#

luxiaotao1123

2022-03-22 0b43805ff248a192570859e2e75c6f4d4b3a816a

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

@@ -1,12 +1,12 @@
package com.zy.asrs.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.WorkNoType;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.mapper.WaitPakinMapper;
@@ -16,9 +16,11 @@
import com.zy.asrs.utils.VersionUtils;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.SearchLocParam;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
import com.zy.common.utils.CollectionUtils;
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
@@ -35,9 +37,10 @@
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.LedThread;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.jdbc.core.JdbcTemplate;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
@@ -57,6 +60,8 @@
@Service("mainService")
@Transactional
public class MainServiceImpl {

    public static final long COMMAND_TIMEOUT = 5 * 1000;

    @Autowired
    private CommonService commonService;
@@ -82,14 +87,13 @@
    private BasErrLogService basErrLogService;
    @Autowired
    private BasCrnErrorMapper basCrnErrorMapper;
    @Autowired
    private JdbcTemplate jdbcTemplate;
    @Value("${wms.url}")
    private String wmsUrl;

    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
     */
    @Async
    public void generateStoreWrkFile() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
@@ -97,27 +101,49 @@
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                if(!Cools.isEmpty(barcode)) {
                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
                } else {
                    continue;
                }

                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

//                // 入出库模式判断
//                if ( inSta.getStaNo()==180 && devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
                        && staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
                        && staProtocol.isPakMk()){// && !Cools.isEmpty(barcode)) {

//                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
//                        //条码为空或者不符合，退库到172站点
//                        staProtocol.setWorkNo((short)9999);
//                        staProtocol.setStaNo((short)172);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }
//                        continue;
//                    }

                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
@@ -125,72 +151,104 @@
                        log.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        continue;
                    }
                    // 获取入库通知档
                    List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
                    if (waitPakins.isEmpty()) {
                        log.error("无此入库条码数据。条码号={}", barcode);
                        continue;
                    }
//                    // 获取入库通知档
//                    List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
//                    if (waitPakins.isEmpty()) {
//                        log.error("无此入库条码数据。条码号={}", barcode);
//                        continue;
//                    }

                    try {
                        // 检索库位

                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
                        List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
                        StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos, locTypeDto, 0);
                        // 工作号
                        int workNo = startupDto.getWorkNo();
                        // 插入工作明细档
                        wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);

                        // 插入工作主档
                        wrkMast = new WrkMast();
                        wrkMast.setWrkNo(workNo);
                        wrkMast.setIoTime(new Date());
                        wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
                        wrkMast.setIoType(1); // 入出库状态：1.入库
                        wrkMast.setIoPri(10D); // 优先级：10
                        wrkMast.setCrnNo(startupDto.getCrnNo());
                        wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
                        wrkMast.setStaNo(startupDto.getStaNo());
                        wrkMast.setLocNo(startupDto.getLocNo());
                        wrkMast.setBarcode(barcode); // 托盘码
                        wrkMast.setFullPlt("Y"); // 满板：Y
                        wrkMast.setPicking("N"); // 拣料
                        wrkMast.setExitMk("N"); // 退出
                        wrkMast.setEmptyMk("N"); // 空板
                        wrkMast.setLinkMis("N");
                        // 操作人员数据
                        wrkMast.setAppeTime(new Date());
                        wrkMast.setModiTime(new Date());
                        Integer insert = wrkMastMapper.insert(wrkMast);
                        if (insert == 0) {
                            throw new CoolException("保存工作档失败");
                        }
                        // 更新目标库位状态
                        LocMast locMast = locMastService.selectById(startupDto.getLocNo());
                        locMast.setLocSts("S"); // S.入库预约
                        locMast.setModiTime(new Date());
                        if (!locMastService.updateById(locMast)){
                            throw new CoolException("改变库位状态失败");
                        }
                        // 将入库通知档修改为已启动
                        if (wrkMastMapper.updateWaitPakInStep1(barcode) == 0) {
                            throw new CoolException("修改入库通知档状态为已启动失败");
                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
                        param.setSourceStaNo(inSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }

                        // 命令下发区 --------------------------------------------------------------------------

                        // 更新站点信息 且 下发plc命令
                        barcodeThread.setBarcode("");
                        staProtocol.setWorkNo((short) workNo);
                        staProtocol.setStaNo(startupDto.getStaNo().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
                        }
//                        // 检索库位
//                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
//                        List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
//                        StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos, locTypeDto, 0);
//                        // 工作号
//                        int workNo = startupDto.getWorkNo();
//                        // 插入工作明细档
//                        wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);
//
//                        // 插入工作主档
//                        wrkMast = new WrkMast();
//                        wrkMast.setWrkNo(workNo);
//                        wrkMast.setIoTime(new Date());
//                        wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
//                        wrkMast.setIoType(1); // 入出库状态：1.入库
//                        wrkMast.setIoPri(10D); // 优先级：10
//                        wrkMast.setCrnNo(startupDto.getCrnNo());
//                        wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
//                        wrkMast.setStaNo(startupDto.getStaNo());
//                        wrkMast.setLocNo(startupDto.getLocNo());
//                        wrkMast.setBarcode(barcode); // 托盘码
//                        wrkMast.setFullPlt("Y"); // 满板：Y
//                        wrkMast.setPicking("N"); // 拣料
//                        wrkMast.setExitMk("N"); // 退出
//                        wrkMast.setEmptyMk("N"); // 空板
//                        wrkMast.setLinkMis("N");
//                        // 操作人员数据
//                        wrkMast.setAppeTime(new Date());
//                        wrkMast.setModiTime(new Date());
//                        Integer insert = wrkMastMapper.insert(wrkMast);
//                        if (insert == 0) {
//                            throw new CoolException("保存工作档失败");
//                        }
//                        // 更新目标库位状态
//                        LocMast locMast = locMastService.selectById(startupDto.getLocNo());
//                        locMast.setLocSts("S"); // S.入库预约
//                        locMast.setModiTime(new Date());
//                        if (!locMastService.updateById(locMast)){
//                            throw new CoolException("改变库位状态失败");
//                        }
//                        // 将入库通知档修改为已启动
//                        if (wrkMastMapper.updateWaitPakInStep1(barcode) == 0) {
//                            throw new CoolException("修改入库通知档状态为已启动失败");
//                        }
//
//                        // 命令下发区 --------------------------------------------------------------------------
//
//                        // 更新站点信息 且 下发plc命令
//                        barcodeThread.setBarcode("");
//                        staProtocol.setWorkNo((short) workNo);
//                        staProtocol.setStaNo(startupDto.getStaNo().shortValue());
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }

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

@@ -206,22 +264,25 @@
     * wms入库
     * 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
     */
    @Async
    public void generateStoreWrkFile0() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

//                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading()
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
                        && staProtocol.isPakMk()) {
                    // 判断重复工作档
@@ -257,22 +318,53 @@
    /**
     * 拣料、并板、盘点再入库
     */
    @Async
    public void stnToCrnStnPick(){
    public synchronized void stnToCrnStnPick(){
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历拣料入库口
            for (DevpSlave.Sta pickSta : devp.getPickSta()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                if(!Cools.isEmpty(barcode)) {
                    log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
                } else {
                    continue;
                }

                // 获取拣料入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                    && staProtocol.getWorkNo() > 0 && staProtocol.isPakMk()){
                    WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo().intValue());

//                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){

//                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                        //条码为空或者不符合，退库到172站点
//                        staProtocol.setWorkNo((short)9999);
//                        staProtocol.setStaNo((short)172);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }
//                        continue;
//                    }

                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    if (wrkMast == null) {
                        // 无拣料数据
                        continue;
@@ -389,7 +481,7 @@
                    }
                    //  判断堆垛机状态等待确认
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
                            && crnProtocol.getTaskFinish() == 1  // todo:luxiaotao 等待确认
                            && crnProtocol.statusType == CrnStatusType.WAITING
                            && crnProtocol.forkPosType == CrnForkPosType.HOME) {

