#

TQS

2024-08-21 06ee622946d64da07bde8840db216a22c70dffba

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

@@ -141,6 +141,24 @@
                            News.error("MainServiceImpl  generateStoreWrkFile"+"203为出库模式，禁止入库，退回入库口。！！！");
                            continue;
                        }
                        if ( inSta.getStaNo()==113 && devpThread.ioModeOf3F == IoModeType.PAKOUT_MODE) {
                            //有出库任务，退库到入库口
                            staProtocol.setWorkNo((short) 9999);
                            staProtocol.setStaNo((short)114);
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            News.error("MainServiceImpl  generateStoreWrkFile"+"103为出库模式，禁止入库，退回入库口。！！！");
                            continue;
                        }
                        if ( inSta.getStaNo()==213 && devpThread.ioModeOf4F == IoModeType.PAKOUT_MODE) {
                            //有出库任务，退库到入库口
                            staProtocol.setWorkNo((short) 9999);
                            staProtocol.setStaNo((short)214);
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            News.error("MainServiceImpl  generateStoreWrkFile"+"203为出库模式，禁止入库，退回入库口。！！！");
                            continue;
                        }
                    }

                    // 获取条码扫描仪信息
@@ -213,7 +231,7 @@
                            // plc 处理
                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            staProtocol.setStaNo(Utils.getStaNoConvertCentreOther3(dto.getStaNo(),inSta.getStaNo()).shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);

