkMast.setAppeTime(now);
                                 wrkMastService.updateById(wrkMast);
+                                if (reportSwitchAuto) {
+                                    WrkMast wrkMast1 = new WrkMast();
+                                    int workNo = commonService.getWorkNo(0);
+                                    wrkMast1.setWrkNo((long) workNo);
+                                    wrkMast1.setSourceStaNo(wrkMast.getSourceNoCs(autoZ));
+                                    wrkMast1.setStaNo(wrkMast.getStaNoCs(autoZ));
+                                    wrkMast1.setWrkSts(1L);
+                                    wrkMast1.setIoType(1);
+                                    wrkMast1.setModiTime(now);
+                                    wrkMast1.setAppeTime(now);
+                                    wrkMast1.setMemo("娴嬭瘯鏁版嵁");
+                                    wrkMastService.insert(wrkMast1);
+                                }
                                 continue;
-                            }else {
-                                log.error("宸ヤ綔鍙�"+wrkMast.getWrkNo()+"浠诲姟瀹屾垚淇℃伅涓婁紶澶勭悊澶辫触");
                             }
                         } catch (Exception e){
                             log.error("宸ヤ綔鍙�"+wrkMast.getWrkNo()+"浠诲姟瀹屾垚淇℃伅涓婁紶澶勭悊澶辫触锛屽紓甯镐俊鎭細"+e);
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index 2cbe72d..2fc9e89 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -130,535 +130,165 @@
 
         return new double[]{x, y};
     }
-
-    public static double[] getRgvPos(double a,double b) {
-        // a 鏄�婚暱搴�
-        // b 鏄綋鍓嶄綅缃�
-
-        // 璁$畻鐐圭殑鍧愭爣
-        double x = 0;
-        double y = 0;
-
-
-
-
-        if (b > 217480 && b <= 217980) {   // 133 绔欑偣 217730
-            x = 110;
-            y = 882;
-        } else if (b > 217980 && b <= 227777) {
-            x = 121;
-            y = 882;
-        } else if (b > 227777 &&  b <= 237574) {
-            x = 132;
-            y = 882;
-        } else if (b > 237574 && b <= 247371) {
-            x = 143;
-            y = 882;
-        } else if (b > 247371 && b <= 257168) {
-            x = 154;
-            y = 882;
-        } else if (b > 257168 && b <= 257668) {  // 132 绔欑偣 257418
-            x = 165;
-            y = 882;
-        } else if (b > 257668 && b <= 262455) {
-            x = 176;
-            y = 882;
-        } else if (b > 262455 && b <= 267242) {
-            x = 187;
-            y = 882;
-        } else if (b > 267242 && b <= 272029) {
-            x = 198;
-            y = 882;
-        } else if (b > 272029 && b <= 276817) {
-            x = 209;
-            y = 882;
-        } else if (b > 276817 && b <= 277317) {  // 131 绔欑偣 277067
-            x = 220;
-            y = 882;
-        } else if (b > 277317 && b <= 284630) {
-            x = 231;
-            y = 882;
-        } else if (b > 284630 && b <= 291943) {
-            x = 242;
-            y = 882;
-        } else if (b > 291943 && b <= 299256) {
-            x = 253;
-            y = 882;
-        } else if (b > 299256 && b <= 306570) {
-            x = 264;
-            y = 882;
-        } else if (b > 306570 && b <= 307070) {  // 130 绔欑偣 306820
-            x = 275;
-            y = 882;
-        } else if (b > 307070 && b <= 314399) {
-            x = 286;
-            y = 882;
-        } else if (b > 314399 && b <= 321729) {
-            x = 297;
-            y = 882;
-        } else if (b > 321729 && b <= 329058) {
-            x = 308;
-            y = 882;
-        } else if (b > 329058 && b <= 336388) {
-            x = 319;
-            y = 882;
-        } else if (b > 336388 && b <= 336888) {  // 129 绔欑偣 336638
-            x = 330;
-            y = 882;
-        } else if (b > 336888 && b <= 344181) {
-            x = 341;
-            y = 882;
-        } else if (b > 344181 && b <= 351474) {
-            x = 352;
-            y = 882;
-        } else if (b > 257168 && b <= 358767) {
-            x = 363;
-            y = 882;
-        } else if (b > 358767 && b <= 366061) {
-            x = 374;
-            y = 882;
-        } else if (b > 366061 && b <= 366561) {  // 128 绔欑偣 366311
-            x = 385;
-            y = 882;
-        } else if (b > 366561 && b <= 370134) {
-            x = 396;
-            y = 882;
-        } else if (b > 370134 && b <= 373708) {
-            x = 407;
-            y = 882;
-        } else if (b > 373708 && b <= 377282) {
-            x = 418;
