-- 分段任务添加

-- 道闸门开发
-- PDA库位清除，锁定

ruoyi-admin/src/main/java/com/ruoyi/nieyan/controller/pda/PdaAgvCallController.java

@@ -1,5 +1,6 @@
 package com.ruoyi.nieyan.controller.pda;
 
+import com.ruoyi.ams.agv.car.domain.CarInfo;
 import com.ruoyi.ams.config.domain.dto.AgvCallItemDTO;
 import com.ruoyi.ams.inv.domain.form.InvLotLocIdMoveForm;
 import com.ruoyi.ams.inv.service.IInvLotLocIdService;
@@ -182,8 +183,13 @@ public class PdaAgvCallController {
         String createUser = agvCallForm.getCreateUser();
         Boolean theWrapped = agvCallForm.getTheWrapped(); // 是否裹膜
         Boolean theWeighing = agvCallForm.getTheWeighing(); // 是否复称
+
+        List<AgvCallItemDTO> agvCallItemDTOList = agvCallForm.getAgvCallItemDTOList();
+        return agvCallProxyService.productsDownLineLSN(locationFrom, locationTo, createUser
+                ,theWrapped , theWeighing, agvCallItemDTOList);
+
         // 如果裹膜，就先不去称重
-        if (theWrapped) {
+        /*if (theWrapped) {
             theWeighing = false;
         }
         List<AgvCallItemDTO> agvCallItemDTOList = agvCallForm.getAgvCallItemDTOList();
@@ -192,7 +198,7 @@ public class PdaAgvCallController {
                         , theWeighing, agvCallItemDTOList)
                 :
                 agvCallProxyService.productsDownLineInvLSN(locationFrom, locationTo, createUser
-                        , theWeighing, agvCallItemDTOList);
+                        , theWeighing, agvCallItemDTOList);*/
     }
 
     /**
@@ -213,8 +219,13 @@ public class PdaAgvCallController {
         String createUser = agvCallForm.getCreateUser();
         Boolean theWrapped = agvCallForm.getTheWrapped();
         Boolean theWeighing = agvCallForm.getTheWeighing();
+
+        List<AgvCallItemDTO> agvCallItemDTOList = agvCallForm.getAgvCallItemDTOList();
+        return  agvCallProxyService.productsDownLineLHN(locationFrom, locationTo, createUser
+                ,theWrapped, theWeighing, agvCallItemDTOList);
+
         // 如果裹膜，就先不去称重
-        if (theWrapped) {
+        /*if (theWrapped) {
             theWeighing = false;
         }
         List<AgvCallItemDTO> agvCallItemDTOList = agvCallForm.getAgvCallItemDTOList();
@@ -223,7 +234,7 @@ public class PdaAgvCallController {
                         , theWeighing, agvCallItemDTOList)
                 :
                 agvCallProxyService.productsDownLineInvLHN(locationFrom, locationTo, createUser
-                        , theWeighing, agvCallItemDTOList);
+                        , theWeighing, agvCallItemDTOList);*/
     }
 
     /**
@@ -274,10 +285,10 @@ public class PdaAgvCallController {
     @ApiOperation("成品中转（硫酸镍｜氯化镍）")
     @PostMapping("productsDownLineToCache")
     public AjaxResult productsDownLineToCache(@RequestBody AgvCallForm agvCallForm) {
-        String locationFrom = agvCallForm.getLocationFrom();
-        String locationTo = agvCallForm.getLocationTo();
         String createUser = agvCallForm.getCreateUser();
-        return agvCallProxyService.productsDownLineToCache(locationFrom, locationTo, createUser);
+        Boolean theWrapped = agvCallForm.getTheWrapped();
+        Boolean theWeighing = agvCallForm.getTheWeighing();
+        return agvCallProxyService.productsDownLineToCache(theWrapped, theWeighing,createUser);
     }
 
     /**
@@ -359,4 +370,23 @@ public class PdaAgvCallController {
                 , createUser);
     }
 
+    /**
+     * 车辆信息
+     */
+    @ApiOperation("车辆信息")
+    @PostMapping("getCarInfo")
+    public AjaxResult getCarInfo() {
+
+        return agvCallProxyService.getCarInfo();
+    }
+
+    /**
+     * 指定车辆下发充电任务
+     */
+    @ApiOperation("指定车辆下发充电任务")
+    @PostMapping("addChargingTask")
+    public AjaxResult addChargingTask(@RequestBody CarInfo carInfo) {
+
+        return agvCallProxyService.addChargingTask(carInfo);
+    }
 }

ruoyi-admin/src/main/java/com/ruoyi/web/controller/warewms/pda/PdaInvLotLocIdController.java

@@ -1,5 +1,6 @@
 package com.ruoyi.web.controller.warewms.pda;
 
+import com.ruoyi.ams.agv.car.domain.CarInfo;
 import com.ruoyi.ams.inv.domain.form.InvLocIdSearchFrom;
 import com.ruoyi.ams.inv.domain.form.InvLotLocIdAdjForm;
 import com.ruoyi.ams.inv.domain.form.InvLotLocIdMoveForm;
@@ -7,6 +8,7 @@ import com.ruoyi.ams.inv.domain.vo.InvLotLocIdLotattVO;
 import com.ruoyi.ams.inv.mapper.InvLotLocIdMapper;
 import com.ruoyi.ams.inv.service.IInvLotLocIdService;
 import com.ruoyi.base.constant.Constant;
+import com.ruoyi.base.domain.BaseLocationInfo;
 import com.ruoyi.common.annotation.Log;
 import com.ruoyi.common.core.domain.AjaxResult;
 import com.ruoyi.common.enums.BusinessType;
@@ -172,4 +174,14 @@ public class PdaInvLotLocIdController {
 
         return invLotLocIdService.adjLocationIsEmpty(locationId, Constant.WAREHOUSE_ID, updateBy);
     }
+
+    /**
+     * 修改库位状态并删除库存
+     */
+    @ApiOperation("修改库位状态并删除库存")
+    @PostMapping("pdaUpdLoction")
+    public AjaxResult pdaUpdLoction(@RequestBody BaseLocationInfo baseLocationInfo) {
+
+        return invLotLocIdService.pdaUpdLoction(baseLocationInfo);
+    }
 }

ruoyi-admin/src/main/java/com/ruoyi/web/controller/warewms/test/ChargingMachineTestController.java

