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自动任务

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This commit is contained in:
李广豪 2022-03-05 14:53:29 +08:00
parent 274fdd6a35
commit 211c017278
5 changed files with 290 additions and 33 deletions
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28
6.program/wms-empty/src/main/java/com/mt/wms/empty/service/impl/AutoTaskServiceImpl.java
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@ -6,18 +6,24 @@ import com.mt.wms.core.api.Assert;
import com.mt.wms.core.base.BaseService;
import com.mt.wms.core.dal.entity.AutoExeTask;
import com.mt.wms.core.dal.entity.AutoExeTaskHis;
import com.mt.wms.core.dal.entity.CurrTask;
import com.mt.wms.core.dal.service.AutoExeTaskHisServiceBiz;
import com.mt.wms.core.dal.service.AutoExeTaskServiceBiz;
import com.mt.wms.core.dal.service.CurrTaskServiceBiz;
import com.mt.wms.core.errorcode.ApiErrorCode;
import com.mt.wms.core.params.IdParam;
import com.mt.wms.core.vo.IdVo;
import com.mt.wms.core.vo.PageVo;
import com.mt.wms.core.vo.R;
import com.mt.wms.empty.controller.ApmsController;
import com.mt.wms.empty.params.AutoTaskParam;
import com.mt.wms.empty.params.AutoTaskQueryParam;
import com.mt.wms.empty.service.AutoTaskService;
import com.mt.wms.empty.vo.ApmsEndProcessVo;
import com.mt.wms.empty.vo.AutoTaskVo;
import org.apache.commons.lang.StringUtils;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.BeanUtils;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
@ -33,10 +39,16 @@ import java.util.List;
@Service
@Transactional
public class AutoTaskServiceImpl extends BaseService implements AutoTaskService {
private final static Logger logger = LoggerFactory.getLogger(AutoTaskServiceImpl.class);
@Resource
private AutoExeTaskServiceBiz autoExeTaskServiceBiz;
@Resource
private AutoExeTaskHisServiceBiz autoExeTaskHisServiceBiz;
@Resource
private CurrTaskServiceBiz currTaskServiceBiz;
@Resource
private ApmsController apmsController;
@Override
public R<AutoTaskVo> get(IdParam idParam) {
Assert.notNull(ApiErrorCode.INVALID_PARAMETER,idParam.getId());
@ -55,12 +67,14 @@ public class AutoTaskServiceImpl extends BaseService implements AutoTaskService
public R<PageVo<AutoTaskVo>> page(AutoTaskQueryParam autoTaskQueryParam) {
QueryWrapper<AutoExeTask> wrapper=new QueryWrapper<>();
wrapper.eq((autoTaskQueryParam.getStatus()!=null&&("").equals(autoTaskQueryParam.getStatus())),AutoExeTask.STATUS,autoTaskQueryParam.getStatus());
wrapper.in(AutoExeTask.STATUS,0,1);
Page<AutoExeTask> page = autoExeTaskServiceBiz.page(new Page<>(autoTaskQueryParam.getCurrent(), autoTaskQueryParam.getSize()), wrapper);
return successful(new PageVo<>(page,AutoTaskVo.class));
}
@Override
public R<IdVo> stop(IdParam idParam) {
AutoExeTask autoExeTask = autoExeTaskServiceBiz.getById(idParam.getId());
//状态置为终止
autoExeTask.setStatus(3);
@ -71,7 +85,19 @@ public class AutoTaskServiceImpl extends BaseService implements AutoTaskService
autoExeTaskHisServiceBiz.save(autoExeTaskHis);
//释放后续步骤
// TODO: 2022/3/3
//删除对应的几条currtask(未执行的),通知apms生产单作废
List<CurrTask> currTaskList = currTaskServiceBiz.list(new QueryWrapper<CurrTask>()
.eq(CurrTask.AUTO_EXE_TASK_ID, autoExeTask.getId()).eq(CurrTask.STATUS,0));
for (CurrTask currTask:currTaskList
) {
R<ApmsEndProcessVo> apmsEndProcessVoR = apmsController.deleteBySheetNo(currTask.getSheetNo());
if (!apmsEndProcessVoR.getData().getSuccess()){
logger.info("Apms作废生产单接口错误");
return R.failed("Apms作废生产单接口错误");
}
currTaskServiceBiz.removeById(currTask);
}
autoExeTaskServiceBiz.removeById(autoExeTask);
return null;
return successful(IdVo.builder().id(idParam.getId()).build());
}
}