                            ledThread.errorReset();
@@ -854,9 +872,33 @@
                                    continue;
                                }
                                WrkMast onlyWrkNo = wrkMastMapper.selectByOnlyWrkNo(crnProtocol.getTaskNo().intValue());
                                if (Cools.isEmpty(onlyWrkNo) && (crnStn.getStaNo()  == 112 || crnStn.getStaNo() == 212)){
                                    //  判断堆垛机状态等待确认
                                    if (crnProtocol.modeType == CrnModeType.AUTO
                                            && crnProtocol.statusType == CrnStatusType.WAITING
                                            && crnProtocol.forkPosType == CrnForkPosType.HOME
                                            && crnProtocol.getBay().equals(crnStn.getBay().shortValue()) && crnProtocol.getLevel().equals(crnStn.getLev().shortValue())) {
                                        News.info("堆垛机接驳任务完成，工作号："+crnProtocol.getTaskNo()+"；执行堆垛机号："+crnSlave.getId()+"；接驳放货位："+crnStn.getStaNo()+"；接驳行走目标站："+Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()));
                                        // 下发站点信息
                                        News.error("new867===>"+crnProtocol.getTaskNo());
                                        News.error("new867===>"+Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()).toString());
                                        staProtocol.setWorkNo(crnProtocol.getTaskNo());
                                        staProtocol.setStaNo(Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()).shortValue());
                                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                            continue;
                                        }
                                        // 复位堆垛机
                                        crnThread.setResetFlag(true);
                                        continue;
                                    }
                                }
                                if (Cools.isEmpty(onlyWrkNo) ||
                                        (onlyWrkNo.getStaNo()!=114 && onlyWrkNo.getStaNo()!=214 &&
                                        onlyWrkNo.getSourceStaNo()!=114 && onlyWrkNo.getSourceStaNo()!=214)){
                                        ((onlyWrkNo.getStaNo()!=114 && onlyWrkNo.getStaNo()!=214 &&
                                                onlyWrkNo.getSourceStaNo()!=114 && onlyWrkNo.getSourceStaNo()!=214)
                                                &&
                                                (onlyWrkNo.getStaNo()!=113 && onlyWrkNo.getStaNo()!=213 &&
                                                        onlyWrkNo.getSourceStaNo()!=113 && onlyWrkNo.getSourceStaNo()!=213))
                                ){
                                    continue;
                                }
                                //  判断堆垛机状态等待确认
@@ -1023,7 +1065,7 @@
                        //  判断堆垛机状态等待确认
                        if (crnProtocol.modeType == CrnModeType.AUTO
                                && crnProtocol.statusType == CrnStatusType.IDLE
                                && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                                && crnProtocol.forkPosType == CrnForkPosType.HOME && crnStn.getBay()!=(short)4) {
                            News.info("堆垛机接驳任务执行，工作号："+staProtocol.getWorkNo()+"；执行堆垛机号："+slave.getId()+"；接驳取货位："+crnStn.getStaNo()+"；接驳放货位："+staProtocol.getSiteId());
                            // 堆垛机接驳任务命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
@@ -1031,7 +1073,39 @@
                            crnCommand.setTaskNo(onlyWrkNo.getWrkNo().shortValue()); // 工作号
                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                            crnCommand.setCommand((short) 0);
                            crnCommand.setTaskMode(CrnTaskModeType.XY_MOVE); // 任务模式:  站位转移
                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                            crnCommand.setDestinationPosX(Utils.getRow(staProtocol.getSiteId()));     // 目标库位排
                            crnCommand.setDestinationPosY(Utils.getBay(staProtocol.getSiteId()));     // 目标库位列
                            crnCommand.setDestinationPosZ(Utils.getLev(staProtocol.getSiteId()));     // 目标库位层
                            if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                                News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", slave.getId(), JSON.toJSONString(crnCommand));
                            }
                            return true;
                        }
                    } else if (!Cools.isEmpty(onlyWrkNo) && onlyWrkNo.getCrnNo()==2 && onlyWrkNo.getWrkSts()>16 && crnProtocol.getCrnNo()!=2 && onlyWrkNo.getIoType()>100){
                        //                News.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                        // 已经存在吊车执行任务时，则过滤
                        if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                            continue;
                        }
                        if (Cools.isEmpty(staProtocol.getWorkNo()) || !staProtocol.isLoading()){
                            continue;
                        }
                        //  判断堆垛机状态等待确认
                        if (crnProtocol.modeType == CrnModeType.AUTO
                                && crnProtocol.statusType == CrnStatusType.IDLE
                                && crnProtocol.forkPosType == CrnForkPosType.HOME && crnStn.getBay()==(short)4) {
                            News.info("堆垛机接驳任务执行，工作号："+staProtocol.getWorkNo()+"；执行堆垛机号："+slave.getId()+"；接驳取货位："+crnStn.getStaNo()+"；接驳放货位："+staProtocol.getSiteId());
                            // 堆垛机接驳任务命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                            crnCommand.setTaskNo(onlyWrkNo.getWrkNo().shortValue()); // 工作号
                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                            crnCommand.setCommand((short) 0);
                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
@@ -1044,7 +1118,7 @@
                            return true;
                        }
                    }
                    continue;
                        continue;
                } catch (Exception e){
                    News.info("堆垛机接驳任务执行，异常："+e.getMessage());
                }
@@ -1368,6 +1442,14 @@
                }
                if (wrkMast.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
                    News.error("MainServiceImpl  locToCrnStn"+"203非出库模式，禁止出库。任务号:{}！！！",wrkMast.getWrkNo());
                    return false;
                }
                if (wrkMast.getStaNo() == 113 && devpThread.ioModeOf3F != IoModeType.PAKOUT_MODE) {
                    News.error("MainServiceImpl  locToCrnStn"+"113非出库模式，禁止出库。任务号:{}！！！",wrkMast.getWrkNo());
                    return false;
                }
                if (wrkMast.getStaNo() == 213 && devpThread.ioModeOf4F != IoModeType.PAKOUT_MODE) {
                    News.error("MainServiceImpl  locToCrnStn"+"213非出库模式，禁止出库。任务号:{}！！！",wrkMast.getWrkNo());
                    return false;
                }

@@ -2625,6 +2707,7 @@
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (Cools.isEmpty(steProtocol.loca))  continue;
            if (steProtocol.loca==0) continue;
            if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
                return steProtocol.getSteNo().intValue();
@@ -2642,6 +2725,7 @@
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (Cools.isEmpty(steProtocol.loca)) continue;
            if (steProtocol.loca==0) continue;
            if (steProtocol.isIdle()) {
                if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
@@ -3496,6 +3580,7 @@
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (Cools.isEmpty(steProtocol.loca)) continue;
            if (steProtocol.loca==0) continue;
            if (steProtocol.getWaiting() && steProtocol.getTaskNo() == 0){
                News.info("ste[id={}] 收到等待WCS确认信号，但是任务号(地址V824)为0", steProtocol.getSteNo());
@@ -3913,6 +3998,24 @@
                        News.error("MainServiceImpl  storeEmptyPlt"+"203为出库模式，禁止入库，退回入库口。！！！");
                        continue;
                    }
                    if ( emptyInSta.getStaNo()==113 && devpThread.ioModeOf3F == IoModeType.PAKOUT_MODE) {
                        //有出库任务，退库到入库口
                        staProtocol.setWorkNo((short) 9999);
                        staProtocol.setStaNo((short)100);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        News.error("MainServiceImpl  storeEmptyPlt"+"113为出库模式，禁止入库，退回入库口。！！！");
                        continue;
                    }
                    if ( emptyInSta.getStaNo()==213 && devpThread.ioModeOf4F == IoModeType.PAKOUT_MODE) {
                        //有出库任务，退库到入库口
                        staProtocol.setWorkNo((short) 9999);
                        staProtocol.setStaNo((short)200);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        News.error("MainServiceImpl  storeEmptyPlt"+"213为出库模式，禁止入库，退回入库口。！！！");
                        continue;
                    }
                }