@@ -3,13 +3,17 @@ package com.ruoyi.web.controller.warewms.test;
 import cn.hutool.json.JSONUtil;
 import com.jwk.spring.boot.autoconfigure.ModbusTcpMasterTemplate;
 import com.jwk.spring.boot.modbus4j.ModbusMasterUtil;
+import com.ruoyi.ams.agv.ndc.service.FeedbackTS;
+import com.ruoyi.common.core.domain.AjaxResult;
 import com.ruoyi.hard.modbus.tcp.ChargingMachineClient;
+import com.ruoyi.hard.modbus.tcp.ModbusTcpWeigherClient;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Qualifier;
 import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
@@ -29,6 +33,10 @@ public class ChargingMachineTestController {
 
     @Autowired(required = false)
     private ChargingMachineClient chargingMachineClient;
+    @Autowired
+    private ModbusTcpWeigherClient modbusTcpWeigherClient;
+    @Autowired
+    private FeedbackTS feedbackTS;
 
     /**
      * 充电机（三向车）
@@ -62,48 +70,91 @@ public class ChargingMachineTestController {
     /**
      * 开启充电机
      *
-     * @param con true代表三向车 false代表迷你堆垛
      */
     @ApiOperation("开启充电机")
     @PostMapping("/sendOpen")
-    public Boolean sendOpen(Boolean con) {
-        return chargingMachineClient.operation(ChargingMachineClient.CHARGER_ADDRESS_MEANING.START, con);
+    public Boolean sendOpen() {
+        return chargingMachineClient.operation(ChargingMachineClient.CHARGER_ADDRESS_MEANING.START, true);
     }
 
     /**
      * 关闭充电机
      *
-     * @param con true代表三向车 false代表迷你堆垛
      */
     @ApiOperation("关闭充电机")
     @PostMapping("/sendClose")
-    public Boolean sendClose(Boolean con) {
-        return chargingMachineClient.operation(ChargingMachineClient.CHARGER_ADDRESS_MEANING.STOP, con);
+    public Boolean sendClose() {
+        return chargingMachineClient.operation(ChargingMachineClient.CHARGER_ADDRESS_MEANING.STOP, true);
     }
 
     /**
      * 放电充电机
      *
-     * @param con true代表三向车 false代表迷你堆垛
      */
     @ApiOperation("放电充电机")
     @PostMapping("/sendCharge")
-    public Boolean sendCharge(Boolean con) {
-        return chargingMachineClient.operation(ChargingMachineClient.CHARGER_ADDRESS_MEANING.DISCHARGE, con);
+    public Boolean sendCharge() {
+        return chargingMachineClient.operation(ChargingMachineClient.CHARGER_ADDRESS_MEANING.DISCHARGE, true);
     }
 
     /**
      * 查询充电机状态
      *
-     * @param con true代表三向车 false代表迷你堆垛
      */
     @ApiOperation("查询充电机状态")
     @PostMapping("/readSts")
-    public Map<String, Boolean> readSts(Boolean con) {
-        Map<String, Boolean> statusNameMapping = chargingMachineClient.getStatusNameMapping(con);
+    public Map<String, Boolean> readSts() {
+        Map<String, Boolean> statusNameMapping = chargingMachineClient.getStatusNameMapping(true);
         if (statusNameMapping != null) {
             log.info("查询充电机状态：" + JSONUtil.toJsonStr(statusNameMapping));
         }
         return statusNameMapping;
     }
+
+    /**
+     * 下发101任务
+     */
+    @ApiOperation("查询充电机状态")
+    @PostMapping("/sendTask101")
+    public AjaxResult sendTask101(@RequestBody Map<String, String> map) {
+        String taskNo = map.get("taskNo");
+        Integer index = Integer.valueOf(map.get("index"));
+        Integer agvNo = Integer.valueOf(map.get("agvNo"));
+        feedbackTS.feedbackTS101(taskNo, index, agvNo);
+        return AjaxResult.success();
+    }
+
+    @ApiOperation("道闸开门清除")
+    @PostMapping("/clearOpenDZ")
+    public Boolean clearOpenDZ() {
+        return  modbusTcpWeigherClient.clearOpenStaate();
+    }
+    @ApiOperation("道闸关门清除")
+    @PostMapping("/clearCloseDZ")
+    public Boolean clearCloseDZ() {
+        return  modbusTcpWeigherClient.clearCloseState();
+    }
+
+
+    @ApiOperation("道闸开门")
+    @PostMapping("/sendOpenDZ")
+    public Boolean sendOpenDZ() {
+        return  modbusTcpWeigherClient.writeGateOpen();
+    }
+    @ApiOperation("道闸关门")
+    @PostMapping("/sendCloseDZ")
+    public Boolean sendCloseDZ() {
+        return  modbusTcpWeigherClient.writeGateClose();
+    }
+
+    @ApiOperation("道闸开门状态")
+    @PostMapping("/stateOpenDZ")
+    public Boolean stateOpenDZ() {
+        return  modbusTcpWeigherClient.readGateOpenState();
+    }
+    @ApiOperation("道闸关门状态")
+    @PostMapping("/stateCloseDZ")
+    public Boolean stateCloseDZ() {
+        return  modbusTcpWeigherClient.readGateCloseState();
+    }
 }

warewms-ams/src/main/java/com/ruoyi/ams/agv/car/mapper/CarInfoMapper.java

@@ -4,6 +4,8 @@ import com.baomidou.mybatisplus.core.mapper.BaseMapper;
 import com.ruoyi.ams.agv.car.domain.CarInfo;
 import org.apache.ibatis.annotations.Mapper;
 
+import java.util.List;
+
 /**
  * 入库单明细Mapper接口
  *
@@ -13,4 +15,6 @@ import org.apache.ibatis.annotations.Mapper;
 @Mapper
 public interface CarInfoMapper extends BaseMapper<CarInfo> {
 
+
+    List<CarInfo> queryCarInfos();
 }

warewms-ams/src/main/java/com/ruoyi/ams/agv/ndc/AciService.java

@@ -143,7 +143,8 @@ public class AciService {
 //                        try {
                         String order = amsHexdefineDetailService.concatOrder(t, basTask);
                         log.info("writeOrder:" + order);
-                        if (t.getBusinessType().equals("01")) {
+                        if (t.getBusinessType().equals("01")||
+                                t.getBusinessType().equals("101")) {
 
                             buffer.put(ByteUtil.hexString2ByteArray(order));
                             buffer.flip();

warewms-ams/src/main/java/com/ruoyi/ams/agv/ndc/service/StatusUpdateService.java

@@ -15,7 +15,7 @@ public interface StatusUpdateService {
      */
     void updateStatus(Long id, Integer carNo);
 