                        // 命令下发区 --------------------------------------------------------------------------
@@ -421,8 +513,7 @@
    /**
     * 入出库  ===>>  堆垛机入出库作业下发
     */
    @Async
    public void crnIoExecute(){
    public synchronized void crnIoExecute(){
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -462,9 +553,60 @@
    }

    /**
     * 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
     */
    public void crnRebackHp(){
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }
            BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
            if (basCrnp == null) {
                log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
                continue;
            }
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                // 已经存在吊车执行任务时，则过滤
                if (wrkMastMapper.selectWorking(crn.getId()) != null) {
                    return;
                }

                //堆垛机有执行中任务，过滤
                if (wrkMastMapper.selectCrnWorking(crn.getId()) != null) {
                    return;
                }

                //输送线没有入库任务，过滤
                if (wrkMastMapper.selectDevWorking(crn.getId()) == null) {
                    return;
                }

                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
                crnCommand.setTaskNo((short) 1); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  回原点
                crnCommand.setSourcePosX((short) 0);     // 源库位排
                crnCommand.setSourcePosY((short) 0);     // 源库位列
                crnCommand.setSourcePosZ((short) 0);     // 源库位层
                crnCommand.setDestinationPosX((short) 0);     // 目标库位排
                crnCommand.setDestinationPosY((short) 0);     // 目标库位列
                crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
                    log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crn.getId(), JSON.toJSON(crnCommand));
                }
            }
        }
    }

    /**
     * 入库  ===>>  堆垛机站到库位
     */
    public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
    public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
            boolean flag = false;
            // 获取堆垛机入库站信息
@@ -490,8 +632,8 @@
            }
            // 获取工作状态为2（设备上走）的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            if(null == wrkMast && staProtocol.getWorkNo() != 9999) {
                log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
            if(null == wrkMast) {
//                log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                continue;
            }
            // 获取库位信息
@@ -515,12 +657,47 @@
                return;
            }

            // 双深库位且浅库位有货，则需先对浅库位进行库位移转
            if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
                String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
                LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    if (null == waitWrkMast) {
                        log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                    } else {
                        waitWrkMast.setIoPri(15D);
                        waitWrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                            log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                        }
                    }
                    continue;
                } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                    // 此标记避免多次执行移库任务
                    if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                        wrkMast.setUpdMk("Y");
                        wrkMast.setIoPri(14D);
                        wrkMastMapper.updateById(wrkMast);
                        // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
                    }
                    continue;
                } else if (shallowLoc.getLocSts().equals("Q")){
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    if (null != waitWrkMast && waitWrkMast.getWrkSts()==4) {
                        continue;
                    }
                }
            }

            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式:  库位移转
            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
@@ -530,14 +707,27 @@
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            } else {
                // 修改工作档状态 2.设备上走 => 3.吊车入库中
//                Date now = new Date();
//                wrkMast.setWrkSts(3L);
//                wrkMast.setCrnStrTime(now);
//                wrkMast.setModiTime(now);
//                if (wrkMastMapper.updateById(wrkMast) == 0) {
//                    log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());

//                long startTime = System.currentTimeMillis();
//                while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
//
//                    if (true) {
//                        break;
//                    }
//
//                    try{
//                        Thread.sleep(500);
//                    }catch(Exception ignore){}
//                }

                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                Date now = new Date();
                wrkMast.setWrkSts(3L);
                wrkMast.setCrnStrTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                }
            }
        }
    }
@@ -545,7 +735,7 @@
    /**
     * 出库  ===>>  库位到堆垛机站
     */
    public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
    public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
            // 获取工作状态为11（生成出库ID）的出库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
@@ -564,13 +754,18 @@
                continue;
            }
            // 获取堆垛机出库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }

//            // 入出库模式判断
//            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }


            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
@@ -597,13 +792,17 @@
                        if (null == waitWrkMast) {
                            log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                        } else {
                            waitWrkMast.setIoPri(15D);
                            waitWrkMast.setModiTime(new Date());
                            if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                            if(waitWrkMast.getWrkSts() == 11) {
                                waitWrkMast.setIoPri(15D);
                                waitWrkMast.setModiTime(new Date());
                                if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                    log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                }
                                continue;
                            } else {

                            }
                        }
                        continue;
                    } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                        // 此标记避免多次执行移库任务
                        if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
@@ -612,6 +811,7 @@
                            // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
                            moveLocForDeepLoc(slave, shallowLoc);
                        }
                        log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
                        continue;
                    }
                }
@@ -626,7 +826,7 @@
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.PAKOUT); // 任务模式:  库位移转
                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
@@ -637,13 +837,13 @@
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改工作档状态 11.生成出库ID => 12.吊车出库中
//                    Date now = new Date();
//                    wrkMast.setWrkSts(12L);
//                    wrkMast.setCrnStrTime(now);
//                    wrkMast.setModiTime(now);
//                    if (wrkMastMapper.updateById(wrkMast) == 0) {
//                        log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
//                    }
                    Date now = new Date();
                    wrkMast.setWrkSts(12L);
                    wrkMast.setCrnStrTime(now);
                    wrkMast.setModiTime(now);
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
                }
            }
        }
@@ -652,7 +852,7 @@
    /**
     * 库位移转
     */
    public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
    public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
        // 获取工作档信息
        WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
        if (null == wrkMast) {
@@ -686,7 +886,7 @@
        }

        // 已经存在吊车执行任务时，则过滤
        if (wrkMastMapper.selectLocMoving(slave.getId()) != null) {
        if (wrkMastMapper.selectWorking(slave.getId()) != null) {
            return;
        }

@@ -706,13 +906,13 @@
            log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
        } else {
            // 修改工作档状态 11.生成出库ID => 12.吊车出库中
//            Date now = new Date();
//            wrkMast.setWrkSts(12L);
//            wrkMast.setCrnStrTime(now);
//            wrkMast.setModiTime(now);
//            if (wrkMastMapper.updateById(wrkMast) == 0) {
//                log.error("【库位移转】 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
//            }
            Date now = new Date();
            wrkMast.setWrkSts(12L);
            wrkMast.setCrnStrTime(now);
            wrkMast.setModiTime(now);
            if (wrkMastMapper.updateById(wrkMast) == 0) {
                log.error("【库位移转】 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
            }
        }

    }
@@ -728,8 +928,7 @@
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) { continue; }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.getTaskFinish() == 1    // todo:luxiaotao 等待确认
                    && crnProtocol.getTaskNo() != 0) {
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                if (wrkMast == null) {
@@ -775,13 +974,13 @@
                    BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
                    // 有异常
                    if (latest == null) {
                        if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
                        if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
                            WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
                            if (wrkMast == null) {
                                continue;
                            }
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
                            String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):crnError.getErrName();
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                            String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    wrkMast.getWrkNo(),    // 工作号
@@ -796,7 +995,7 @@
                                    wrkMast.getSourceStaNo(),    // 源站
                                    wrkMast.getSourceLocNo(),    // 源库位
                                    wrkMast.getBarcode(),    // 条码
                                    crnProtocol.getAlarm1(),    // 异常码
                                    (int) crnProtocol.getAlarm(),    // 异常码
                                    errName,    // 异常
                                    1,    // 异常情况
                                    now,    // 添加时间
@@ -811,7 +1010,7 @@
                        }
                    } else {
                        // 异常修复
                        if (crnProtocol.getAlarm1() == null || crnProtocol.getAlarm1() == 0) {
                        if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
                            latest.setEndTime(now);
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
@@ -824,11 +1023,11 @@
                } else {
                    BasErrLog latest = basErrLogService.findLatest(crn.getId());
                    // 有异常
                    if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
                    if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
                        // 记录新异常
                        if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm1().intValue())) {
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
                            String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):crnError.getErrName();
                        if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                            String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    null,    // 工作号
@@ -843,7 +1042,7 @@
                                    null,    // 源站
                                    null,    // 源库位
                                    null,    // 条码
                                    crnProtocol.getAlarm1(),    // 异常码
                                    (int)crnProtocol.getAlarm(),    // 异常码
                                    errName,    // 异常
                                    1,    // 异常情况
                                    now,    // 添加时间
@@ -886,68 +1085,109 @@
            // 遍历空板入库口
            for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
                // 获取空板入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