                // 站点条件判断
@@ -3995,109 +4098,116 @@
     */
    public synchronized void ledExecute() {
        for (LedSlave led : slaveProperties.getLed()) {
            // 获取输送线plc线程
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
            // 命令集合
            List<LedCommand> commands = new ArrayList<>();
            // 工作档集合
            List<WrkMast> wrkMasts = new ArrayList<>();
            for (Integer staNo : led.getStaArr()) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                // 获取工作档数据
                WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
                if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
                wrkMasts.add(wrkMast);
                // 组装命令
                LedCommand ledCommand = new LedCommand();
                ledCommand.setWorkNo(wrkMast.getWrkNo());
                ledCommand.setIoType(wrkMast.getIoType());
                // 出库模式
                switch (wrkMast.getIoType()) {
                    case 101:
                        ledCommand.setTitle("全板出库");
                        break;
                    case 103:
                        ledCommand.setTitle("拣料出库");
                        break;
                    case 104:
                        ledCommand.setTitle("并板出库");
                        break;
                    case 107:
                        ledCommand.setTitle("盘点出库");
                        break;
                    case 110:
                        ledCommand.setTitle("空板出库");
                        ledCommand.setEmptyMk(true);
                        break;
                    default:
                        News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                        break;
                }
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
                ledCommand.setBarcode(wrkMast.getBarcode());
                if (wrkMast.getIoType() != 110) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
            try{
                // 获取输送线plc线程
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
                // 命令集合
                List<LedCommand> commands = new ArrayList<>();
                // 工作档集合
                List<WrkMast> wrkMasts = new ArrayList<>();
                for (Integer staNo : led.getStaArr()) {
                    // 获取叉车站点
                    StaProtocol staProtocol = devpThread.getStation().get(staNo);
                    if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    // 获取工作档数据
                    WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
                    if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
                    wrkMasts.add(wrkMast);
                    // 组装命令
                    LedCommand ledCommand = new LedCommand();
                    ledCommand.setWorkNo(wrkMast.getWrkNo());
                    ledCommand.setIoType(wrkMast.getIoType());
                    // 出库模式
                    switch (wrkMast.getIoType()) {
                        case 101:
                            ledCommand.setTitle("全板出库");
                            break;
                        case 103:
                            ledCommand.setTitle("拣料出库");
                            break;
                        case 104:
                            ledCommand.setTitle("并板出库");
                            break;
                        case 107:
                            ledCommand.setTitle("盘点出库");
                            break;
                        case 110:
                            ledCommand.setTitle("空板出库");
                            ledCommand.setEmptyMk(true);
                            break;
                        default:
                            News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                            break;
                    }
                    ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                    ledCommand.setStaNo(wrkMast.getStaNo());
                    ledCommand.setBarcode(wrkMast.getBarcode());
                    if (wrkMast.getIoType() != 110) {
                        List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());

