From d75bdc98e2bc456eecfa4003bf700cb701d52a9b Mon Sep 17 00:00:00 2001
From: 野心家 <1051256694@qq.com>
Date: 星期五, 23 五月 2025 18:38:56 +0800
Subject: [PATCH] 初始化

---
 src/main/java/com/zy/core/thread/RgvThread.java                    |  175 ++++++++++++++++++++++++----
 src/main/webapp/views/taskWrk/taskWrk.html                         |    2 
 src/main/java/com/zy/asrs/service/impl/DeviceErrorServiceImpl.java |   16 +
 src/main/java/com/zy/asrs/controller/OpenController.java           |   83 +++++++++++++
 src/main/webapp/views/taskWrkLog/taskWrkLog.html                   |    2 
 src/main/java/com/zy/core/model/protocol/RgvProtocol.java          |   59 +++++++++
 src/main/resources/application.yml                                 |    4 
 7 files changed, 304 insertions(+), 37 deletions(-)

diff --git a/src/main/java/com/zy/asrs/controller/OpenController.java b/src/main/java/com/zy/asrs/controller/OpenController.java
index 5a20234..c542982 100644
--- a/src/main/java/com/zy/asrs/controller/OpenController.java
+++ b/src/main/java/com/zy/asrs/controller/OpenController.java
@@ -544,7 +544,7 @@
             basRgvWmsParam.setSteNo(rgvSlave.getId());
             basRgvWmsParam.setSteErr(rgvStatus.getAlarm().longValue());
             try{
-                BasRgvErr basRgvErr = basRgvErrService.selectById(rgvStatus.getAlarm().longValue());
+                BasRgvErr basRgvErr = basRgvErrService.selectById((long)rgvStatus.getAlarm$());
 
                 basRgvWmsParam.setSteErrM(basRgvErr.getErrName());
             } catch (Exception e){
@@ -562,4 +562,85 @@
     }
 