-
+    void updBaslocationStatus();
     /**
      * 取卸货确认分析
      *
@@ -69,5 +69,14 @@ public interface StatusUpdateService {
      */
     void closeDoor(Integer doorNo);
 
+    /**
+     * 道闸开门
+     */
+    void gateOpen(Integer doorNo) throws InterruptedException;
+
 
+    /**
+     * 道闸关门
+     */
+    void gateClose(Integer doorNo) throws InterruptedException;
 }

warewms-ams/src/main/java/com/ruoyi/ams/agv/ndc/service/impl/SocketBufferServiceImpl.java

@@ -200,8 +200,13 @@ public class SocketBufferServiceImpl implements SocketBufferService {
                     //carStatus.setOncharge(ByteUtil.getInt(buffer, 46));
                     break;
                 case 114:
-                    //60任务卸货确认
-                    Integer aciIndex = Integer.parseInt(event.getLp1());
+                    //AGV离开裹膜点 593
+                    log.info("MSG_EVENT114:AGV离开裹膜点{}", JSON.toJSONString(event));
+                    executorService.execute(() -> {
+                        statusUpdateService.updBaslocationStatus();
+                    });
+                    //60任务卸货确认 593
+                    /*Integer aciIndex = Integer.parseInt(event.getLp1());
                     log.info("MSG_EVENT114:卸货确认{}", JSON.toJSONString(event));
 
                     AmsTask task60Search = new AmsTask();
@@ -215,10 +220,10 @@ public class SocketBufferServiceImpl implements SocketBufferService {
                         executorService.execute(() -> {
                             statusUpdateService.confirmAnalysis(task60.getTaskNo(), aciIndex, PICKUP.getValue(), icarNo);
                         });
-                    }
+                    }*/
                     break;
                 case 115:
-                    //60任务取货确认
+                    //60任务取货确认 592
                     Integer aciIndexPick = Integer.parseInt(event.getLp1());
                     log.info("MSG_EVENT114:取货确认{}", JSON.toJSONString(event));
 
@@ -272,18 +277,28 @@ public class SocketBufferServiceImpl implements SocketBufferService {
                         });
                     }
                     break;
-                case 126: //547 中间卷帘门请求开启 定时请求
-                    log.info("快速门-请求开启！" + "-" + JSON.toJSONString(event));
-                    String lp1_126 = event.getLp1();
+                case 126: //547 道闸开门
+                    log.info("道闸-请求开启！" + "-" + JSON.toJSONString(event));
+                    String lp1_126 = event.getLp3();
                     executorService.execute(() -> {
-                        statusUpdateService.openDoor(Integer.valueOf(lp1_126));
+                        //statusUpdateService.openDoor(Integer.valueOf(lp1_126));
+                        try {
+                            statusUpdateService.gateOpen(Integer.valueOf(lp1_126));
+                        } catch (InterruptedException e) {
+                            e.printStackTrace();
+                        }
                     });
                     break;
-                case 127: //549 中间卷帘门请求关闭 只请求一次
-                    log.info("快速门-请求关闭！" + "-" + JSON.toJSONString(event));
-                    String lp1_127 = event.getLp1();
+                case 127: //549 道闸关门
+                    log.info("道闸-请求关闭！" + "-" + JSON.toJSONString(event));
+                    String lp1_127 = event.getLp3();
                     executorService.execute(() -> {
-                        statusUpdateService.closeDoor(Integer.valueOf(lp1_127));
+                        //statusUpdateService.closeDoor(Integer.valueOf(lp1_127));
+                        try {
+                            statusUpdateService.gateClose(Integer.valueOf(lp1_127));
+                        } catch (InterruptedException e) {
+                            e.printStackTrace();
+                        }
                     });
                     break;
                 case 134:

warewms-ams/src/main/java/com/ruoyi/ams/agv/ndc/service/impl/StatusUpdateServiceImpl.java

@@ -10,6 +10,9 @@ import com.ruoyi.ams.business.IBusinessService;
 import com.ruoyi.ams.inv.service.IInvLotLocIdService;
 import com.ruoyi.ams.task.service.IWcsTaskService;
 import com.ruoyi.base.constant.Constant;
+import com.ruoyi.base.domain.BaseLocationInfo;
+import com.ruoyi.base.service.IBaseLocationInfoService;
+import com.ruoyi.common.core.redis.RedisCache;
 import com.ruoyi.common.utils.uuid.SnowflakeIdWorker;
 import com.ruoyi.hard.modbus.tcp.AutoDoorClient;
 import com.ruoyi.hard.modbus.tcp.ModbusTcpWeigherClient;
@@ -28,11 +31,15 @@ public class StatusUpdateServiceImpl implements StatusUpdateService {
     @Autowired
     private IWcsTaskService wcsTaskService;
     @Autowired
+    private IBaseLocationInfoService baseLocationInfoService;
+    @Autowired
     private IBusinessService businessService;
     @Autowired
     private ModbusTcpWeigherClient modbusTcpWeigherClient;
     @Autowired
     private IInvLotLocIdService invLotLocIdService;
+    @Autowired
+    private RedisCache redisCache;
 
     public enum AGV_ACTION {
         /***
@@ -105,6 +112,15 @@ public class StatusUpdateServiceImpl implements StatusUpdateService {
         }
     }
 