-            y = 882;
-        } else if (b > 377282 && b <= 380856) {
-            x = 429;
-            y = 882;
-        } else if (b > 380856 && b <= 381356) {  // 127 绔欑偣 381106
-            x = 440;
-            y = 882;
-        } else if (b > 381356 && b <= 385021) {
-            x = 451;
-            y = 882;
-        } else if (b > 385021 && b <= 388687) {
-            x = 462;
-            y = 882;
-        } else if (b > 388687 && b <= 392352) {
-            x = 473;
-            y = 882;
-        } else if (b > 392352 && b <= 396018) {
-            x = 484;
-            y = 882;
-        } else if (b > 396018 && b <= 396518) {  // 126 绔欑偣 396268
-            x = 495;
-            y = 882;
-        } else if (b > 396518 && b <= 403768) {
-            x = 506;
-            y = 882;
-        } else if (b > 403768 && b <= 411018) {
-            x = 517;
-            y = 882;
-        } else if (b > 411018 && b <= 418268) {
-            x = 528;
-            y = 882;
-        } else if (b > 418268 && b <= 425518) {
-            x = 539;
-            y = 882;
-        } else if (b > 425518 && b <= 426018) {  // 125 绔欑偣 425768
-            x = 550;
-            y = 882;
-        } else if (b > 426018 && b <= 433329) {
-            x = 561;
-            y = 882;
-        } else if (b > 433329 && b <= 440641) {
-            x = 572;
-            y = 882;
-        } else if (b > 440641 && b <= 447952) {
-            x = 583;
-            y = 882;
-        } else if (b > 426018 && b <= 455264) {
-            x = 594;
-            y = 882;
-        } else if (b > 455264 && b <= 455764) {  // 124 绔欑偣 455514
-            x = 605;
-            y = 882;
-        } else if (b > 455764 && b <= 459352) {
-            x = 616;
-            y = 882;
-        } else if (b > 459352 && b <= 462940) {
-            x = 627;
-            y = 882;
-        } else if (b > 462940 && b <= 466528) {
-            x = 638;
-            y = 882;
-        } else if (b > 466528 && b <= 470117) {
-            x = 649;
-            y = 882;
-        } else if (b > 470117 && b <= 470617) {  // 123 绔欑偣 470367
-            x = 660;
-            y = 882;
-        } else if (b > 470617 && b <= 474207) {
-            x = 671;
-            y = 882;
-        } else if (b > 474207 && b <= 477797) {
-            x = 682;
-            y = 882;
-        } else if (b > 477797 && b <= 481387) {
-            x = 693;
-            y = 882;
-        } else if (b > 481387 && b <= 484977) {
-            x = 704;
-            y = 882;
-        } else if (b > 484977 && b <= 485477) { // 122 绔欑偣 485227
-            x = 715;
-            y = 882;
-        } else if (b > 485477 && b <= 492773) {
-            x = 726;
-            y = 882;
-        } else if (b > 492773 && b <= 500069) {
-            x = 737;
-            y = 882;
-        } else if (b > 500069 && b <= 507365) {
-            x = 748;
-            y = 882;
-        } else if (b > 507365 && b <= 514662) {
-            x = 759;
-            y = 882;
-        } else if (b > 514662 && b <= 515162) { // 121 绔欑偣 514912
-            x = 770;
-            y = 882;
-        } else if (b > 515162 && b <= 522479) {
-            x = 781;
-            y = 882;
-        } else if (b > 522479 && b <= 529797) {
-            x = 792;
-            y = 882;
-        } else if (b > 529797 && b <= 537114) {
-            x = 803;
-            y = 882;
-        } else if (b > 537114 && b <= 544432) {
-            x = 814;
-            y = 882;
-        } else if (b > 544432 && b <= 544932) { // 120 绔欑偣 544682
-            x = 825;
-            y = 882;
-        } else if (b > 544932 && b <= 548520) {
-            x = 836;
-            y = 882;
-        } else if (b > 548520 && b <= 552108) {
-            x = 847;
-            y = 882;
-        } else if (b > 552108 && b <= 555696) {
-            x = 858;
-            y = 882;
-        } else if (b > 555696 && b <= 559284) {
-            x = 869;
-            y = 882;
-        } else if (b > 559284 && b <= 559784) { // 119 绔欑偣 559534
-            x = 880;
-            y = 882;
-        } else if (b > 559784 && b <= 563356) {
-            x = 891;
-            y = 882;
-        } else if (b > 563356 && b <= 566928) {
-            x = 908;
-            y = 882;
-        } else if (b > 566928 && b <= 570500) {
-            x = 919;
-            y = 882;
-        } else if (b > 570500 && b <= 574073) {
-            x = 930;
-            y = 882;