 
+
+    //璁惧鐘舵�佹煡璇㈡帴鍙�
+    @PostMapping("/errorRgv1")
+    @Transactional
+    public R errorRgv(@RequestHeader String appkey,
+                          HttpServletRequest request) {
+        auth(appkey, "璁惧鐘舵�佹煡璇㈡帴鍙�", request);
+        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
+        List<Object> list = new ArrayList<>();
+        WcsStatusResponseModel wcsStatusResponseModel = new WcsStatusResponseModel();
+        for (BasDevp basDevp:basDevps){
+            BasDevpWmsParam basDevpWmsParam = new BasDevpWmsParam();
+            basDevpWmsParam.setDevNo(basDevp.getDevNo());
+            basDevpWmsParam.setWrkNo(basDevp.getWrkNo().longValue());
+            basDevpWmsParam.setAutoing(basDevp.getAutoing());
+            basDevpWmsParam.setLoading(basDevp.getLoading());
+            basDevpWmsParam.setInEnable(basDevp.getInEnable());
+            basDevpWmsParam.setOutEnable(basDevp.getOutEnable());
+            basDevpWmsParam.setDevErr(basDevp.getStaErr().longValue());
+            basDevpWmsParam.setDevErrM(basDevpWmsParam.getDevErr$());
+//            list.add(basDevpWmsParam);
+            wcsStatusResponseModel.getChainList().add(basDevpWmsParam);
+        }
+        List<BasCrnpWmsParam> basCrnpWmsParamList = new ArrayList<>();
+        for (CrnSlave crn : slaveProperties.getCrn()) {
+            // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+            if (crnProtocol == null) { continue; }
+            BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
+            if (basCrnp == null) {
+                log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
+                continue;
+            }
+            BasCrnpWmsParam basCrnpWmsParam = new BasCrnpWmsParam();
+            basCrnpWmsParam.sync(basCrnp);
+
+            basCrnpWmsParam.setCrnNoH(crnProtocol.getLaneNo());
+
+            try{
+                BasCrnError basCrnError = basCrnErrorService.selectById(basCrnp.getCrnErr());
+                basCrnpWmsParam.setCrnErrM(basCrnError.getErrName());
+            } catch (Exception e){
+                basCrnpWmsParam.setCrnErrM("鏈煡寮傚父");
+            }
+            basCrnpWmsParamList.add(basCrnpWmsParam);
+
+//            list.add(basCrnpWmsParam);
+        }
+        wcsStatusResponseModel.setPilingCarList(basCrnpWmsParamList);
+        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+            RgvProtocol rgvStatus = RgvStatusCache.getRgvStatus(rgvSlave.getId());
+            if (Cools.isEmpty(rgvStatus)){
+                continue;
+            }
+            BasRgvWmsParam basRgvWmsParam = new BasRgvWmsParam();
+            basRgvWmsParam.setWrkNo(rgvStatus.getTaskNo());
+            basRgvWmsParam.setCrnSts(rgvStatus.getStatus().intValue());
+            basRgvWmsParam.setStatusType(rgvStatus.getStatusType().desc);
+            basRgvWmsParam.setSteNo(rgvSlave.getId());
+            basRgvWmsParam.setSteErr(rgvStatus.getAlarm().longValue());
+            basRgvWmsParam.setSteErrM(rgvStatus.getAlarmM());
+            try{
+//                BasRgvErr basRgvErr = basRgvErrService.selectById((long)rgvStatus.getAlarm$());
+
+//                basRgvWmsParam.setSteErrM(basRgvErr.getErrName());
+            } catch (Exception e){
+                basRgvWmsParam.setSteErrM("鏈煡寮傚父");
+            }
+//            list.add(basRgvWmsParam);
+            wcsStatusResponseModel.getRgvList().add(basRgvWmsParam);
+
+        }
+//        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
+//        for (BasCrnp basCrnp:basCrnps){
+//            list.add(basCrnp);
+//        }
+        return R.ok(wcsStatusResponseModel);
+    }
+
+
 }
diff --git a/src/main/java/com/zy/asrs/service/impl/DeviceErrorServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/DeviceErrorServiceImpl.java
index 6957818..cbaf7ad 100644
--- a/src/main/java/com/zy/asrs/service/impl/DeviceErrorServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/DeviceErrorServiceImpl.java
@@ -21,17 +21,23 @@
 
     @Override
     public Boolean addDeviceError(String device, Integer deviceId, String msg) {
-        DeviceError error = this.selectByDeviceAndDeviceId(device, deviceId);
-        if (error == null) {
+//        DeviceError error = this.selectByDeviceAndDeviceId(device, deviceId);
+//        if (error == null) {
             DeviceError deviceError = new DeviceError();
             deviceError.setDevice(device);
             deviceError.setDeviceId(deviceId);
             deviceError.setMsg(msg);
             deviceError.setCreateTime(new Date());
-            return this.baseMapper.insert(deviceError) > 0;
-        }
+            Integer insert = 0;
+            try{
+                insert = this.baseMapper.insert(deviceError);
+            } catch (Exception e){
 
-        return true;
+            }
+            return  insert> 0;
+//        }
+
+//        return true;
     }
 
     @Override
diff --git a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
index 7eeef65..15c7135 100644
--- a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
@@ -97,6 +97,26 @@
      */
     public boolean statusEnable;//0\1\2
 
+
+
+    // 鎬ュ仠
+    private boolean err1;
+
+    // 鏈夌墿鏃犺祫鏂�
+    private boolean err2;
+
+    // 鍛戒护閿欒璧拌閾炬潯鍐茬獊
+    private boolean err3;
+
+    // 鐩爣涓鸿秴杩囪蛋琛屾瀬闄�
+    private boolean err4;
+
+    // 鍙橀鍣ㄥ紓甯�
+    private boolean err5;
+
+    // 鍏夌數寮傚父
+    private boolean err6;
+
     public void setMode(Short mode) {
         this.mode = mode;
         this.modeType = RgvModeType.get(mode);
@@ -145,4 +165,43 @@
         this.xDuration = Float.valueOf(xDuration);
     }
 