+    @Override
+    public void updBaslocationStatus() {
+
+        BaseLocationInfo bli = new BaseLocationInfo();
+        bli.setId(Long.parseLong("10639"));
+        bli.setStockStatus("00");
+        baseLocationInfoService.updateBaseLocationInfo(bli);
+    }
+
     @Override
     public synchronized void confirmAnalysis(String taskNo, Integer aciIndex, String type, Integer carNo) {
         AmsTask amsTask = new AmsTask();
@@ -275,4 +291,74 @@ public class StatusUpdateServiceImpl implements StatusUpdateService {
             feedbackTS(doorNo);
         }
     }
+
+
+
+    @Override
+    public void gateOpen(Integer doorNo){
+
+        if(redisCache.checkIsLock("open")){
+
+            try {
+
+                //先读 道闸是否已开门  1-开   0-关
+                boolean state = modbusTcpWeigherClient.readGateOpenState();
+                log.info("道闸是否已开门！状态：" + state);
+                if(state){
+
+                    //门已开AGV可通过
+                    feedbackTS(doorNo);
+                }else{
+
+                    //发送开门信号
+                    boolean state2 = modbusTcpWeigherClient.writeGateOpen();
+                    log.info("发送开门信号！状态：" + state2);
+                    Thread.sleep(3000);
+
+                    //清除开门信号
+                    boolean state3 = modbusTcpWeigherClient.clearOpenStaate();
+                    log.info("清除开门信号！状态：" + state3);
+                }
+            } catch (InterruptedException e) {
+
+                e.printStackTrace();
+            }finally {
+
+                redisCache.expire("open",12000);
+            }
+        }
+
+    }
+
+    @Override
+    public void gateClose(Integer doorNo) {
+
+
+        if(redisCache.checkIsLock("close")){
+
+            try {
+
+                //先读 道闸是否已关门  1-开   0-关
+                boolean state = modbusTcpWeigherClient.readGateCloseState();
+                log.info("道闸是否已关门！状态：" + state);
+                if(!state){
+
+                    //发送关门信号
+                    boolean state2 = modbusTcpWeigherClient.writeGateClose();
+                    log.info("发送关门信号！状态：" + state2);
+                    Thread.sleep(3000);
+
+                    //清除关门信号
+                    boolean state3 = modbusTcpWeigherClient.clearCloseState();
+                    log.info("清除关门信号！状态：" + state3);
+                }
+            } catch (InterruptedException e) {
+
+                e.printStackTrace();
+            }finally {
+
+                redisCache.expire("close",12000);
+            }
+        }
+    }
 }

warewms-ams/src/main/java/com/ruoyi/ams/business/BusinessServiceImpl.java

@@ -13,6 +13,7 @@ import com.ruoyi.ams.config.domain.vo.FlowConfigHeaderVO;
 import com.ruoyi.ams.config.mapper.AsnSoStrategyMapper;
 import com.ruoyi.ams.config.service.IFlowConfigHeaderService;
 import com.ruoyi.ams.config.service.LocationAllocationStrategy;
+import com.ruoyi.ams.inv.domain.vo.InvLotLocIdLotattVO;
 import com.ruoyi.ams.inv.mapper.InvLotLocIdMapper;
 import com.ruoyi.ams.inv.service.IInvLotAttService;
 import com.ruoyi.ams.inv.service.IInvLotLocIdService;
@@ -124,6 +125,7 @@ public class BusinessServiceImpl implements IBusinessService {
     public AjaxResult agvCall(FlowConfigHeaderVO flowConfigHeaderVO, List<AgvCallDTO> agvCallDTOList) {
         //唯一操作标识，用于redis标记。报错时根据该id进行删除
         Long token = SnowflakeIdWorker.generateId();
+        Map<String, String> map = new HashMap<>();
         try {
             //查询全局配置策略
             AsnSoStrategy asnSoStrategy = asnSoStrategyMapper.selectAsnSoStrategy();
@@ -146,10 +148,26 @@ public class BusinessServiceImpl implements IBusinessService {
                 }
 
                 if (flowConfigHeaderVO.getFlowType().equals("ASN")) {
-                    List<BaseLocationInfo> locationFromList = this.convertLocation(paramLocationFrom, agvCallDTO.getWarehouseId(), null);
+
+                    List<BaseLocationInfo> locationFromList = new ArrayList<>();
+                    //如果是中转入库
+                    if(agvCallDTO.getTheWeighing()){
+
+                        locationFromList = baseLocationInfoMapper.selectSortedLocationLotattListByZoneIdListOrderBy(zoneIdList
+                                , Constant.WAREHOUSE_ID, map, "", "inv.create_time");
+                        locationFrom = this.zoneLocationAllocation(locationFromList, "locationFrom", "ASN", asnSoStrategy, token);
+                        //获取库存
+                        List<InvLotLocIdLotattVO> invList = invLotLocIdService.selectInvLocIdLotattByLocationId(locationFrom.getId());
+                        if(invList.size() < 1) return AjaxResult.error("该起始库位没有库存!");
+                        paramLocationTo = "Y".equals(invList.get(0).getLotatt18()) ? "8,9,10":"11";
+                    }else{
+
+                        locationFromList = this.convertLocation(paramLocationFrom, agvCallDTO.getWarehouseId(), null);
+                        locationFrom = this.zoneLocationAllocation(locationFromList, "locationFrom", "ASN", asnSoStrategy, token);
+                    }
                     List<BaseLocationInfo> locationToList = this.convertLocation(paramLocationTo, agvCallDTO.getWarehouseId(), null);
-                    locationFrom = this.zoneLocationAllocation(locationFromList, "locationFrom", "ASN", asnSoStrategy, token);
                     locationTo = this.zoneLocationAllocation(locationToList, "locationTo", "ASN", asnSoStrategy, token);
+
                     // 初始化库存
                     if (agvCallDTO.getAgvCallItemDTOList().size() > 0) {
                         iInvLotAttService.deleteInvLotAttBylocationId(locationFrom.getId());
@@ -158,6 +176,11 @@ public class BusinessServiceImpl implements IBusinessService {
                     }
                     wcsTaskList.addAll(this.genTask(locationFrom, locationTo, flowConfigHeaderVO, agvCallDTO, token));
 
+                    BaseLocationInfo bli = new BaseLocationInfo();
+                    bli.setId(Long.parseLong("10639"));
+                    bli.setStockStatus("10");
+                    baseLocationInfoService.updateBaseLocationInfo(bli);
+
                 } else if (flowConfigHeaderVO.getFlowType().equals("SO")) {
                     List<BaseLocationInfo> locationFromListEnd = new ArrayList<>();
                     boolean isLocation = baseLocationInfoService.checkIsLocation(paramLocationFrom, Constant.WAREHOUSE_ID);
@@ -454,9 +477,7 @@ public class BusinessServiceImpl implements IBusinessService {
             wcsTask.setTaskType(Constant.TASK_TYPE.FORWARD.getValue());
             wcsTask.setExt8(token.toString());
             wcsTask.setExt7(flowConfigHeaderVO.getId().toString());
-            // 是否复称
-            wcsTask.setExt3(agvCallDTO.getTheWeighing() == null ? "0000"
-                    : agvCallDTO.getTheWeighing() ? "0001" : "0000");
+            wcsTask.setExt3(agvCallDTO.getExt3());
             wcsTask.setExtParam(agvCallDTO.getExtParam());
             wcsTaskList.add(wcsTask);
             businessService.addTask(wcsTask);
@@ -590,11 +611,16 @@ public class BusinessServiceImpl implements IBusinessService {
         amsTask.setAciAccept(0);
         amsTask.setIkey((long) geniKey(amsTask.getTaskNo()));
         amsTask.setPriority(wcsTask.getPriority().intValue());
-        amsTask.setStFrom(locFrom.getAgvStation().intValue());
-        amsTask.setStTo(locTo.getAgvStation().intValue());
         amsTask.setExt1(wcsTask.getExt1());
         amsTask.setExt2(wcsTask.getExt2());
         amsTask.setExt3(wcsTask.getExt3());
+        if(wcsTask.getBusinessType().equals(Constant.TASK_BUSINESS_TYPE.TASK_POWER.getValue())){
+            amsTask.setStFrom(Integer.valueOf(wcsTask.getLocationFrom()));
+            amsTask.setStTo(Integer.valueOf(wcsTask.getLocationTo()));
+        }else{
+            amsTask.setStFrom(locFrom.getAgvStation().intValue());
+            amsTask.setStTo(locTo.getAgvStation().intValue());
+        }
         if (wcsTask.getBusinessType().equals("m")) {
             //m类消息特殊处理
             wcsTask.setState(2L);