-        } else if (b > 574073 && b <= 574573) { // 118 绔欑偣 574323
-            x = 941;
-            y = 882;
-        } else if (b > 574573 && b <= 581878) {
-            x = 952;
-            y = 882;
-        } else if (b > 581878 && b <= 589183) {
-            x = 963;
-            y = 882;
-        } else if (b > 589183 && b <= 596488) {
-            x = 974;
-            y = 882;
-        } else if (b > 596488 && b <= 603793) {
-            x = 985;
-            y = 882;
-        } else if (b > 603793 && b <= 604293) { // 117 绔欑偣 604043
-            x = 996;
-            y = 882;
-        } else if (b > 604293 && b <= 611652) {
-            x = 1007;
-            y = 882;
-        } else if (b > 611652 && b <= 619011) {
-            x = 1018;
-            y = 882;
-        } else if (b > 619011 && b <= 626370) {
-            x = 1029;
-            y = 882;
-        } else if (b > 626370 && b <= 633730) {
-            x = 1;
-            y = 882;
-        } else if (b > 633730 && b <= 634230) { // 116 绔欑偣 633980
-            x = 1040;
-            y = 882;
-        } else if (b > 634230 && b <= 641833) {
-            x = 1050;
-            y = 882;
-        } else if (b > 641833 && b <= 649437) {
-            x = 1060;
-            y = 882;
-        } else if (b > 649437 && b <= 657041) {
-            x = 1070;
-            y = 882;
-        } else if (b > 657041 && b <= 664645) {
-            x = 1080;
-            y = 882;
-        } else if (b > 664645 && b <= 672249) {
-            x = 1090;
-            y = 882;
-        } else if (b > 672249 && b <= 679853) {
-            x = 1100;
-            y = 882;
-
-        } else if (b > 679853 && b <= 680353) {   // 116 鎷愮偣 680103
-            x = 1115;
-            y = 882;
-
-
-        } else if (b > 680353 && b <= 685447) {
-            x = 1125;
-            y = 882;
-        } else if (b > 685447 && b <= 690542) {
-            x = 1125;
-            y = 880;
-        } else if (b > 690542 && b <= 695637) {
-            x = 1135;
-            y = 878;
-        } else if (b > 695637 && b <= 700731) {
-            x = 1145;
-            y = 877;
-        } else if (b > 700731 && b <= 705826) {
-            x = 1155;
-            y = 875;
-        } else if (b > 705826 && b <= 710921) {
-            x = 1190;
-            y = 855;
-        } else if (b > 710921 && b <= 716015) {
-            x = 1200;
-            y = 840;
-        } else if (b > 716015 && b <= 721110) {
-            x = 1210;
-            y = 820;
-        } else if (b > 721110 && b <= 726205) {
-            x = 1215;
-            y = 800;
-        } else if (b > 726205 && b <= 746783) {  // 115 鎷愮偣 731550
-            x = 1215;
-            y = 775;
-
-        } else if (b > 746783 && b <= 750168) {
-            x = 1215;
-            y = 770;
-        } else if (b > 750168 && b <= 753554) {
-            x = 1215;
-            y = 735;
-
-        } else if (b > 753554 && b <= 756940) {
-            x = 1215;
-            y = 700;
-        } else if (b > 756940 && b <= 760326) {
-            x = 1215;
-            y = 665;
-        } else if (b > 760326 && b <= 763712) {
-            x = 1215;
-            y = 630;
-        } else if (b > 763712 && b <= 767098) {
-            x = 1215;
-            y = 595;
-        } else if (b > 767098 && b <= 770484) {
-            x = 1215;
-            y = 560;
-        } else if (b > 770484 && b <= 773870) {
-            x = 1215;
-            y = 535;
-        } else if (b > 773870 && b <= 774370) { // 115 绔欑偣 774120
-            x = 1215;
-            y = 520;
-        } else if (b > 774370 && b <= 780052) {
-            x = 1215;
-            y = 502;
-        } else if (b > 780052 && b <= 785735) {
-            x = 1215;
-            y = 484;
-        } else if (b > 785735 && b <= 791417) {
-            x = 1215;
-            y = 466;
-        } else if (b > 791417 && b <= 797100) {
-            x = 1215;
-            y = 448;
-        } else if (b > 797100 && b <= 797600) { // 114 绔欑偣 797100
-            x = 1215;
-            y = 430;
-        } else if (b > 797600 && b <= 815742) {
-            x = 1215;
-            y = 412;
-        } else if (b > 815742 && b <= 833885) {
-            x = 1215;
-            y = 394;
-        } else if (b > 833885 && b <= 852027) {
-            x = 1215;
-            y = 376;
-        } else if (b > 852027 && b <= 870170) {
-            x = 1215;
-            y = 358;
-        } else if (b > 870170 && b <= 870670) { // 113 绔欑偣 870420