                    wrkDetls.forEach(wrkDetl -> {
                        Double total = 0.0;
                        EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
                        LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
                        if (Cools.isEmpty(locDetl)) {
                            total = wrkDetl.getAnfme();
                        } else {
                            total = locDetl.getAnfme();
                        }
                        if (wrkMast.getIoType() == 101) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
                        }
                        if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
                        }
                        if (wrkMast.getIoType() == 107) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
                        }
                    });
                        wrkDetls.forEach(wrkDetl -> {
                            Double total = 0.0;
                            EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
                            LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
                            if (Cools.isEmpty(locDetl)) {
                                total = wrkDetl.getAnfme();
                            } else {
                                total = locDetl.getAnfme();
                            }
                            if (wrkMast.getIoType() == 101) {
                                ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
                            }
                            if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
                                ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
                            }
                            if (wrkMast.getIoType() == 107) {
                                ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
                            }
                        });
                    }
                    commands.add(ledCommand);
                }
                commands.add(ledCommand);
            }
            Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
            // 获取LED线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
            // 相同工作号集合则过滤
            if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
                continue;
            }
            // 命令下发 -------------------------------------------------------------------------------
            if (!commands.isEmpty()) {
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
                    News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
                // 获取LED线程
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
                // 相同工作号集合则过滤
                if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
                    continue;
                }
            }

            try {
                // 修改主档led标记
                for (WrkMast wrkMast : wrkMasts) {
                    wrkMast.setOveMk("Y");
                    wrkMast.setModiTime(new Date());
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        throw new CoolException("更新工作档失败");
                // 命令下发 -------------------------------------------------------------------------------
                if (!commands.isEmpty()) {
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
                        News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                        continue;
                    } else {
                        News.info("{}号LED命令下发成功！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                        News.info("{}号LED命令下发成功！！！[commands：{}]", led.getId(), commands);
                    }
                }

                // 更新线程当前工作号集合
                ledThread.setWorkNos(workNos);
                try {
                    // 修改主档led标记
                    for (WrkMast wrkMast : wrkMasts) {
                        wrkMast.setOveMk("Y");
                        wrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            throw new CoolException("更新工作档失败");
                        }
                    }

            } catch (Exception e) {
                e.printStackTrace();
                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    // 更新线程当前工作号集合
                    ledThread.setWorkNos(workNos);

                } catch (Exception e) {
                    e.printStackTrace();
                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                }
            } catch (Exception e){
                News.error(e.getMessage());
            }

        }
@@ -4108,29 +4218,32 @@
     */
    public synchronized void ledReset() {
        for (LedSlave led : slaveProperties.getLed()) {
            if (led.getId()>3){
                continue;
            }
            // 获取输送线plc线程
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
            // 命令集合
            boolean reset = true;
            for (Integer staNo : led.getStaArr()) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (staProtocol == null) { continue; }
                if (staProtocol.getWorkNo() != 0) {
                    reset = false;
                    break;
            try{
                // 获取输送线plc线程
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
                // 命令集合
                boolean reset = true;
                for (Integer staNo : led.getStaArr()) {
                    // 获取叉车站点
                    StaProtocol staProtocol = devpThread.getStation().get(staNo);
                    if (staProtocol == null) { continue; }
                    if (staProtocol.getWorkNo() != 0) {
                        reset = false;
                        break;
                    }
                }
            }
            // 获取led线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
            // led显示默认内容
            if (reset) {
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
                    News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                // 获取led线程
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
                // led显示默认内容
                if (reset) {
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
                        News.error("{}号LED复位命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    } else {
//                        News.info("{}号LED复位命令下发成功！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    }
                }
            } catch (Exception e){
                News.error("LED异常"+led.getId());
            }
        }
    }
@@ -4682,10 +4795,10 @@
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