+    public int getAlarm$(){
+        if (err1){
+            return 1;
+        }
+        if (err2){
+            return 2;
+        }
+        if (err3){
+            return 3;
+        }
+        if (err4){
+            return 4;
+        }
+        if (err5){
+            return 5;
+        }
+        if (err6){
+            return 6;
+        }
+        return 0;
+    }
+    public String getAlarmM(){
+        switch (getAlarm$()){
+            case 1:
+                return "鎬ュ仠";
+            case 2:
+                return "鏈夌墿鏃犺祫鏂�";
+            case 3:
+                return "鍛戒护閿欒璧拌閾炬潯鍐茬獊";
+            case 4:
+                return "鐩爣涓鸿秴杩囪蛋琛屾瀬闄�";
+            case 5:
+                return "鍙橀鍣ㄥ紓甯�";
+            case 6:
+                return "鍏夌數寮傚父";
+        }
+        return "姝e父";
+    }
+
 }
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 6ba22dd..c040606 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -12,6 +12,7 @@
 import com.zy.asrs.entity.BasRgvOpt;
 import com.zy.asrs.service.BasRgvOptService;
 import com.zy.asrs.service.BasRgvService;
+import com.zy.asrs.service.DeviceErrorService;
 import com.zy.asrs.utils.RouteUtils;
 import com.zy.asrs.utils.TrackRangeUtils;
 import com.zy.core.DevpThread;
@@ -114,7 +115,13 @@
                     }
                 }
             } catch (Exception e) {
-                log.error("RGV鏁版嵁璇诲彇绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
+                log.error("rgv杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+                try{
+                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                    deviceErrorService.addDeviceError("rgv", slave.getId(), "rgv杩炴帴澶辫触"+e.getMessage());
+                } catch (Exception e2){
+                    log.error("e2:"+e2.getMessage());
+                }
                 initRgv();
 //                e.printStackTrace();
             }
@@ -129,7 +136,13 @@
                 readStatus();
 