-            x = 1215;
-            y = 340;
-        } else if (b > 870670 && b <= 877815) {
-            x = 1215;
-            y = 322;
-        } else if (b > 877815 && b <= 884960) {
-            x = 1215;
-            y = 304;
-        } else if (b > 884960 && b <= 892105) {
-            x = 1215;
-            y = 286;
-        } else if (b > 892105 && b <= 899250) {
-            x = 1215;
-            y = 268;
-        } else if (b > 899250 && b <= 899750) { // 112 绔欑偣 899500
-            x = 1215;
-            y = 250;
-        } else if (b > 899750 && b <= 914290) {
-            x = 1215;
-            y = 225;
-        } else if (b > 914290 && b <= 928830) {
-            x = 1215;
-            y = 200;
-        } else if (b > 928830 && b <= 943370) {
-            x = 1215;
-            y = 175;
-        } else if (b > 943370 && b <= 957910) {
-            x = 1215;
-            y = 150;
-        } else if (b > 972450 && b <= 972950) {  // 鎷愮偣
-            x = 1215;
-            y = 125;
-
-        } else if (b > 972950 && b <= 1016193) {  // 椤剁偣
-            x = 1164;
-            y = 80;
-        } else if (b > 1016193 && b <= 1063563) { // 鎷愮偣
-            x = 1115;
-            y = 125;
-
-        } else if (b > 1063563 && b <= 1064063) { // 111 绔欑偣 1063813
-            x = 1115;
-            y = 150;
-        } else if (b > 1064063 && b <= 1077711) {
-            x = 1115;
-            y = 175;
-        } else if (b > 1077711 && b <= 1078211) { // 110 绔欑偣 1077961
-            x = 1115;
-            y = 200;
-        } else if (b > 1078211 && b <= 1104788) {
-            x = 1115;
-            y = 225;
-        } else if (b > 1104788 && b <= 1105288) { // 109 绔欑偣 1105038
-            x = 1115;
-            y = 250;
-        } else if (b > 1105288 && b <= 1119213) {
-            x = 1115;
-            y = 275;
-        } else if (b > 1119213 && b <= 1119713) { // 108 绔欑偣 1119463
-            x = 1115;
-            y = 300;
-        } else if (b > 1119713 && b <= 1145902) {
-            x = 1115;
-            y = 325;
-        } else if (b > 1145902 && b <= 1146402) { // 107 绔欑偣 1146152
-            x = 1115;
-            y = 350;
-        } else if (b > 1146402 && b <= 1160380) {
-            x = 1115;
-            y = 375;
-        } else if (b > 1160380 && b <= 1160880) { // 106 绔欑偣 1160630
-            x = 1115;
-            y = 400;
-        } else if (b > 1160880 && b <= 1187314) {
-            x = 1115;
-            y = 425;
-        } else if (b > 1187314 && b <= 1188214) { // 105 绔欑偣 1187564
-            x = 1115;
-            y = 450;
-        } else if (b > 1188214 && b <= 1201849) {
-            x = 1115;
-            y = 475;
-        } else if (b > 1201849 && b <= 1202349) { // 104 绔欑偣 1202099
-            x = 1115;
-            y = 500;
-        } else if (b > 1202349 && b <= 1228831) {
-            x = 1115;
-            y = 525;
-        } else if (b > 1228831 && b <= 1229331) { // 103 绔欑偣 1229081
-            x = 1115;
-            y = 550;
-        } else if (b > 1229331 && b <= 1243204) {
-            x = 1115;
-            y = 575;
-        } else if (b > 1243204 && b <= 1243704) { // 102 绔欑偣 1243454
-            x = 1115;
-            y = 600;
-        } else if (b > 1243704 && b <= 1269708) {
-            x = 1115;
-            y = 625;
-        } else if (b > 1269708 && b <= 1284750) { // 101 绔欑偣 1269958
-            x = 1115;
-            y = 650;
-        } else if (b > 1284750 && b <= 1285250) { // 101 鎷愮偣
-            x = 1115;
-            y = 720;
-
-        } else if (b > 1285250 && b <= 1322829) { // 101 鎷愮偣
-            x = 1100;
-            y = 750;
-
-        } else if (b > 1322829 && b <= 1737000){
-            double unit = (1737000 - 1322829) / 100.0;
-            double startX = 1090;
-            double unitX = 7;
-            y = 775;
-
-            for (int i = 0; i < 100; i++) {
-                if (b > 1322829 + i * unit && b <= 1322829 + (i + 1) * unit) {
-                    x = startX - i * unitX;
-                }
-            }
-
-        } else if (b >=  0 && b <= 134400){
-            double unit = 134400 / 41.0;
-            double startX = 390;
-            double unitX = 8.17;
-            y = 775;
-
-            for (int i = 0; i < 41; i++) {
-                if (b >= 0 + i * unit && b <= 0 + (i + 1) * unit) {
-                    x = startX - i * unitX;
-                }
-            }