warewms-ams/src/main/java/com/ruoyi/ams/config/domain/dto/AgvCallDTO.java

@@ -18,5 +18,6 @@ public class AgvCallDTO {
     private Long warehouseId;
     private String createUser;
     private Boolean theWeighing; // 是否复称
+    private String ext3; //任务类型
     private List<AgvCallItemDTO> agvCallItemDTOList = new ArrayList<>();
 }

warewms-ams/src/main/java/com/ruoyi/ams/inv/service/IInvLotLocIdService.java

@@ -150,6 +150,12 @@ public interface IInvLotLocIdService {
      */
     AjaxResult adjLocationIsEmpty(String locationId, Long warehouseId, String updateBy);
 
+
+    /**
+     * 修改库位状态并删除库存
+     */
+    AjaxResult pdaUpdLoction(BaseLocationInfo baseLocationInfo);
+
     /**
      * 新增库位库存信息
      *

warewms-ams/src/main/java/com/ruoyi/ams/inv/service/impl/InvLotLocIdServiceImpl.java

@@ -745,5 +745,34 @@ public class InvLotLocIdServiceImpl implements IInvLotLocIdService {
         return AjaxResult.success();
     }
 
+    @Override
+    public AjaxResult pdaUpdLoction(BaseLocationInfo baseLocationInfo) {
+
+        String status = baseLocationInfo.getIsEmpty(); //1-锁定，0-解锁
+
+        //获取库位信息
+        BaseLocationInfo bas = baseLocationInfoService.selectBaseLocationInfoById(baseLocationInfo.getId());
+        if(bas == null) return AjaxResult.error("未查询到对应的库位信息!");
 
+        //1-锁定库位
+        if("1".equals(status)){
+
+            bas.setStockStatus("99");
+            bas.setIsEmpty("N");
+        }else{
+
+            InvLotLocId invLotLocId = new InvLotLocId();
+            invLotLocId.setLocationId(bas.getId().toString());
+            List<InvLotLocId> invLotLocIdList = invLotLocIdService.selectInvLotLocIdList(invLotLocId);
+
+            for(int i=0; i<invLotLocIdList.size(); i++){
+                invLotLocIdService.deleteInvLotLocIdByLotnum(invLotLocIdList.get(i).getLotnum());
+            }
+            bas.setStockStatus("00");
+            bas.setIsEmpty("Y");
+        }
+
+        baseLocationInfoService.updateBaseLocationInfo(bas);
+        return AjaxResult.success("库位状态处理完成!");
+    }
 }

warewms-ams/src/main/java/com/ruoyi/ams/nieyan/service/impl/AgvCallProxyService.java

@@ -1,6 +1,8 @@
 package com.ruoyi.ams.nieyan.service.impl;
 
 import cn.hutool.core.util.ObjectUtil;
+import com.ruoyi.ams.agv.car.domain.CarInfo;
+import com.ruoyi.ams.agv.car.mapper.CarInfoMapper;
 import com.ruoyi.ams.asn.domain.WmsDocAsnDetails;
 import com.ruoyi.ams.asn.domain.WmsDocAsnHeader;
 import com.ruoyi.ams.asn.service.IWmsDocAsnDetailsService;
@@ -8,10 +10,14 @@ import com.ruoyi.ams.asn.service.IWmsDocAsnHeaderService;
 import com.ruoyi.ams.business.IBusinessService;
 import com.ruoyi.ams.config.domain.dto.AgvCallDTO;
 import com.ruoyi.ams.config.domain.dto.AgvCallItemDTO;
+import com.ruoyi.ams.config.mapper.AsnSoStrategyMapper;
 import com.ruoyi.ams.inv.domain.vo.InvLotLocIdLotattVO;
 import com.ruoyi.ams.inv.service.IInvLotAttService;
 import com.ruoyi.ams.inv.service.IInvLotLocIdService;
+import com.ruoyi.ams.task.domain.WcsTask;
+import com.ruoyi.ams.task.mapper.WcsTaskMapper;
 import com.ruoyi.base.constant.Constant;
+import com.ruoyi.base.domain.BaseLocationInfo;
 import com.ruoyi.base.service.IBaseLocationInfoService;
 import com.ruoyi.base.utils.IdSequenceUtils;
 import com.ruoyi.common.core.domain.AjaxResult;
@@ -44,7 +50,12 @@ public class AgvCallProxyService {
     private IBaseLocationInfoService baseLocationInfoService;
     @Autowired
     private IInvLotAttService iInvLotAttService;
-
+    @Autowired
+    private CarInfoMapper carInfoMapper;
+    @Autowired
+    private WcsTaskMapper wcsTaskMapper;
+    @Autowired
+    private AsnSoStrategyMapper asnSoStrategyMapper;
     @Autowired
     private IdSequenceUtils idSequenceUtils;
 
@@ -217,55 +228,6 @@ public class AgvCallProxyService {
         return iBusinessService.agvCall(Constant.FLOW_CONFIG_ID.SEVEN.getValue(), agvCallDTO);
     }
 