//                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999 || staProtocol.getWorkNo() == 9990) && staProtocol.isPakMk()) {
                    // 检索库位
                    LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
                    StartupDto startupDto = commonService.getLocNo(1, 10, emptyInSta.getStaNo(), null, locTypeDto, 0);
                    // 工作号
                    int workNo = startupDto.getWorkNo();
                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999 || staProtocol.getWorkNo() == 9990 || staProtocol.getWorkNo() == 9997) && staProtocol.isPakMk()) {

                    try {
                        // 插入工作主档
                        WrkMast wrkMast = new WrkMast();
                        wrkMast.setWrkNo(workNo);
                        wrkMast.setIoTime(new Date());
                        wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
                        wrkMast.setIoType(10); // 入出库状态：10.空板入库
                        wrkMast.setIoPri(10D); // 优先级：10
                        wrkMast.setCrnNo(startupDto.getCrnNo());
                        wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
                        wrkMast.setStaNo(startupDto.getStaNo());
                        wrkMast.setLocNo(startupDto.getLocNo());
                        wrkMast.setFullPlt("N"); // 满板
                        wrkMast.setPicking("N"); // 拣料
                        wrkMast.setExitMk("N"); // 退出
                        wrkMast.setEmptyMk("Y"); // 空板
                        wrkMast.setLinkMis("N");
//                    wrkMast.setCtnType(sourceStaNo.getCtnType()); // 容器类型
                        // 操作人员数据
                        wrkMast.setAppeTime(new Date());
                        wrkMast.setModiTime(new Date());
                        Integer insert = wrkMastMapper.insert(wrkMast);
                        if (insert == 0) {
                            throw new CoolException("保存工作档失败");
                        }
                        // 更新目标库位状态
                        LocMast locMast = locMastService.selectById(startupDto.getLocNo());
                        locMast.setLocSts("S"); // S.入库预约
                        locMast.setModiTime(new Date());
                        if (!locMastService.updateById(locMast)){
                            throw new CoolException("改变库位状态失败");
                        }
                        // 命令下发区 --------------------------------------------------------------------------
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        // 更新站点信息 且 下发plc命令
                        staProtocol.setWorkNo((short) workNo);
                        staProtocol.setStaNo(startupDto.getStaNo().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
                        SearchLocParam param = new SearchLocParam();
                        param.setIoType(10);
                        param.setSourceStaNo(emptyInSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }




//                    // 检索库位
//                    LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
//                    StartupDto startupDto = commonService.getLocNo(1, 10, emptyInSta.getStaNo(), null, locTypeDto, 0);
//                    // 工作号
//                    int workNo = startupDto.getWorkNo();
//
//                    try {
//                        // 插入工作主档
//                        WrkMast wrkMast = new WrkMast();
//                        wrkMast.setWrkNo(workNo);
//                        wrkMast.setIoTime(new Date());
//                        wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
//                        wrkMast.setIoType(10); // 入出库状态：10.空板入库
//                        wrkMast.setIoPri(10D); // 优先级：10
//                        wrkMast.setCrnNo(startupDto.getCrnNo());
//                        wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
//                        wrkMast.setStaNo(startupDto.getStaNo());
//                        wrkMast.setLocNo(startupDto.getLocNo());
//                        wrkMast.setFullPlt("N"); // 满板
//                        wrkMast.setPicking("N"); // 拣料
//                        wrkMast.setExitMk("N"); // 退出
//                        wrkMast.setEmptyMk("Y"); // 空板
//                        wrkMast.setLinkMis("N");
////                    wrkMast.setCtnType(sourceStaNo.getCtnType()); // 容器类型
//                        // 操作人员数据
//                        wrkMast.setAppeTime(new Date());
//                        wrkMast.setModiTime(new Date());
//                        Integer insert = wrkMastMapper.insert(wrkMast);
//                        if (insert == 0) {
//                            throw new CoolException("保存工作档失败");
//                        }
//                        // 更新目标库位状态
//                        LocMast locMast = locMastService.selectById(startupDto.getLocNo());
//                        locMast.setLocSts("S"); // S.入库预约
//                        locMast.setModiTime(new Date());
//                        if (!locMastService.updateById(locMast)){
//                            throw new CoolException("改变库位状态失败");
//                        }
//                        // 命令下发区 --------------------------------------------------------------------------
//
//                        // 更新站点信息 且 下发plc命令
//                        staProtocol.setWorkNo((short) workNo);
//                        staProtocol.setStaNo(startupDto.getStaNo().shortValue());
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }
//                    } catch (Exception e) {
//                        e.printStackTrace();
//                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
//                    }

                }

@@ -1009,7 +1249,7 @@
                ledCommand.setStaNo(wrkMast.getStaNo());
                if (wrkMast.getIoType() != 110) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())));
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatNo(), wrkDetl.getMatName(), wrkDetl.getQty())));
                }
                commands.add(ledCommand);
            }
@@ -1025,6 +1265,8 @@
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
                    log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    continue;
                } else {
                    ledThread.setLedMk(false);
                }
            }

@@ -1054,6 +1296,33 @@
     */
    @Async
    public void ledReset() {
//        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
//            boolean reset = true;
//            for (Integer staNo : led.getStaArr()) {
//                // 获取叉车站点
//                StaProtocol staProtocol = devpThread.getStation().get(staNo);
//                if (staProtocol == null) {
//                    continue;
//                } else {
//                    staProtocol = staProtocol.clone();
//                }
//                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<>()))) {
//                    log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
//                }
//            }
//        }
        for (LedSlave led : slaveProperties.getLed()) {
            // 获取输送线plc线程
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
@@ -1064,8 +1333,6 @@
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.getWorkNo() != 0) {
                    reset = false;
@@ -1075,11 +1342,89 @@
            // 获取led线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
            // led显示默认内容
            if (reset) {
            if (reset && !ledThread.isLedMk()) {
                ledThread.setLedMk(true);
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
                    log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                } else {

                }
            }
        }
    }

    /**
     * 因双深库位阻塞，对浅库位进行移转（入库版)
     * tip：同步
     */
    @Transactional
    public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast){
        LocMast loc = locMastService.selectById(pakinWrkMast.getLocNo());