-        } else if (b > 134400 && b <= 134900) {
-            x = 25;
-            y = 830;
-        } else if (b > 134900 && b <= 196000) {
-            x = 65;
-            y = 882;
-        } else if (b > 196000 && b <= 217480) {
-            x = 83;
-            y = 882;
+    public static double[] getRgvPosNew(Integer devNo,double a, double b) {
+        double[] rgvPosNew = getRgvPosNew(a, b);
+        switch (devNo){
+            case 101:
+            case 102:
+            case 103:
+            case 104:
+            case 105:
+            case 106:
+            case 107:
+            case 108:
+            case 109:
+            case 110:
+            case 111:
+                rgvPosNew[0] = rgvPosNew[0] - 30;
+                rgvPosNew[1] = rgvPosNew[1];
+                break;
+            case 112:
+            case 113:
+            case 114:
+            case 115:
+                rgvPosNew[0] = rgvPosNew[0] + 30;
+                rgvPosNew[1] = rgvPosNew[1];
+                break;
+            case 116:
+            case 117:
+            case 118:
+            case 119:
+            case 120:
+            case 121:
+            case 122:
+            case 123:
+            case 124:
+            case 125:
+            case 126:
+            case 127:
+            case 128:
+            case 129:
+            case 130:
+            case 131:
+            case 132:
+            case 133:
+                rgvPosNew[0] = rgvPosNew[0];
+                rgvPosNew[1] = rgvPosNew[1] + 30;
+                break;
+            case 134:
+                rgvPosNew[0] = rgvPosNew[0];
+                rgvPosNew[1] = rgvPosNew[1] - 30;
+                break;
         }
+        return rgvPosNew;
+
+    }
+    public static double[] getRgvPosNew(double a, double b) {
+        // 瀹氫箟鍖洪棿鍙婂搴旂殑鍑犱綍鍙傛暟锛堟柊澧炲渾寮у弬鏁帮級
+        // 缁撴瀯锛歿start, end, 绫诲瀷, 鍙傛暟...}
+        // 绫诲瀷璇存槑锛�0-鐩寸嚎锛�1-鍦嗗姬锛堥渶瑕佸渾蹇冨潗鏍囷級
+        Object[][] intervals = {
+                // 鐩寸嚎鍖洪棿锛�0-134400锛�
+                {0.0, 120000.0, 0, 390.0, 775.0, 25.0, 775.0},
+//                // 寮х嚎鍖洪棿锛侊紒锛佺洿绾垮尯闂达紒锛侊紒
+                {120000.0, 127500.0, 0, 25.0, 775.0, 45.0, 822.0},
+                // 寮х嚎鍖洪棿锛侊紒锛佺洿绾垮尯闂达紒锛侊紒
+                {127500.0, 134900.0, 0, 45.0, 822.0, 65.0, 882.0},
+                // 鐩寸嚎鍖洪棿
+                {134900.0, 680103.0,0, 65.0, 882.0, 1115.0, 882.0},
+
+//                // 寮х嚎鍖洪棿锛堟嫄鐐�116-115锛夛紝鎺у埗鐐瑰亣璁句负(1125, 882)
+//                {680103, 731550, 1115, 882, 1215, 775, 1125, 882},
+
+                // 鍦嗗姬鍖洪棿锛堟嫄鐐�116-115锛夋柊鍙傛暟锛氬渾蹇�(1115,775)
+                {680103.0, 731550.0, 2, 1115.0, 882.0, 1215.0, 775.0, 1115.0, 775.0}, // 淇缁堢偣鍧愭爣
+
+                // 鐩寸嚎鍖洪棿
+                {731550.0, 972950.0,0, 1215.0, 775.0, 1215.0, 125.0},
+                // 寮х嚎鍖洪棿锛堟嫄鐐�112-椤剁偣锛夛紝鎺у埗鐐瑰亣璁句负(1215, 80)锛侊紒锛佺洿绾垮尯闂达紒锛侊紒
+                {972950.0, 1016193.0,0, 1215.0, 125.0, 1164.0, 80.0},
+                // 寮х嚎鍖洪棿锛堟嫄鐐�-椤剁偣-111锛夛紝鎺у埗鐐瑰亣璁句负(1164, 125)锛侊紒锛佺洿绾垮尯闂达紒锛侊紒
+                {1016193.0, 1063563.0,0, 1164.0, 80.0, 1115.0, 125.0},
+                // 鐩寸嚎鍖洪棿
+                {1063563.0, 1315250.0,0, 1115.0, 150.0, 1115.0, 720.0},
+                // 寮х嚎鍖洪棿锛堟嫄鐐�101-杞集锛夛紝鎺у埗鐐瑰亣璁句负(1115, 750)
+                {1315250.0, 1322829.0,0, 1115.0, 720.0, 1100.0, 750.0},
+                // 鐩寸嚎鍖洪棿
+                {1322829.0, 1737000.0,0, 1090.0, 775.0, 390.0, 775.0},
+        };
+
+        for (Object[] interval : intervals) {
+            double start = (Double) interval[0];
+            double end = (Double) interval[1];
+            int type = (Integer) interval[2];
+
+            if (b >= start && b <= end) {
+                double t = (b - start) / (end - start);
+
+                // 鏍规嵁涓嶅悓绫诲瀷璁$畻鍧愭爣
+                switch (type) {
+                    case 0: // 鐩寸嚎
+                        return linearInterpolation(interval, t);
+                    case 1: // 璐濆灏旀洸绾�
+                        return bezierInterpolation(interval, t);
+                    case 2: // 鍦嗗姬
+                        return circularInterpolation(interval, t);
+                }
+            }
+        }
+        return new double[]{0, 0};
+    }
 
 
 
-        return new double[]{x, y};
+    // 鐩寸嚎鎻掑��
+    private static double[] linearInterpolation(Object[] interval, double t) {
+        double x1 = (Double) interval[3];
+        double y1 = (Double) interval[4];
+        double x2 = (Double) interval[5];
+        double y2 = (Double) interval[6];