-    /**
-     * 成品下线（硫酸镍）->裹膜|成品暂存区
-     *
-     * @param locationFrom
-     * @param locationTo
-     * @param createUser
-     * @param theWeighing
-     * @param agvCallItemDTOList
-     * @return
-     */
-    public AjaxResult productsDownLineLSN(String locationFrom, String locationTo, String createUser
-            , Boolean theWeighing
-            , List<AgvCallItemDTO> agvCallItemDTOList) {
-        AgvCallDTO agvCallDTO = new AgvCallDTO();
-        agvCallDTO.setLocationFrom(locationFrom);
-        agvCallDTO.setLocationTo(locationTo);
-        agvCallDTO.setCreateUser(createUser);
-        agvCallDTO.setTheWeighing(theWeighing);
-        agvCallDTO.setAgvCallItemDTOList(agvCallItemDTOList);
-        // 增加硫酸镍标识
-        for (AgvCallItemDTO agvCallItemDTO : agvCallItemDTOList) {
-            agvCallItemDTO.getLotattDTO().setLotatt18("Y"); //是否硫酸镍，Y代表否
-        }
-        createWmsDoc(createUser, agvCallItemDTOList);
-        return iBusinessService.agvCall(Constant.FLOW_CONFIG_ID.EIGHT.getValue(), agvCallDTO);
-    }
-
-    /**
-     * 成品下线（硫酸镍）->仓储区
-     *
-     * @param locationFrom
-     * @param locationTo
-     * @param createUser
-     * @param theWeighing
-     * @param agvCallItemDTOList
-     * @return
-     */
-    public AjaxResult productsDownLineInvLSN(String locationFrom, String locationTo, String createUser
-            , Boolean theWeighing
-            , List<AgvCallItemDTO> agvCallItemDTOList) {
-        AgvCallDTO agvCallDTO = new AgvCallDTO();
-        agvCallDTO.setLocationFrom(locationFrom);
-        agvCallDTO.setLocationTo(locationTo);
-        agvCallDTO.setCreateUser(createUser);
-        agvCallDTO.setTheWeighing(theWeighing);
-        agvCallDTO.setAgvCallItemDTOList(agvCallItemDTOList);
-        createWmsDoc(createUser, agvCallItemDTOList);
-        return iBusinessService.agvCall(Constant.FLOW_CONFIG_ID.NINE.getValue(), agvCallDTO);
-    }
 
     public void createWmsDoc(String createUser
             , List<AgvCallItemDTO> agvCallItemDTOList){
@@ -344,8 +306,65 @@ public class AgvCallProxyService {
         }
     }
 
+
     /**
-     * 成品下线（氯化镍）->裹膜
+     *获取目标库位
+     * @param theWrapped 是否裹膜
+     * @param theWeighing 是否复称
+     * @param taskType 任务类型  0-硫酸镍    1-氯化镍
+     * @return
+     */
+    public String queryBaslocationTo(Boolean theWrapped,Boolean theWeighing,List<BaseLocationInfo> blfList
+            ,Integer taskType){
+
+        if(theWrapped) {
+
+            if (blfList.size() > 0) {
+                return taskType == 0 ? "8,9,10" : "11";
+            } else {
+                return "17";
+            }
+        }else{
+
+            return taskType == 0 ? "8,9,10" : "11";
+        }
+    }
+
+    /**
+     * 获取NDC任务类型
+     * @param theWrapped 是否裹膜
+     * @param theWeighing 是否复称
+     * @return
+     */
+    public String queryTaskType(Boolean theWrapped,Boolean theWeighing,List<BaseLocationInfo> blfList){
+
+        if(theWrapped && theWeighing){
+
+            if(blfList.size() > 0){
+                return "0003";
+            }else{
+                return "0000";
+            }
+        }else if(theWrapped && !theWeighing){
+
+            if(blfList.size() > 0){
+                return "0002";
+            }else{
+                return "0000";
+            }
+        }else if(!theWrapped && theWeighing){
+
+            return "0001";
+        }else{
+
+            return "0000";
+        }
+    }
+
+
+
+    /**
+     * 成品下线（硫酸镍）->裹膜|成品暂存区
      *
      * @param locationFrom
      * @param locationTo
@@ -354,7 +373,40 @@ public class AgvCallProxyService {
      * @param agvCallItemDTOList
      * @return
      */
-    public AjaxResult productsDownLineLHN(String locationFrom, String locationTo, String createUser
+    public AjaxResult productsDownLineLSN(String locationFrom, String locationTo, String createUser,
+                                          Boolean theWrapped, Boolean theWeighing, List<AgvCallItemDTO> agvCallItemDTOList) {
+
+        //根据裹膜库位的状态判断目标点
+        List<BaseLocationInfo> bliList = baseLocationInfoService.selectEmptyLocationByZoneId("15");
+        //获取目标库区
+        String zoneList = queryBaslocationTo(theWrapped,theWeighing,bliList,0);
+
+        AgvCallDTO agvCallDTO = new AgvCallDTO();
+        agvCallDTO.setLocationFrom(locationFrom);
+        agvCallDTO.setLocationTo(zoneList);
+        agvCallDTO.setCreateUser(createUser);
+        agvCallDTO.setTheWeighing(theWeighing);
+        agvCallDTO.setExt3(queryTaskType(theWrapped,theWeighing,bliList));
+        agvCallDTO.setAgvCallItemDTOList(agvCallItemDTOList);
+        // 增加硫酸镍标识
+        for (AgvCallItemDTO agvCallItemDTO : agvCallItemDTOList) {
+            agvCallItemDTO.getLotattDTO().setLotatt18("Y"); //是否硫酸镍，Y代表否
+        }
+        createWmsDoc(createUser, agvCallItemDTOList);
+        return iBusinessService.agvCall(Constant.FLOW_CONFIG_ID.EIGHT.getValue(), agvCallDTO);
+    }
+
+    /**
+     * 成品下线（硫酸镍）->仓储区
+     *
+     * @param locationFrom
+     * @param locationTo
+     * @param createUser
+     * @param theWeighing
+     * @param agvCallItemDTOList
+     * @return
+     */
+    public AjaxResult productsDownLineInvLSN(String locationFrom, String locationTo, String createUser
             , Boolean theWeighing
             , List<AgvCallItemDTO> agvCallItemDTOList) {
         AgvCallDTO agvCallDTO = new AgvCallDTO();
@@ -363,12 +415,43 @@ public class AgvCallProxyService {
         agvCallDTO.setCreateUser(createUser);
         agvCallDTO.setTheWeighing(theWeighing);
         agvCallDTO.setAgvCallItemDTOList(agvCallItemDTOList);
+        createWmsDoc(createUser, agvCallItemDTOList);
+        return iBusinessService.agvCall(Constant.FLOW_CONFIG_ID.NINE.getValue(), agvCallDTO);
+    }
+
+    /**
+     * 成品下线（氯化镍）->裹膜
+     *
+     * @param locationFrom
+     * @param locationTo
+     * @param createUser
+     * @param theWeighing
+     * @param agvCallItemDTOList
+     * @return
+     */
+    public AjaxResult productsDownLineLHN(String locationFrom, String locationTo, String createUser
+            , Boolean theWrapped, Boolean theWeighing
+            , List<AgvCallItemDTO> agvCallItemDTOList) {
+
+        //根据裹膜库位的状态判断目标点
+        List<BaseLocationInfo> bliList = baseLocationInfoService.selectEmptyLocationByZoneId("15");
+        //获取目标库区
+        String zoneList = queryBaslocationTo(theWrapped,theWeighing,bliList,1);
+
+        AgvCallDTO agvCallDTO = new AgvCallDTO();
+        agvCallDTO.setLocationFrom(locationFrom);
+        agvCallDTO.setLocationTo(zoneList);
+        agvCallDTO.setCreateUser(createUser);
+        agvCallDTO.setTheWeighing(theWeighing);
+        agvCallDTO.setExt3(queryTaskType(theWrapped,theWeighing,bliList));
+        agvCallDTO.setAgvCallItemDTOList(agvCallItemDTOList);
         // 增加氯化镍标识
         for (AgvCallItemDTO agvCallItemDTO : agvCallItemDTOList) {
             agvCallItemDTO.getLotattDTO().setLotatt18("N"); //是否硫酸镍，N代表否
         }
         createWmsDoc(createUser, agvCallItemDTOList);
-        return iBusinessService.agvCall(Constant.FLOW_CONFIG_ID.ELEVEN.getValue(), agvCallDTO);
+
+        return iBusinessService.agvCall( Constant.FLOW_CONFIG_ID.TWELVE.getValue(), agvCallDTO);
     }
 