        // 获取工作号
        int workNo = commonService.getWorkNo(0);
        // 保存工作档
        WrkMast wrkMast = new WrkMast();
        wrkMast.setWrkNo(workNo);
        wrkMast.setIoTime(new Date());
        wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
        wrkMast.setIoType(11); // 入出库状态： 11.库格移载
        wrkMast.setIoPri(15D);
        wrkMast.setCrnNo(crn.getId());
        wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
        wrkMast.setLocNo(loc.getLocNo()); // 目标库位
        wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
        wrkMast.setPicking("N"); // 拣料
        wrkMast.setExitMk("N"); // 退出
        wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D")?"Y":"N"); // 空板
        wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
        wrkMast.setLinkMis("N");
        wrkMast.setCtnNo("Y");  // 入库阻塞库位移转标记
        wrkMast.setAppeTime(new Date());
        wrkMast.setModiTime(new Date());
        int res = wrkMastMapper.insert(wrkMast);
        if (res == 0) {
            throw new CoolException("保存工作档失败");
        }
        // 工作档明细保存
        if (shallowLoc.getLocSts().equals("F")) {
            List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
            for (LocDetl locDetl : locDetls) {
                WrkDetl wrkDetl = new WrkDetl();
                wrkDetl.setWrkNo(workNo);
                wrkDetl.setIoTime(new Date());
                wrkDetl.setQty(locDetl.getQty());
                VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
                wrkDetl.setAppeTime(new Date());
                wrkDetl.setModiTime(new Date());
                if (!wrkDetlService.insert(wrkDetl)) {
                    throw new CoolException("保存工作档明细失败");
                }
            }
        }
        // 修改源库位状态
        if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
            shallowLoc.setLocSts("S"); // S.入库预约，入库阻塞库位移转
            shallowLoc.setModiTime(new Date());
            if (!locMastService.updateById(shallowLoc)){
                throw new CoolException("更新源库位状态失败");
            }
        } else {
            throw new CoolException("源库位出库失败");
        }
//        // 修改目标库位状态
//        if (loc.getLocSts().equals("O")) {
//            loc.setLocSts("S"); // S.入库预约
//            loc.setModiTime(new Date());
//            if (!locMastService.updateById(loc)) {
//                throw new CoolException("更新目标库位状态失败");
//            }
//        } else {
//            throw new CoolException("移转失败");
//        }
        wrkMast.setLocNo(shallowLoc.getLocNo());
        if (wrkMastMapper.updateById(wrkMast) == 0) {
            throw new CoolException("修改阻塞入库任务失败");
        }
    }

@@ -1093,6 +1438,15 @@
        for (Integer row : rows) {
            if (Utils.isDeepLoc(slaveProperties, row)) {
                loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

                if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())){
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
                    LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
                    if(!shallowLoc1.getLocSts().equals("O")){
                        loc = null;
                    }
                }

                if (null != loc) { break; }
            }
        }
@@ -1139,7 +1493,7 @@
                WrkDetl wrkDetl = new WrkDetl();
                wrkDetl.setWrkNo(workNo);
                wrkDetl.setIoTime(new Date());
                wrkDetl.setAnfme(locDetl.getAnfme());
                wrkDetl.setQty(locDetl.getQty());
                VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
                wrkDetl.setAppeTime(new Date());
                wrkDetl.setModiTime(new Date());
@@ -1174,82 +1528,6 @@
    /**
     * 堆垛机演示  ===>> 库位移转
     */
    @Async
    public void crnDemoOfLocMove(Integer crn){
        for (int i = 0; i < 5; i++) {

            LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn);
            LocMast loc = locMastService.queryDemoLoc(crn);
            if (null == sourceLoc || null == loc) {
                break;
            }
            String sourceLocNo = sourceLoc.getLocNo();
            String locNo = loc.getLocNo();

            // 获取工作号
            int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
            // 保存工作档
            WrkMast wrkMast = new WrkMast();
            wrkMast.setWrkNo(workNo);
            wrkMast.setIoTime(new Date());
            wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
            wrkMast.setIoType(11); // 入出库状态： 11.库格移载
            wrkMast.setIoPri(13D);
            wrkMast.setCrnNo(crn);
            wrkMast.setSourceLocNo(sourceLocNo); // 源库位
            wrkMast.setLocNo(locNo); // 目标库位
            wrkMast.setFullPlt("N"); // 满板：Y
            wrkMast.setPicking("N"); // 拣料
            wrkMast.setExitMk("N"); // 退出
            wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D")?"Y":"N"); // 空板
            wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
            wrkMast.setLinkMis("N");
            wrkMast.setAppeTime(new Date());
            wrkMast.setModiTime(new Date());
            int res = wrkMastMapper.insert(wrkMast);
            if (res == 0) {
                throw new CoolException("保存工作档失败");
            }
            // 工作档明细保存
            List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
            for (LocDetl locDetl : locDetls) {
                WrkDetl wrkDetl = new WrkDetl();
                wrkDetl.setWrkNo(workNo);
                wrkDetl.setIoTime(new Date());
                wrkDetl.setAnfme(locDetl.getAnfme());
                VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
                wrkDetl.setAppeTime(new Date());
                wrkDetl.setModiTime(new Date());
                if (!wrkDetlService.insert(wrkDetl)) {
                    throw new CoolException("保存工作档明细失败");
                }
            }
            // 修改源库位状态
            if (sourceLoc.getLocSts().equals("D") || sourceLoc.getLocSts().equals("F")) {
                sourceLoc.setLocSts("R"); // R.出库预约
                sourceLoc.setModiTime(new Date());
                if (!locMastService.updateById(sourceLoc)){
                    throw new CoolException("更新源库位状态失败");
                }
            } else {
                throw new CoolException("源库位出库失败");
            }
            // 修改目标库位状态
            if (loc.getLocSts().equals("O")) {
                loc.setLocSts("S"); // S.入库预约
                loc.setModiTime(new Date());
                if (!locMastService.updateById(loc)) {
                    throw new CoolException("更新目标库位状态失败");
                }
            } else {
                throw new CoolException("移转失败");
            }
        }
    }