+        return new double[]{
+                x1 + t * (x2 - x1),
+                y1 + t * (y2 - y1)
+        };
+    }
+
+    // 璐濆灏旀洸绾挎彃鍊�
+    private static double[] bezierInterpolation(Object[] interval, double t) {
+        double x0 = (Double) interval[3];
+        double y0 = (Double) interval[4];
+        double x2 = (Double) interval[5];
+        double y2 = (Double) interval[6];
+        double cx = (Double) interval[7];
+        double cy = (Double) interval[8];
+        return new double[]{
+                Math.pow(1-t, 2)*x0 + 2*(1-t)*t*cx + t*t*x2,
+                Math.pow(1-t, 2)*y0 + 2*(1-t)*t*cy + t*t*y2
+        };
+    }
+
+    // 鍦嗗姬鎻掑�硷紙鏂板锛�
+    private static double[] circularInterpolation(Object[] interval, double t) {
+        // 鍙傛暟瑙f瀽
+        double startX = (Double) interval[3];
+        double startY = (Double) interval[4];
+        double endX = (Double) interval[5];
+        double endY = (Double) interval[6];
+        double centerX = (Double) interval[7];
+        double centerY = (Double) interval[8];
+
+        // 璁$畻璧峰瑙掑害鍜岀粓姝㈣搴�
+        double startAngle = Math.atan2(startY - centerY, startX - centerX);
+        double endAngle = Math.atan2(endY - centerY, endX - centerX);
+
+        // 瑙掑害鎻掑��
+        double currentAngle = startAngle + t * (endAngle - startAngle);
+        double radius = Math.hypot(startX - centerX, startY - centerY);
+
+        return new double[]{
+                centerX + radius * Math.cos(currentAngle),
+                centerY + radius * Math.sin(currentAngle)
+        };
     }
 
 }
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 5786451..2bca69b 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -29,6 +29,7 @@
     private int j = 0;
     private int k = 0;
     private int l = 0;
+    private int[] autoZ = new int[]{0,0,0,0,0,0,0};
 
     /**
      * =====>>  寮�濮嬪伐浣�
@@ -63,7 +64,7 @@
                     // 浠诲姟涓嬪彂
                     mainService.DevpTaskNoRun();
                     // 浠诲姟瀹屾垚
-                    mainService.rgvCompleteWrkMastSta();
+                    mainService.rgvCompleteWrkMastSta(autoZ);
                     //鏇存柊浣嶇疆淇℃伅
                     mainService.updateStePosition();
 
diff --git a/src/main/java/com/zy/core/model/command/RgvCommand.java b/src/main/java/com/zy/core/model/command/RgvCommand.java
index 5be8072..d8dab77 100644
--- a/src/main/java/com/zy/core/model/command/RgvCommand.java
+++ b/src/main/java/com/zy/core/model/command/RgvCommand.java
@@ -52,6 +52,9 @@
     // 宸ヤ綅2浠诲姟鍙�
     private Short taskNo2 = 0;
 
+
+    private Short rgvSome = 1;
+
     /**
      * 浠诲姟妯″紡锛�
      * 0 = 鏃�
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index b367363..496ec77 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -216,9 +216,13 @@
         array[3] = command.getTaskMode1();//浠诲姟妯″紡
         array[4] = command.getTaskNo1();
 
+
+
         OperateResult result = siemensNet.Write("DB24.0", array);
 
         if (command.getAckFinish1().equals((short)0)) {
+//            Thread.sleep(100L);
+            siemensNet.Write("DB24.10.7", command.getRgvSome() == 1);
             Thread.sleep(100L);
             result = siemensNet.Write("DB24.10.0", true);
         } else {
diff --git a/src/main/java/com/zy/system/controller/LicenseCreatorController.java b/src/main/java/com/zy/system/controller/LicenseCreatorController.java
index 88ffe42..693a640 100644
--- a/src/main/java/com/zy/system/controller/LicenseCreatorController.java
+++ b/src/main/java/com/zy/system/controller/LicenseCreatorController.java
@@ -69,6 +69,9 @@
      */
     @RequestMapping(value = "/getLicenseDays")
     public R getLicenseDays() {
+//        if (true){
+//            return R.ok().add(Cools.add("day",0));
+//        }
         LicenseVerify licenseVerify = new LicenseVerify();
         LicenseContent verifyInfo = licenseVerify.getVerifyInfo();
         if (verifyInfo == null) {
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index b08909c..8ec91c7 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -32,6 +32,12 @@
 swagger:
   enable: false
 
+wms:
+  url: 172.17.196.200:8084
+  reportOutPath: open/rcs/task/cs/up/UploadTask
+  reportSwitch: true
+  reportSwitchAuto: false
+
 #License鐩稿叧閰嶇疆
 license:
   subject: gdhmasrs
diff --git a/src/main/resources/license.lic b/src/main/resources/license.lic
index 0cb0c0c..dc4e62b 100644
--- a/src/main/resources/license.lic
+++ b/src/main/resources/license.lic