                for (DevpSlave.Sta inSta : devp.getInSta()) {
                    Integer sourceStaNo = inSta.getStaNo()==103 ? 104 : 204;
                    Integer sourceStaNo = inSta.getStaNo()==103 ? 104 : inSta.getStaNo()==113 ? 104 : 204;
                    WrkMast pakout = wrkMastMapper.selectWorkingPakout(sourceStaNo);
                    switch (inSta.getStaNo()) {
                        case 103://1F
                        case 103://1F1
                            if (pakout != null) {
                                if (devpThread.ioModeOf1F != IoModeType.PAKOUT_MODE) {
                                    // 出库切换中
@@ -4703,7 +4816,7 @@
                                devpThread.ioModeOf1F = IoModeType.PAKIN_MODE;
                            }
                            break;
                        case 203://2F
                        case 203://1F2
                            if (pakout != null) {
                                if (devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
                                    // 出库切换中
@@ -4719,6 +4832,125 @@
                            } else {
                                // 入库模式
                                devpThread.ioModeOf2F = IoModeType.PAKIN_MODE;
                            }
                            break;
//                        case 113://2F1
//                            if (pakout != null) {
//                                if (devpThread.ioModeOf3F != IoModeType.PAKOUT_MODE) {
//                                    // 出库切换中
////                                    devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
////                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
////                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
////                                            && !devpThread.getStation().get(inSta.getStaNo()-1).isLoading()
////                                            && devpThread.getStation().get(inSta.getStaNo()-1).getWorkNo()==0) {
////                                        // 出库模式
//                                    devpThread.ioModeOf3F = IoModeType.PAKOUT_MODE;
////                                    }
//                                }
//                            } else {
//                                // 入库模式
//                                devpThread.ioModeOf3F = IoModeType.PAKIN_MODE;
//                            }
//                            break;
//                        case 213://2F2
//                            if (pakout != null) {
//                                if (devpThread.ioModeOf4F != IoModeType.PAKOUT_MODE) {
//                                    // 出库切换中
////                                    devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
////                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
////                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
////                                            && !devpThread.getStation().get(inSta.getStaNo()-1).isLoading()
////                                            && devpThread.getStation().get(inSta.getStaNo()-1).getWorkNo()==0) {
////                                        // 出库模式
//                                    devpThread.ioModeOf4F = IoModeType.PAKOUT_MODE;
////                                    }
//                                }
//                            } else {
//                                // 入库模式
//                                devpThread.ioModeOf4F = IoModeType.PAKIN_MODE;
//                            }
//                            break;
                    }
                }

            }

        } catch (Exception e) {
            e.printStackTrace();
        }
    }
    public synchronized void ioConvert2F() {
        try {
            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
                if (devp.getId() == 1){
                    continue;
                }
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

                for (DevpSlave.Sta inSta : devp.getInSta()) {
                    Integer staNoEnd = inSta.getStaNo()==113 ? 114 : 214;
                    WrkMast pakout = wrkMastMapper.selectWorkingPakoutTwoF(staNoEnd);
                    boolean sign = true;
                    int[] staNos = new int[3];

                    switch (inSta.getStaNo()) {
                        case 113://2F1
                            staNos = new int[]{112,113,114};
                            for (int staNo : staNos){
                                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                                if (Cools.isEmpty(staProtocol)) continue;
                                if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo()>0){
                                    sign = false;
                                }
                            }
                            if (sign){
                                if (pakout != null) {
                                    if (devpThread.ioModeOf3F != IoModeType.PAKOUT_MODE) {

                                        // 出库切换中
//                                    devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
//                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
//                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
//                                            && !devpThread.getStation().get(inSta.getStaNo()-1).isLoading()
//                                            && devpThread.getStation().get(inSta.getStaNo()-1).getWorkNo()==0) {
//                                        // 出库模式
                                        devpThread.ioModeOf3F = IoModeType.PAKOUT_MODE;
//                                    }
                                    }
                                } else {
                                    // 入库模式
                                    devpThread.ioModeOf3F = IoModeType.PAKIN_MODE;

                                }
                            }
                            break;
                        case 213://2F2
                            staNos = new int[]{212,213,214};
                            for (int staNo : staNos){
                                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                                if (Cools.isEmpty(staProtocol)) continue;
                                if (!staProtocol.isAutoing() || staProtocol.isLoading()){
                                    sign = false;
                                }
                            }
                            if (sign){
                                if (pakout != null) {
                                    if (devpThread.ioModeOf4F != IoModeType.PAKOUT_MODE) {
                                        // 出库切换中
//                                    devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
//                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
//                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
//                                            && !devpThread.getStation().get(inSta.getStaNo()-1).isLoading()
//                                            && devpThread.getStation().get(inSta.getStaNo()-1).getWorkNo()==0) {
//                                        // 出库模式
                                        devpThread.ioModeOf4F = IoModeType.PAKOUT_MODE;
//                                    }
                                    }
                                } else {
                                    // 入库模式
                                    devpThread.ioModeOf4F = IoModeType.PAKIN_MODE;
                                }
                            }
                            break;
                    }
@@ -4768,6 +5000,11 @@
                                if (!MessageQueue.offer(SlaveType.Ste, ste.getId(), new Task(2, steCommand))) {
                                    News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", ste.getId(), JSON.toJSON(steCommand));
                                }
                                try{
                                    Thread.sleep(500);
                                } catch (Exception e){

                                }
                            }
                        }
                    }