    /**
     * 堆垛机演示  ===>> 库位移转
     */
    public synchronized void crnDemoOfLocMove1(){
        for (CrnSlave crn : slaveProperties.getCrn()) {
            if (!crn.getDemo()) { continue; }   // 必须为演示状态
@@ -1272,7 +1550,7 @@
                String locNo = loc.getLocNo();

                // 获取工作号
                int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
                int workNo = commonService.getWorkNo(0);
                // 保存工作档
                wrkMast = new WrkMast();
                wrkMast.setWrkNo(workNo);
@@ -1296,21 +1574,21 @@
                    throw new CoolException("保存工作档失败");
                }
                // 工作档明细保存
                List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
                for (LocDetl locDetl : locDetls) {
                    WrkDetl wrkDetl = new WrkDetl();
                    wrkDetl.setWrkNo(workNo);
                    wrkDetl.setIoTime(new Date());
                    wrkDetl.setAnfme(locDetl.getAnfme());
                    VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
                    wrkDetl.setAppeTime(new Date());
                    wrkDetl.setModiTime(new Date());
                    if (!wrkDetlService.insert(wrkDetl)) {
                        throw new CoolException("保存工作档明细失败");
                    }
                }
//                List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
//                for (LocDetl locDetl : locDetls) {
//                    WrkDetl wrkDetl = new WrkDetl();
//                    wrkDetl.setWrkNo(workNo);
//                    wrkDetl.setIoTime(new Date());
//                    wrkDetl.setAnfme(locDetl.getAnfme());
//                    VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
//                    wrkDetl.setAppeTime(new Date());
//                    wrkDetl.setModiTime(new Date());
//                    if (!wrkDetlService.insert(wrkDetl)) {
//                        throw new CoolException("保存工作档明细失败");
//                    }
//                }
                // 修改源库位状态
                if (sourceLoc.getLocSts().equals("D") || sourceLoc.getLocSts().equals("F")) {
                if (sourceLoc.getLocSts().equals("D")) {
                    sourceLoc.setLocSts("R"); // R.出库预约
                    sourceLoc.setModiTime(new Date());
                    if (!locMastService.updateById(sourceLoc)){
@@ -1383,5 +1661,39 @@
        }
    }

    /**
     * 入出库模式切换函数
     */
    public void ioConvert() {
        try {
            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

                WrkMast pakout = wrkMastMapper.selectWorkingPakout();
                if (pakout != null) {
                    if (devpThread.ioMode != IoModeType.PAKOUT_MODE) {
                        // 出库切换中
                        devpThread.ioMode = IoModeType.PAKOUT_BOOTING;

                        WrkMast pakin = wrkMastMapper.selectWorkingPakin();
                        if (pakin == null) {
                            // 出库模式
                            devpThread.ioMode = IoModeType.PAKOUT_MODE;
                        }
                    }
                } else {
                    // 入库模式
                    devpThread.ioMode = IoModeType.PAKIN_MODE;
                }
            }

        } catch (Exception e) {
            e.printStackTrace();
        }


    }


}