Binary files differ
diff --git a/src/main/resources/mapper/BasCircularShuttleMapper.xml b/src/main/resources/mapper/BasCircularShuttleMapper.xml
index 5f313c3..7a666f4 100644
--- a/src/main/resources/mapper/BasCircularShuttleMapper.xml
+++ b/src/main/resources/mapper/BasCircularShuttleMapper.xml
@@ -8,6 +8,7 @@
         <result column="rgv_id" property="rgvId" />
         <result column="rgv_no" property="rgvNo" />
         <result column="status" property="status" />
+        <result column="rgv_some" property="rgvSome" />
 
     </resultMap>
 
diff --git a/src/main/webapp/static/images/favicon.ico b/src/main/webapp/static/images/favicon.ico
index 86d5e0a..b798682 100644
--- a/src/main/webapp/static/images/favicon.ico
+++ b/src/main/webapp/static/images/favicon.ico
Binary files differ
diff --git a/src/main/webapp/static/images/zy-logo.png b/src/main/webapp/static/images/zy-logo.png
index 493da9d..95b964b 100644
--- a/src/main/webapp/static/images/zy-logo.png
+++ b/src/main/webapp/static/images/zy-logo.png
Binary files differ
diff --git a/src/main/webapp/views/index.html b/src/main/webapp/views/index.html
index c78054f..55f2291 100644
--- a/src/main/webapp/views/index.html
+++ b/src/main/webapp/views/index.html
@@ -59,15 +59,15 @@
         }
         .station {
             position: absolute;
-            width: 40px;
-            height: 24px;
-            /*border-radius: 50%;*/
+            width: 20px;
+            height: 14px;
             text-align: center;
-            line-height: 24px;
+            line-height: 1.5; /* 璋冩暣琛岄珮涓庡瓧浣撳ぇ灏忕殑姣斿�� */
+            font-size: 10px; /* 璁剧疆鏇村皬鐨勫瓧浣� */
             font-weight: bold;
             transition: transform 0.3s ease;
             background-color: #ab1839;
-            transform: scale(1.2);
+            transform: scale(1); /* 鍙�夛細濡傛灉涓嶉渶瑕佹斁澶ф晥鏋� */
         }
         .bus {
             font-size: 10px;
@@ -218,17 +218,17 @@
 "
                       style="fill:none; stroke:blue; stroke-width:4;" />
             </svg>
-            <div class="bus-station">
-                <div v-for="(item,i) in devpPos1" class="bus-item-top" :style="'left:' + (75 + i * 15) + 'px'">{{item.dev_no}}</div>
-            </div>
-            <div class="bus-station" style="flex-direction: column">
-                <div v-for="(item,i) in devpPos2" class="bus-item-left" :style="'top:' + (200 + i * 50) + 'px'">{{item.dev_no}}</div>
-            </div>
-            <div class="bus-station" style="flex-direction: column">
-                <div v-for="(item,i) in devpPos3" class="bus-item-left2" :style="'top:' + (100 + i * 10) + 'px'">{{item.dev_no}}</div>
-            </div>
-            <!-- Stations on outer ring -->
-<!--            <div v-for="station in tableDataDev" class="station" :style="{ top: station.valueX + '%', left: station.valueY + '%' }">{{ station.index }}</div>-->
+<!--            <div class="bus-station">-->
+<!--                <div v-for="(item,i) in devpPos1" class="bus-item-top" :style="'left:' + (75 + i * 15) + 'px'">{{item.dev_no}}</div>-->
+<!--            </div>-->
+<!--            <div class="bus-station" style="flex-direction: column">-->
+<!--                <div v-for="(item,i) in devpPos2" class="bus-item-left" :style="'top:' + (200 + i * 50) + 'px'">{{item.dev_no}}</div>-->
+<!--            </div>-->
+<!--            <div class="bus-station" style="flex-direction: column">-->
+<!--                <div v-for="(item,i) in devpPos3" class="bus-item-left2" :style="'top:' + (100 + i * 10) + 'px'">{{item.dev_no}}</div>-->
+<!--            </div>-->
+<!--             Stations on outer ring-->
+            <div v-for="station in tableDataDev" class="station" :style="{ top: station.valueY + 'px', left: station.valueX + 'px' }">{{ station.index }}</div>
             <div>
                 <el-switch
                         style="display: block"
@@ -294,11 +294,18 @@
                             prop="rgvSts"
                             label="RGV鐘舵��">
                     </el-table-column>
-<!--                    <el-table-column-->
-<!--                            prop=""-->
-<!--                            label="鎿嶄綔">-->
-<!--                        <el-button type="primary" icon="el-icon-edit" circle></el-button>-->
-<!--                    </el-table-column>-->
+                    <el-table-column
+                            label="鎿嶄綔"
+                            type="template">
+                        <template slot-scope="scope">