237
6.program/wms-empty/src/main/java/com/mt/wms/empty/task/AsynRunTaskService.java
View File

@ -73,7 +73,7 @@ public class AsynRunTaskService extends BaseService {
otherNowPoint=1;
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
while (conflictBoolean){
if (conflictBoolean){
//若冲突
// TODO: 2022/2/26 执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
Map<String, Integer> json = new HashMap();
@ -87,6 +87,8 @@ public class AsynRunTaskService extends BaseService {
} catch (IOException e) {
e.printStackTrace();
logger.error(new Date() + "WCS接口超时未响应！");
//wocket推送到页面
return;
}
}
}else {
@ -94,7 +96,7 @@ public class AsynRunTaskService extends BaseService {
otherNowPoint=2;
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
while (conflictBoolean){
if (conflictBoolean){
//若冲突
// TODO: 2022/2/26 执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
Map<String, Integer> json = new HashMap();
@ -107,6 +109,8 @@ public class AsynRunTaskService extends BaseService {
} catch (IOException e) {
e.printStackTrace();
logger.error(new Date() + "WCS接口超时未响应！");
//wocket推送到页面
return;
}
}
}
@ -182,16 +186,55 @@ public class AsynRunTaskService extends BaseService {
if (vehicleId==1){
// TODO: 2022/2/26 获取RGV2当前位置
otherNowPoint=1;
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
if (conflictBoolean){
//若冲突
// TODO: 2022/2/26 执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
Map<String, Integer> json = new HashMap();
//type=1为 入
// taskType 4 单移动
json.put("taskType", 4);
json.put("sendRow", 39);
String taskJson = JSON.toJSONString(json);
try {
HttpClient.httpPost("http://localhost:8009/rgv2/sendTask",taskJson);
} catch (IOException e) {
e.printStackTrace();
logger.error(new Date() + "WCS接口超时未响应！");
//wocket推送到页面
return;
}
}
}else {
//获取RGV1当前位置
otherNowPoint=2;
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
if (conflictBoolean){
//若冲突
// TODO: 2022/2/26 执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
Map<String, Integer> json = new HashMap();
// taskType 4 单移动
json.put("taskType", 4);
json.put("sendRow", 1);
String taskJson = JSON.toJSONString(json);
try {
HttpClient.httpPost("http://localhost:8009/rgv1/sendTask",taskJson);
} catch (IOException e) {
e.printStackTrace();
logger.error(new Date() + "WCS接口超时未响应！");
//wocket推送到页面
return;
}
}
}
//两辆小车是否冲突
/* //两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, location.getCode(), currTask.getTargetPosition(), otherNowPoint);
while (conflictBoolean){
if (conflictBoolean){
//若冲突
// TODO: 2022/2/26 执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
}
}*/
//新建一条执行任务的关系表存放任务执行信息
RunTask runTask=new RunTask();
@ -208,9 +251,33 @@ public class AsynRunTaskService extends BaseService {
inStockInfo.setStatus(1);
inStockInfoServiceBiz.updateById(inStockInfo);
// TODO: 2021/12/14 调用车辆填入起终点,得到车辆执行结果
Long startPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getStartPosition())).getCode();
Long endPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getEndPosition())).getCode();
Map<String, Object> json = new HashMap();
// taskType 1 搬运
json.put("taskType", 1);
json.put("sendRow", endPoint);
json.put("pickRow",startPoint);
json.put("taskNo",currTaskId);
json.put("ideNumber",1);
json.put("processNumber",currTask.getPlcValue());
String taskJson = JSON.toJSONString(json);
String result =null;
try {
if (vehicleId==1){