             } catch (Exception e) {
-                log.error("RGV鏁版嵁璇诲彇绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
+                log.error("RGV鏁版嵁璇诲彇绾跨▼寮傚父锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+                try{
+                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV鏁版嵁璇诲彇绾跨▼寮傚父"+e.getMessage());
+                } catch (Exception e2){
+                    log.error("e2:"+e2.getMessage());
+                }
                 initRgv();
 //                e.printStackTrace();
             }
@@ -156,7 +169,13 @@
                     OperateResult result4 = siemensNet.Write("DB100.12.0", false);
                 }
             } catch (Exception e) {
-                log.error("RGV鏁版嵁璇诲彇绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
+                log.error("RGV鏁版嵁浠诲姟涓嬪彂澶嶄綅绾跨▼寮傚父锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+                try{
+                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV鏁版嵁浠诲姟涓嬪彂澶嶄綅绾跨▼寮傚父"+e.getMessage());
+                } catch (Exception e2){
+                    log.error("e2:"+e2.getMessage());
+                }
                 initRgv();
 //                e.printStackTrace();
             }
@@ -216,7 +235,13 @@
                     }
                 }
             } catch (Exception e) {
-                log.error("RGV鍙栬揣浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
+                log.error("RGV浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+                try{
+                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV浠诲姟涓嬪彂绾跨▼寮傚父"+e.getMessage());
+                } catch (Exception e2){
+                    log.error("e2:"+e2.getMessage());
+                }
 //                e.printStackTrace();
             }
         }
@@ -380,7 +405,13 @@
                     }
                 }
             } catch (Exception e) {
-                log.error("RGV鍙栬揣浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
+                log.error("RGV浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+                try{
+                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV浠诲姟涓嬪彂绾跨▼寮傚父"+e.getMessage());
+                } catch (Exception e2){
+                    log.error("e2:"+e2.getMessage());
+                }
 //                e.printStackTrace();
             }
         }
@@ -437,12 +468,18 @@
             if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
                 if ((rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing())
                         - (targetPosition + rgvProtocol.getCarBodyKunPeng())
-                        > avoidDistance) {//鏃犻渶閬胯
+                        > avoidDistance - 50) {//鏃犻渶閬胯
                     return true;
                 } else {
                     long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
                     if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
-                        log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯�  鑱旂郴绠$悊鍛橈紒锛侊紒");
+                        log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+                        try{
+                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+                        } catch (Exception e2){
+                            log.error("e2:"+e2.getMessage());
+                        }
                         return false;
                     }
                     long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
@@ -452,17 +489,23 @@
                     rgvTaskProtocolOther.setAvoid(1);
                     rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                     RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
-                    return true;
+                    return false;
                 }
             } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
                 if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
                         - (targetPosition + rgvProtocol.getCarBodyKunPeng())
-                        > avoidDistance) {//鏃犻渶閬胯
+                        > avoidDistance - 50) {//鏃犻渶閬胯
                     return true;
                 } else {
                     long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
                     if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
-                        log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯�  鑱旂郴绠$悊鍛橈紒锛侊紒");
+                        log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+                        try{
+                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+                        } catch (Exception e2){
+                            log.error("e2:"+e2.getMessage());
+                        }
                         return false;
                     }
                     long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
@@ -472,18 +515,24 @@
                     rgvTaskProtocolOther.setAvoid(1);
                     rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                     RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
-                    return true;
+                    return false;
                 }
             } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
                 if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
                         - (targetPosition + rgvProtocol.getCarBodyKunPeng())
-                        > avoidDistance) {//鏃犻渶閬胯
+                        > avoidDistance - 50) {//鏃犻渶閬胯
                     return true;
                 } else {
                     if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()-50) {
                         long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
                         if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
-                            log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯�  鑱旂郴绠$悊鍛橈紒锛侊紒");
+                            log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+                            try{
+                                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+                            } catch (Exception e2){
+                                log.error("e2:"+e2.getMessage());
+                            }
                             return false;
                         }
                         long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
@@ -500,7 +549,7 @@
             } else {
                 if ((rgvProtocolOther.getRgvPosDestinationOrPos(true) - rgvProtocolOther.getCarBodyJiaoMing())
                         - (targetPosition + rgvProtocol.getCarBodyKunPeng())
-                        > avoidDistance) {//鏃犻渶閬胯
+                        > avoidDistance - 50) {//鏃犻渶閬胯
                     return true;
                 }
             }
@@ -508,12 +557,18 @@
             if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
                 if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
                         - (rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng())
-                        > avoidDistance) {//鏃犻渶閬胯
+                        > avoidDistance - 50) {//鏃犻渶閬胯
                     return true;
                 } else {
                     long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
                     if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
-                        log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯�  鑱旂郴绠$悊鍛橈紒锛侊紒");
+                        log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+                        try{
+                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+                        } catch (Exception e2){
+                            log.error("e2:"+e2.getMessage());
+                        }
                         return false;
                     }
                     long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
@@ -523,17 +578,23 @@
                     rgvTaskProtocolOther.setAvoid(1);
                     rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                     RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
-                    return true;
+                    return false;
                 }
             } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
                 if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
                         - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
-                        > avoidDistance) {//鏃犻渶閬胯
+                        > avoidDistance - 50) {//鏃犻渶閬胯
                     return true;
                 } else {
                     long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
                     if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
-                        log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯�  鑱旂郴绠$悊鍛橈紒锛侊紒");
+                        log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+                        try{
+                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+                        } catch (Exception e2){
+                            log.error("e2:"+e2.getMessage());
+                        }
                         return false;
                     }
                     long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
@@ -543,19 +604,25 @@
                     rgvTaskProtocolOther.setAvoid(1);
                     rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                     RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
-                    return true;
+                    return false;
                 }
 
             } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
                 if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
                         - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
-                        > avoidDistance) {//鏃犻渶閬胯
+                        > avoidDistance-50) {//鏃犻渶閬胯
                     return true;
                 } else {
                     if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos() + 50) {
                         long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
                         if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
-                            log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯�  鑱旂郴绠$悊鍛橈紒锛侊紒");
+                            log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+                            try{
+                                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+                            } catch (Exception e2){
+                                log.error("e2:"+e2.getMessage());
+                            }
                             return false;
                         }
                         long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
@@ -572,7 +639,7 @@
             } else {
                 if ((rgvProtocolOther.getRgvPosDestinationOrPos(false) - rgvProtocolOther.getCarBodyJiaoMing())
                         - (targetPosition + rgvProtocol.getCarBodyKunPeng())
-                        > avoidDistance) {//鏃犻渶閬胯
+                        > avoidDistance - 50) {//鏃犻渶閬胯
                     return true;
                 }
             }
@@ -608,7 +675,13 @@
                 rgvProtocol.setStatusEnable(false);
             }
         } catch (Exception e) {
-            log.error("RGV寮傚父锛侊紒锛�" + e.getMessage());
+            log.error("RGV寮傚父锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+            try{
+                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV寮傚父"+e.getMessage());
+            } catch (Exception e2){
+                log.error("e2:"+e2.getMessage());
+            }
             rgvProtocol.setStatusEnable(true);
         }
 
@@ -641,6 +714,12 @@
 //            OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慠GV plc杩炴帴澶辫触锛侊紒锛� ===>> [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.error("RGV plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
 
+            try{
+                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGVplc杩炴帴澶辫触");
+            } catch (Exception e2){
+                log.error("e2:"+e2.getMessage());
+            }
         }
         initRgv();
 //        siemensNet.ConnectClose();
@@ -652,7 +731,7 @@
      */
     private void readStatus() {
         try {
-            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 19);
+            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 20);
             if (result.IsSuccess) {
                 // 鏋勫缓璁惧鐘舵�佸璞�
                 RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
@@ -679,8 +758,14 @@
 //                rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
 
 //                OperateResultExOne<byte[]> result11 = siemensNet.Read("DB100.12", (short) 1);
-                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 18, 1);
+                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 18, 2);
                 rgvProtocol.setLoaded(status[0]? (short)1:(short)0);
+                rgvProtocol.setErr1(status[8]);
+                rgvProtocol.setErr2(status[9]);
+                rgvProtocol.setErr3(status[10]);
+                rgvProtocol.setErr4(status[11]);
+                rgvProtocol.setErr5(status[12]);
+                rgvProtocol.setErr6(status[13]);
 
                 OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛", DateUtils.convert(new Date()), slave.getId()));
 //                // 宸ヤ綅1澶嶄綅淇″彿
@@ -709,6 +794,13 @@
                     basRgv.setRgvSts((int) rgvProtocol.getMode());
                     if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))) {
                         log.error("RGV plc鏁版嵁搴撴洿鏂板け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+
+                        try{
+                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV plc鏁版嵁搴撴洿鏂板け璐�");
+                        } catch (Exception e2){
+                            log.error("e2:"+e2.getMessage());
+                        }
                     }
                 } catch (Exception ignore) {
 