+                            <el-button
+                                    type="danger"
+                                    size="small"
+                                    @click="taskDelete(scope.row)">
+                                鍒犻櫎
+                            </el-button>
+                        </template>
+                    </el-table-column>
                 </el-table>
             </div>
         </div>
@@ -338,11 +345,18 @@
                             prop="status$"
                             label="鐘舵��">
                     </el-table-column>
-<!--                    <el-table-column-->
-<!--                            prop=""-->
-<!--                            label="鎿嶄綔">-->
-<!--                        <el-button type="primary" icon="el-icon-edit" circle></el-button>-->
-<!--                    </el-table-column>-->
+                    <el-table-column
+                            label="鎿嶄綔"
+                            type="template">
+                        <template slot-scope="scope">
+                            <el-button
+                                    :type="scope.row.status === 0 ? 'primary' : 'danger'"
+                                    size="small"
+                                    @click="toggleStatus(scope.$index, scope.row)">
+                                {{ scope.row.status === 0 ? '绂佺敤' : '瑙i櫎绂佺敤' }}
+                            </el-button>
+                        </template>
+                    </el-table-column>
                 </el-table>
             </div>
         </div>
@@ -444,6 +458,61 @@
                         }
                     }
                 },
+                taskDelete(row) {
+                    let that = this;
+                    that.$confirm('纭瑕佸垹闄よ璁惧鍚�?', '鎻愮ず', {
+                        confirmButtonText: '纭畾',
+                        cancelButtonText: '鍙栨秷',
+                        type: 'warning'
+                    }).then(() => {
+                        $.ajax({
+                            url: baseUrl + "/rgv/disable/task/delete",
+                            headers: {'token': localStorage.getItem('token')},
+                            method: 'POST',
+                            data: {
+                                wrkNo: row.wrkNo
+                            },
+                            success: function (res) {
+                                if (res.code === 200) {
+                                    that.$message.success('鍒犻櫎鎴愬姛');
+                                    // 鍒犻櫎褰撳墠琛�
+                                    that.tableDataRight.splice(that.tableDataRight.indexOf(row), 1);
+                                } else {
+                                    that.$message.error('鍒犻櫎澶辫触');
+                                }
+                            }
+                        });
+                    });
+                },
+                toggleStatus(index, row) {
+                    let that = this;
+                    const currentStatus = row.status;
+                    const targetStatus = currentStatus === 0 ? 1 : 0;
+
+                    that.$confirm(`纭瑕�${currentStatus === 0 ? '绂佺敤' : '鍚敤'}璇ヨ澶囧悧?`, '鎻愮ず', {
+                        confirmButtonText: '纭畾',
+                        cancelButtonText: '鍙栨秷',
+                        type: 'warning'
+                    }).then(() => {
+                        $.ajax({
+                            url: baseUrl + "/rgv/disable/rgv/status",
+                            headers: {'token': localStorage.getItem('token')},
+                            method: 'POST',
+                            data: {
+                                rgvNo: row.rgvNo,
+                                status: targetStatus
+                            },
+                            success: function (res) {
+                                if (res.code === 200) {
+                                    that.$message.success(`鐘舵�佹洿鏂版垚鍔焋);
+                                    row.status$ = targetStatus; // 鏇存柊鍓嶇鐘舵��
+                                } else {
+                                    that.$message.error('鐘舵�佹洿鏂板け璐�');
+                                }
+                            }
+                        });
+                    });
+                },
                 handleChangeValueRight(val) {
                     console.log("33333"+val);
 

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