result = HttpClient.httpPost("http://localhost:8009/rgv1/sendTask", taskJson);
}
if (vehicleId==2){
result = HttpClient.httpPost("http://localhost:8009/rgv2/sendTask", taskJson);
}
} catch (IOException e) {
e.printStackTrace();
logger.error(new Date() + "WCS接口超时未响应！");
}
JSONObject jsonObject = JSON.parseObject(result);
int status = Integer.parseInt(String.valueOf(jsonObject.get("msg")));
//执行成功,托盘进炉
if (true){
if (status==1){
//更新调度表状态为完成
runTask.setUpdateTime(LocalDateTime.now());
runTask.setEndTime(LocalDateTime.now());
@ -246,15 +313,48 @@ public class AsynRunTaskService extends BaseService {
if (vehicleId==1){
// TODO: 2022/2/26 获取RGV2当前位置
otherNowPoint=1;
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
if (conflictBoolean){
//若冲突
// TODO: 2022/2/26 执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
Map<String, Integer> json = new HashMap();
//type=1为 入
// taskType 4 单移动
json.put("taskType", 4);
json.put("sendRow", 39);
String taskJson = JSON.toJSONString(json);
try {
HttpClient.httpPost("http://localhost:8009/rgv2/sendTask",taskJson);
} catch (IOException e) {
e.printStackTrace();
logger.error(new Date() + "WCS接口超时未响应！");
//wocket推送到页面
return;
}
}
}else {
//获取RGV1当前位置
otherNowPoint=2;
}
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
while (conflictBoolean){
//若冲突
// TODO: 2022/2/26 执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
if (conflictBoolean){
//若冲突
// TODO: 2022/2/26 执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
Map<String, Integer> json = new HashMap();
// taskType 4 单移动
json.put("taskType", 4);
json.put("sendRow", 1);
String taskJson = JSON.toJSONString(json);
try {
HttpClient.httpPost("http://localhost:8009/rgv1/sendTask",taskJson);
} catch (IOException e) {
e.printStackTrace();
logger.error(new Date() + "WCS接口超时未响应！");
//wocket推送到页面
return;
}
}
}
PointInfo pointOfLocation = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, location.getCode()));
//新建一条执行任务的关系表存放任务执行信息,终点为缓存区空闲库位
@ -282,8 +382,32 @@ public class AsynRunTaskService extends BaseService {
setCommonField(inStockInfo);
inStockInfoServiceBiz.save(inStockInfo);
// TODO: 2021/12/14 调用车辆填入起终点,得到车辆执行结果,填入任务号（待确认）
if (true){
Long startPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getStartPosition())).getCode();
Long endPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getEndPosition())).getCode();
Map<String, Object> json = new HashMap();
// taskType 1 搬运
json.put("taskType", 1);
json.put("sendRow", endPoint);
json.put("pickRow",startPoint);
json.put("taskNo",currTaskId);
json.put("ideNumber",1);
json.put("processNumber",currTask.getPlcValue());
String taskJson = JSON.toJSONString(json);
String result =null;
try {
if (vehicleId==1){
result = HttpClient.httpPost("http://localhost:8009/rgv1/sendTask", taskJson);
}
if (vehicleId==2){
result = HttpClient.httpPost("http://localhost:8009/rgv2/sendTask", taskJson);
}
} catch (IOException e) {
e.printStackTrace();
logger.error(new Date() + "WCS接口超时未响应！");
}
JSONObject jsonObject = JSON.parseObject(result);
int status = Integer.parseInt(String.valueOf(jsonObject.get("msg")));
if (status==1){
//更新关系表状态为完成
runTask.setUpdateTime(LocalDateTime.now());
runTask.setStatus(2);
@ -317,15 +441,48 @@ public class AsynRunTaskService extends BaseService {
if (vehicleId==1){
// TODO: 2022/2/26 获取RGV2当前位置
otherNowPoint=1;