@@ -723,11 +815,25 @@
                 connectRgv = false;
 //                OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戣鍙朢GV plc鐘舵�佷俊鎭け璐� ===>> [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.error("璇诲彇RGV plc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+
+                try{
+                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                    deviceErrorService.addDeviceError("rgv", slave.getId(), "璇诲彇RGV plc鐘舵�佷俊鎭け璐�");
+                } catch (Exception e2){
+                    log.error("e2:"+e2.getMessage());
+                }
             }
         } catch (Exception e) {
 //            e.printStackTrace();
 //            OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戣鍙朢GV plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
             log.error("璇诲彇RGV plc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+
+            try{
+                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                deviceErrorService.addDeviceError("rgv", slave.getId(), "璇诲彇RGV plc鐘舵�佷俊鎭け璐�");
+            } catch (Exception e2){
+                log.error("e2:"+e2.getMessage());
+            }
             initRgv();
         }
     }
@@ -737,7 +843,14 @@
      */
     private boolean write(TaskProtocol taskProtocol) throws InterruptedException {
         if (null == taskProtocol) {
-            log.error("RGV鍐欏叆鍛戒护涓虹┖");
+            log.error("RGV鍐欏叆鍛戒护涓虹┖ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+
+            try{
+                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV鍐欏叆鍛戒护涓虹┖");
+            } catch (Exception e2){
+                log.error("e2:"+e2.getMessage());
+            }
             return false;
         }
 //        convertRow(command);
@@ -789,6 +902,14 @@
             Thread.sleep(200);
             this.readStatus();
             log.info("RGV 鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(taskProtocol));
+            log.error("RGV 鍛戒护涓嬪彂 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+
+            try{
+                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV 鍛戒护涓嬪彂"+JSON.toJSON(taskProtocol));
+            } catch (Exception e2){
+                log.error("e2:"+e2.getMessage());
+            }
             OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(taskProtocol)));
             return true;
         } else {
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index effc2cf..b68c827 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -13,7 +13,7 @@
 #    password: sa@123
     driver-class-name: dm.jdbc.driver.DmDriver
 #    url: jdbc:dm://27.172.2.101:5236/SOURCE
-    url: jdbc:dm://27.172.2.102:5236/SOURCE
+    url: jdbc:dm://27.172.2.106:5236/SOURCE
 #    url: jdbc:dm://127.0.0.1:5236/SOURCE
     username: SYSDBA
     password: Zy@12345
@@ -67,7 +67,7 @@
   #url: 10.32.53.195:8080
   # WMS绯荤粺ip
   #  url: 10.210.157.109:8090
-  url: 27.172.2.135:9027
+  url: 27.172.1.135:9027
   # 鍏ュ簱浠诲姟鐢宠鎺ュ彛
   #inboundTaskApplyPath: api/InterFace/inboundTaskApply
   inboundTaskApplyPath: api/external/wcs/inboundTaskApply
diff --git a/src/main/webapp/views/taskWrk/taskWrk.html b/src/main/webapp/views/taskWrk/taskWrk.html
index a823d63..ec84e8b 100644
--- a/src/main/webapp/views/taskWrk/taskWrk.html
+++ b/src/main/webapp/views/taskWrk/taskWrk.html
@@ -84,7 +84,7 @@
                 </el-table-column>
                 <el-table-column property="barcode" label="鎵樼洏鐮�">
                 </el-table-column>
-                <el-table-column property="crnNo" label="鍫嗗灈鏈哄彿">
+                <el-table-column property="crnNo" label="宸烽亾鍙�">
                 </el-table-column>
                 <el-table-column property="ioPri" label="浼樺厛绾�">
                 </el-table-column>
diff --git a/src/main/webapp/views/taskWrkLog/taskWrkLog.html b/src/main/webapp/views/taskWrkLog/taskWrkLog.html
index 64470b7..d9d7d9d 100644
--- a/src/main/webapp/views/taskWrkLog/taskWrkLog.html
+++ b/src/main/webapp/views/taskWrkLog/taskWrkLog.html
@@ -79,7 +79,7 @@
 				</el-table-column>
 				<el-table-column property="wrkSts$" label="宸ヤ綔鐘舵��">
 				</el-table-column>
-				<el-table-column property="crnNo" label="鍫嗗灈鏈哄彿">
+				<el-table-column property="crnNo" label="宸烽亾鍙�">
 				</el-table-column>
 				<el-table-column property="barcode" label="鏉$爜">
 				</el-table-column>

--
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