     /**
@@ -441,15 +524,18 @@ public class AgvCallProxyService {
     /**
      * 成品中转（硫酸镍｜氯化镍）->裹膜
      *
-     * @param locationFrom
-     * @param locationTo
      * @param createUser
      * @return
      */
-    public AjaxResult productsDownLineToCache(String locationFrom, String locationTo, String createUser) {
+    public AjaxResult productsDownLineToCache(Boolean theWrapped, Boolean theWeighing,String createUser) {
+
+        //根据裹膜库位的状态判断目标点
+        List<BaseLocationInfo> bliList = baseLocationInfoService.selectEmptyLocationByZoneId("15");
+        if(theWrapped && bliList.size() < 1) return AjaxResult.error("裹膜库位被占用,无法下发任务,请确认库位状态!");
+
         AgvCallDTO agvCallDTO = new AgvCallDTO();
-        agvCallDTO.setLocationFrom(locationFrom);
-        agvCallDTO.setLocationTo(locationTo);
+        agvCallDTO.setTheWeighing(true);
+        agvCallDTO.setExt3(queryTaskType(theWrapped,theWeighing,bliList));
         agvCallDTO.setCreateUser(createUser);
         return iBusinessService.agvCall(Constant.FLOW_CONFIG_ID.SIXTEEN.getValue(), agvCallDTO);
     }
@@ -496,5 +582,44 @@ public class AgvCallProxyService {
         return iBusinessService.agvCall(Constant.FLOW_CONFIG_ID.FIFTEEN.getValue(), agvCallDTO);
     }
 
+    /**
+     * 车辆信息
+     * @return
+     */
+    public AjaxResult getCarInfo(){
+
+        List<CarInfo> carInfoList = carInfoMapper.queryCarInfos();
+        return AjaxResult.success(carInfoList);
+    }
+
+    /**
+     * 指定车辆下发充电任务
+     * @return
+     */
+    public AjaxResult addChargingTask(CarInfo carInfo){
+        log.info("-----------指定车辆下发充电任务:" + carInfo.getCarNo());
+
+        WcsTask wcsTask = new WcsTask();
+        wcsTask.setTaskNo(System.currentTimeMillis() + "");
+        wcsTask.setBusinessType(Constant.TASK_BUSINESS_TYPE.TASK_POWER.getValue());
+        wcsTask.setShopId("1");
+        wcsTask.setLocationFrom("998");
+        wcsTask.setLocationTo("997");
+        wcsTask.setDeviceName(carInfo.getCarNo());
+        wcsTask.setState(9L);
+        wcsTask.setPriority(1L);
+        wcsTask.setTaskType("POWER");
+        wcsTask.setAgvNo(carInfo.getCarNo());//车号
+        wcsTask.setRemark("充电任务");
+        wcsTask.setCreateDate(new Date());
+        wcsTask.setCreateUser("TS");
+
+        int result = wcsTaskMapper.insertWcsTask(wcsTask);
+        if (result > 0) {
+            return AjaxResult.success("任务生成成功");
+        } else {
+            return AjaxResult.success("任务生成失败");
+        }
+    }
 }
 

warewms-ams/src/main/java/com/ruoyi/ams/task/service/impl/WcsTaskServiceImpl.java

@@ -466,6 +466,11 @@ public class WcsTaskServiceImpl implements IWcsTaskService {
                         if (!StringUtils.isEmpty(wcsTask.getExt8())) {
                             redisCache.unlockCacheObject(Long.parseLong(wcsTask.getExt8()));
                         }
+                        //释放裹膜位置库位
+                        BaseLocationInfo bli6 = new BaseLocationInfo();
+                        bli6.setId(Long.parseLong("10639"));
+                        bli6.setStockStatus("00");
+                        baseLocationInfoService.updateBaseLocationInfo(bli6);
                         break;
                     case 7://取消
                         wcsTask.setEndTime(new Date());
@@ -485,6 +490,11 @@ public class WcsTaskServiceImpl implements IWcsTaskService {
                         }
                         // 取消任务删除中间缓存库存
 //                        cancelTaskDelMiddleCache(wcsTask);
+                        //释放裹膜位置库位
+                        BaseLocationInfo bli7 = new BaseLocationInfo();
+                        bli7.setId(Long.parseLong("10639"));
+                        bli7.setStockStatus("00");
+                        baseLocationInfoService.updateBaseLocationInfo(bli7);
                         break;
                     case 8:
                         log.error("任务异常状态------------" + wcsTask.getTaskNo());

warewms-ams/src/main/resources/mapper/ams/CarInfoMapper.xml

@@ -4,5 +4,26 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
 <mapper namespace="com.ruoyi.ams.agv.car.mapper.CarInfoMapper">
 