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
if (conflictBoolean){
//若冲突
// TODO: 2022/2/26 执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
Map<String, Integer> json = new HashMap();
//type=1为 入
// taskType 4 单移动
json.put("taskType", 4);
json.put("sendRow", 39);
String taskJson = JSON.toJSONString(json);
try {
HttpClient.httpPost("http://localhost:8009/rgv2/sendTask",taskJson);
} catch (IOException e) {
e.printStackTrace();
logger.error(new Date() + "WCS接口超时未响应！");
//wocket推送到页面
return;
}
}
}else {
//获取RGV1当前位置
otherNowPoint=2;
}
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
while (conflictBoolean){
//若冲突
// TODO: 2022/2/26 执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
//两辆小车是否冲突
Boolean conflictBoolean = taskDistanceUtils.conflictForVehicle(vehicleId, currTask.getStartPosition(), currTask.getTargetPosition(), otherNowPoint);
if (conflictBoolean){
//若冲突
// TODO: 2022/2/26 执行小车移位任务。移位任务完成后再判断是否冲突,移位任务可以直接让小车移位到两端
Map<String, Integer> json = new HashMap();
// taskType 4 单移动
json.put("taskType", 4);
json.put("sendRow", 1);
String taskJson = JSON.toJSONString(json);
try {
HttpClient.httpPost("http://localhost:8009/rgv1/sendTask",taskJson);
} catch (IOException e) {
e.printStackTrace();
logger.error(new Date() + "WCS接口超时未响应！");
//wocket推送到页面
return;
}
}
}
// TODO: 2021/12/28 location排序
Location location = locationServiceBiz.list(new QueryWrapper<Location>()
@ -366,7 +523,32 @@ public class AsynRunTaskService extends BaseService {
setCommonField(inStockInfo);
inStockInfoServiceBiz.save(inStockInfo);
// TODO: 2021/12/14 调用车辆填入起终点,得到车辆执行结果,填入任务号（待确认）
if (true){
Long startPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getStartPosition())).getCode();
Long endPoint = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.NOTE, runTask.getEndPosition())).getCode();
Map<String, Object> json = new HashMap();
// taskType 1 搬运
json.put("taskType", 1);
json.put("sendRow", endPoint);
json.put("pickRow",startPoint);
json.put("taskNo",currTaskId);
json.put("ideNumber",1);
json.put("processNumber",currTask.getPlcValue());
String taskJson = JSON.toJSONString(json);
String result =null;
try {
if (vehicleId==1){
result = HttpClient.httpPost("http://localhost:8009/rgv1/sendTask", taskJson);
}
if (vehicleId==2){
result = HttpClient.httpPost("http://localhost:8009/rgv2/sendTask", taskJson);
}
} catch (IOException e) {
e.printStackTrace();
logger.error(new Date() + "WCS接口超时未响应！");
}
JSONObject jsonObject = JSON.parseObject(result);
int status = Integer.parseInt(String.valueOf(jsonObject.get("msg")));
if (status==1){
//更新关系表状态为完成
runTask.setUpdateTime(LocalDateTime.now());
runTask.setStatus(2);
@ -394,9 +576,14 @@ public class AsynRunTaskService extends BaseService {
}
//出库。起点为缓存区库位，终点为提升台
@Async("asyncServiceExecutor")
public void asynRunOutStock(Long runTaskId,Long locationId){
//修改调度任务状态
RunTask runTask = runTaskServiceBiz.getById(runTaskId);
public void asynRunOutStock(Long locationId){
RunTask runTask=new RunTask();
setCommonField(runTask);
//runTask.setVehicleId(vehicleId);
runTask.setBeginTime(LocalDateTime.now());
//runTask.setStartPosition(currTask.getOutStartPosition());
//runTask.setEndPosition(currTask.getOutTargetPosition());
runTaskServiceBiz.save(runTask);
//修改缓存区状态
InStockInfo inStockInfo = inStockInfoServiceBiz.getOne(new QueryWrapper<InStockInfo>()
.eq("location_id", locationId));

42
6.program/wms-empty/src/main/java/com/mt/wms/empty/task/RunTaskUtils.java
View File

@ -51,6 +51,8 @@ public class RunTaskUtils {
private AutoExeTaskServiceBiz autoExeTaskServiceBiz;
@Resource
private KilnInfoServiceBiz kilnInfoServiceBiz;
@Resource
private PlcNameSpaceServiceBiz plcNameSpaceServiceBiz;
/**
* 进炉加工
@ -58,7 +60,7 @@ public class RunTaskUtils {
* @return
* @throws InterruptedException
*/
public R runTaskForInKiln(Long currTaskId) throws InterruptedException {
public R runTaskForInKiln(Long currTaskId) throws InterruptedException{
CurrTask currTask = currTaskServiceBiz.getById(currTaskId);
//起点,起点和终点是液压台code、窑炉code、缓存区code
String startPosition = currTask.getStartPosition();
@ -90,15 +92,19 @@ public class RunTaskUtils {
//有小车在运行，提示当前有车辆在运行，请稍后
return R.failed("当前轨道有RGV车辆在运动，请等待当前RGV车辆执行完毕再执行任务！");
}
// TODO: 2022/2/27 传入任务id,起始点，若终点是窑炉，获取窑炉状态
int kilnStatus = 1;
// TODO: 2022/2/27 传入任务id,起始点，若终点是窑炉，获取窑炉状态,能放两坨货的窑炉怎么判定状态？
KilnInfo kilnInfo = kilnInfoServiceBiz.getById(currTask.getKilnId());
String kilnNamePlace = plcNameSpaceServiceBiz.getOne(new QueryWrapper<PlcNameSpace>()
.eq(PlcNameSpace.EQ_TYPE, 0)
.eq(PlcNameSpace.EQ_ID, kilnInfo.getId())).getName();
String result = readPlcToString(kilnNamePlace, "AllowIn");
Boolean resultBoolean = Boolean.valueOf(JSONObject.parseObject(result).get("result").toString());
//窑炉状态为不可用
if (kilnStatus == 0) {
if (kilnInfo.getStatus() == 1) {
return R.failed("目标窑炉不可用！");
}
//窑炉可用未满
if (kilnStatus==1){
if (resultBoolean){
//计算出路径最短的车辆id
Long vehicleId = taskDistanceUtils.chooseVehicle(currTask.getStartPosition(), currTask.getTargetPosition());
//占用车辆
@ -115,7 +121,7 @@ public class RunTaskUtils {
return R.ok("操作成功，任务已开始执行。");
}
//窑炉已满
if (kilnStatus==2){
if (resultBoolean){
//查询缓存区库位是否已满
int count = locationServiceBiz.count(new QueryWrapper<Location>()
.eq(Location.STATUS, 0)
@ -249,4 +255,26 @@ public class RunTaskUtils {
}
}
/**
* 获取变量值
* @param nameSpace nameSpace前缀
* @param variableName 变量名称
* @return result字符串
*/
private String readPlcToString(String nameSpace, String variableName){
String identifier=nameSpace.concat(variableName);
Map<String, Object> json = new HashMap();
json.put("nameSpace", 6);
json.put("plcName", "plc1");
json.put("identifier",identifier);
String result = null;
try {
result = HttpClient.httpPost("http://localhost:8009/opcua/read", JSON.toJSONString(json));
} catch (IOException e) {
e.printStackTrace();
logger.info("readPLC： "+identifier+" 的值失败");
}
return result;
}
}

10
6.program/wms-empty/src/main/java/com/mt/wms/empty/task/TaskDistanceUtils.java
View File

@ -89,9 +89,19 @@ public class TaskDistanceUtils {
//小车当前位置、起点、终点，找出最大最小值
int min=(((nowPoint<start)?nowPoint:start)<end)?((nowPoint<start)?nowPoint:start):end;
int max=(((nowPoint>start)?nowPoint:start)>end)?((nowPoint>start)?nowPoint:start):end;
//另一辆小车在在小车路径上比如冲突，不在小车路径上时判定一下安全距离（4米）
if (otherNowPoint>=min&&otherNowPoint<=max){
return true;
}else {
Double maxDistance = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.CODE, max)).getDistance();
Double minDistance = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.CODE, min)).getDistance();
Double otherVehicleDistance = pointInfoServiceBiz.getOne(new QueryWrapper<PointInfo>().eq(PointInfo.CODE, otherNowPoint)).getDistance();
if (Math.abs(otherVehicleDistance-maxDistance)<4){
return true;
}
if (Math.abs(otherVehicleDistance-minDistance)<4){
return true;
}
return false;
}
}

6
6.program/wms-empty/src/main/java/com/mt/wms/empty/vo/CurrTaskMainQueryVo.java
View File

@ -56,6 +56,12 @@ public class CurrTaskMainQueryVo extends BaseVo implements PageVo.ConvertVo {
*/
@ApiModelProperty("任务类型")
private Integer taskType;
/**
* 是否自动执行： 0手动，1自动，如果是自动任务这里要监控进出和到缓存区的调度任务
*/
@ApiModelProperty("是否自动执行：手动，1自动")
private Integer is_auto;
/**
* 开始位置
*/