+    <resultMap type="com.ruoyi.ams.agv.car.domain.CarInfo" id="CarInfoResult">
+        <result column="id" property="id"/>
+        <result column="carNo" property="carNo"/>
+        <result column="warehouse_id" property="warehouseId"/>
+        <result column="state" property="state"/>
+        <result column="active_flag" property="activeFlag"/>
+        <result column="userdefine1" property="userdefine1"/>
+        <result column="userdefine2" property="userdefine2"/>
+        <result column="userdefine3" property="userdefine3"/>
+        <result column="userdefine4" property="userdefine4"/>
+        <result column="userdefine5" property="userdefine5"/>
+        <result column="battery" property="battery"/>
+        <result column="x" property="x"/>
+        <result column="y" property="y"/>
+    </resultMap>
 
+    <select id="queryCarInfos"  resultMap="CarInfoResult" parameterType="Object">
+        select carNo,IF(ifnull(wt.task_no,0) = 0,'否','是') as userdefine4
+        from car_info ci
+        LEFT JOIN (select * from wcs_task where state not in ('2','6','7')) wt on wt.agv_no = ci.carNo
+        order by carNo
+    </select>
 </mapper>

warewms-base/src/main/java/com/ruoyi/base/mapper/BaseLocationInfoMapper.java

@@ -267,4 +267,9 @@ public interface BaseLocationInfoMapper {
      * @return
      */
     List<BaseLocationGuiDTO> queryByListAllInvLotAttView(@Param("zoneId") String zoneId, @Param("sort") String sort);
+
+    /**
+     * 根据库区查询空闲的库位
+     */
+    List<BaseLocationInfo> selectEmptyLocationByZoneId(@Param("zoneId") String zoneId);
 }

warewms-base/src/main/java/com/ruoyi/base/service/IBaseLocationInfoService.java

@@ -299,4 +299,9 @@ public interface IBaseLocationInfoService {
      * @return
      */
     AjaxResult importLocation(List<BaseLocationInfo> list, boolean updateSupport, String opname);
+
+    /**
+     * 根据库区查询空闲的库位
+     */
+    List<BaseLocationInfo> selectEmptyLocationByZoneId(String zoneId);
 }

warewms-base/src/main/java/com/ruoyi/base/service/impl/BaseLocationInfoServiceImpl.java

@@ -419,4 +419,10 @@ public class BaseLocationInfoServiceImpl implements IBaseLocationInfoService {
         }
         return AjaxResult.success(successMsg);
     }
+
+    @Override
+    public List<BaseLocationInfo> selectEmptyLocationByZoneId(String zoneId) {
+
+        return baseLocationInfoMapper.selectEmptyLocationByZoneId(zoneId);
+    }
 }

warewms-base/src/main/resources/mapper/base/BaseLocationInfoMapper.xml

@@ -688,4 +688,9 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             </otherwise>
         </choose>
     </select>
+
+    <select id="selectEmptyLocationByZoneId" parameterType="Object" resultMap="BaseLocationInfoResult">
+        <include refid="selectBaseLocationInfoVo"/>
+        where zone_id = #{zoneId}  and stock_status ='00'
+    </select>
 </mapper>

warewms-hard/src/main/java/com/ruoyi/hard/modbus/tcp/AutoDoorClient.java

@@ -170,6 +170,7 @@ public class AutoDoorClient {
         }
 
         public int getOffset() {
+
             return offset;
         }
 
@@ -200,6 +201,9 @@ public class AutoDoorClient {
         sendOpenClear(doorNo);
         return r;
     }
+    public static void main(String[] arg){
+        System.out.println(WRITE_OPEN.offset);
+    }
 
     /**
      * 关门

warewms-hard/src/main/java/com/ruoyi/hard/modbus/tcp/ModbusTcpWeigherClient.java

@@ -87,4 +87,68 @@ public class ModbusTcpWeigherClient {
         ModbusMasterUtil modbusMasterUtil = modbusTcpMasterTemplateFirst.getModbusMasterUtil();
         return modbusMasterUtil.readHoldingRegister(1, 3, DATA_TYPE_WRAPPER.TWO_BYTE_INT_UNSIGNED).intValue();
     }
+
+    /**
+     * 道闸是否开门到位
+     *
+     * @return
+     */
+    public Boolean readGateOpenState() {
+        ModbusMasterUtil modbusMasterUtil = modbusTcpMasterTemplateFirst.getModbusMasterUtil();
+        short i = read(modbusMasterUtil,1, 4, 1);
+        return i == 1;
+    }
+
+    /**
+     * 道闸是否关门到位
+     *
+     * @return
+     */
+    public Boolean readGateCloseState() {
+        ModbusMasterUtil modbusMasterUtil = modbusTcpMasterTemplateFirst.getModbusMasterUtil();
+        short i = read(modbusMasterUtil,1, 5, 1);
+        return i == 1;
+    }
+
+    /**
+     * 清除开门状态
+     */
+    public Boolean clearOpenStaate() {
+        ModbusMasterUtil modbusMasterUtil = modbusTcpMasterTemplateFirst.getModbusMasterUtil();
+        return write(modbusMasterUtil,1, 7, 0);
+    }
+    /**
+     * 道闸开门
+     */
+    public Boolean writeGateOpen() {
+        ModbusMasterUtil modbusMasterUtil = modbusTcpMasterTemplateFirst.getModbusMasterUtil();
+        return write(modbusMasterUtil,1, 7, 1);
+    }
+
+    /**
+     * 清除关门状态
+     */
+    public Boolean clearCloseState() {
+        ModbusMasterUtil modbusMasterUtil = modbusTcpMasterTemplateFirst.getModbusMasterUtil();
+        return write(modbusMasterUtil,1, 6, 0);
+    }
+    /**
+     * 道闸关门
+     */
+    public Boolean writeGateClose() {
+        ModbusMasterUtil modbusMasterUtil = modbusTcpMasterTemplateFirst.getModbusMasterUtil();
+        return write(modbusMasterUtil,1, 6, 1);
+    }
+
+
+    private short read(ModbusMasterUtil modbusMasterUtil,int slaveId, int offset, int len) {
+        ReadResponse readResponse = modbusMasterUtil.readHoldingRegisters(slaveId, offset, len);
+        short[] shortData = readResponse.getShortData();
+        return shortData[0];
+    }
+
+
+    private Boolean write(ModbusMasterUtil modbusMasterUtil,int slaveId, int offset, int value) {
+        return modbusMasterUtil.writeHoldingRegisters(slaveId, offset, value);
+    }
 }