1

zhang

2025-09-29 0d81063735b221b81413784db00aff62e77f637b

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

@@ -27,7 +27,10 @@
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.LedSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
import com.zy.core.model.command.RgvCommand;
@@ -153,7 +156,7 @@
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.getWeight() > 1000) {
                if (!back && staProtocol.getWeight() > 15000) {
                    errMsg = "超重或未读取";
                    back = true;
                }
@@ -183,13 +186,14 @@
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);
                    staProtocol.setWorkNo(wrkNo);//退回 工作号:10000
                    News.info("{}PLC入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg, wrkNo);
                    wrkNo++;
//                    wrkNo++;
                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发1：" + wrkNo + "," + inSta.getBackSta());
                    break;//超限托盘退回不生成工作档
                }

                // 判断是否满足入库条件
@@ -198,13 +202,13 @@
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && staProtocol.isPakMk()
                        && staProtocol.getWorkNo()==9999) {
                        && staProtocol.getWorkNo() == 9999) {
                    if (Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
                        News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);

                        staProtocol.setWorkNo(wrkNo);
                        News.info("{}barcode入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg, wrkNo);
                        wrkNo++;
//                        wrkNo++;
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -223,6 +227,13 @@
//                        }
                        News.error(barcode + "条码已存在状态为（ 2.设备上走 ）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走 ）的任务,工作号=" + wrkMast.getWrkNo()));
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        staProtocol.setStaNo(wrkMast.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");
                        }
                        continue;
//                        barcodeThread.setBarcode("");
//                        staProtocol.setWorkNo(wrkMast.getWrkNo());
@@ -260,7 +271,7 @@
                        param.setLocType1(locTypeDto.getLocType1());
                        param.setWeight(staProtocol.getWeight());
                        String response = new HttpHandler.Builder()
                                .setTimeout(30,TimeUnit.SECONDS)
                                .setTimeout(30, TimeUnit.SECONDS)
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
@@ -311,7 +322,7 @@
                                continue;
                            }
                            staProtocol.setWorkNo(wrkNo);
                            wrkNo++;
//                            wrkNo++;
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -323,7 +334,7 @@
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                            }
//                            }
//                            News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }


@@ -337,7 +348,7 @@

            }
        }
//        News.infoNoLog(""+mark+" - 0"+" - 组托  ===》执行完成");
        News.infoNoLog("" + mark + " - 0" + " - 组托  ===》执行完成");

    }

@@ -426,7 +437,7 @@

                StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());

                if(staProtocol == null) {
                if (staProtocol == null) {
//                    News.error("站点信息未获得");
                    continue;
                }
@@ -468,7 +479,7 @@
                // 退回
//                if (back) {
//                    log.info("errmsg: " + errMsg);
////                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
//                    MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
//                    if (!staProtocol.isLoading()) {
//                        continue;
@@ -503,7 +514,7 @@
//
//
//                    if (!Cools.isEmpty(barcode)) {
////                    News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                    News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                            continue;
//                        }
@@ -520,7 +531,7 @@
                    staProtocol = staProtocol.clone();
                }

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

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
@@ -615,7 +626,7 @@
                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo(wrkMast.getWrkNo());
//                    if(staProtocol.getSiteId() < 400){
                        staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString()));
                    staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString()));
//                    }
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -632,7 +643,7 @@
            }

        }
        News.infoNoLog(""+mark+" - 0"+" - 拣料、并板、盘点再入库  ===》执行完成");
        News.infoNoLog("" + mark + " - 0" + " - 拣料、并板、盘点再入库  ===》执行完成");
    }


@@ -853,16 +864,21 @@
                        // 更新工作档状态为14失败
                        wrkMast.setWrkSts(14L);
                        wrkMast.setCrnEndTime(new Date());
                        wrkMast.setPltType(0);
                        if (wrkMastMapper.updateById(wrkMast) != 0) {
                            // 复位堆垛机
                            log.error("出库任务完成下发堆垛机复位,{}", wrkMast.getWrkNo());
                            crnThread.setResetFlag(true);
                            log.error("出库任务完成下发堆垛机复位,{},{}", wrkMast.getWrkNo(), wrkMast.getPltType());
                            if (wrkMast.getPltType() == 1) {
                                crnThread.setResetFlag(true);
                            } else if (wrkMast.getPltType() == 2) {
                                crnThread.setResetFlagTwo(true);
                            }
                        } else {
                            News.error("" + mark + " - 1" + " - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                        }

                    } else {
                         News.errorNoLog("" + mark + " - 6" + " - 堆垛机信息不符合入库条件！！！"
                        News.errorNoLog("" + mark + " - 6" + " - 堆垛机信息不符合入库条件！！！"
                                + " 堆垛机状态：" + crnProtocol.modeType + "==自动AUTO：" + CrnModeType.AUTO
                                + "、堆垛机任务号：" + crnProtocol.getTaskNo() + "==工作档任务号：" + wrkMast.getWrkNo().shortValue()
                                + "、状态枚举：" + crnProtocol.statusType + "==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
@@ -874,12 +890,13 @@
        }
//        News.infoNoLog(""+mark+" - 0"+" - 堆垛机站出库到出库站  ===》执行完成");
    }

    /**
     * 堆垛机默认回原点
     */
    public synchronized void crnToInStn(Integer mark) {
        if(isToOrigin){
            for (CrnSlave crn : slaveProperties.getCrn()){
        if (isToOrigin) {
            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();
@@ -920,29 +937,93 @@
//            }

            // 只有当堆垛机空闲 并且 无任务时才继续执行
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getModeType() == CrnModeType.AUTO
                    && crnProtocol.getForkPos() == 0 && crnProtocol.getTaskNo() == 0 && crnProtocol.getTaskNoTwo() == 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行堆垛机入出库作业下发");
                // 如果最近一次是入库模式
                if (crnProtocol.getLastIo().equals("I")) {
                    if (basCrnp.getInEnable().equals("Y")) {
                        //mark - 1 - ....
                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
                        crnProtocol.setLastIo("O");
                    } else if (basCrnp.getOutEnable().equals("Y")) {
                        //mark - 2 - ....
                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
                        crnProtocol.setLastIo("I");
                if (crnProtocol.getLoaded() == 0 && crnProtocol.getLoadedTwo() == 0) {
                    //堆垛机没有物料
                    // 如果最近一次是入库模式
                    if (crnProtocol.getLastIo().equals("I")) {
                        if (basCrnp.getInEnable().equals("Y")) {
                            //mark - 1 - ....
                            this.inTake(crn, crnProtocol, mark); //  入库
                            crnProtocol.setLastIo("O");
                        } else if (basCrnp.getOutEnable().equals("Y")) {
                            //mark - 2 - ....
                            this.outTake(crn, crnProtocol, mark); //  出库
                            crnProtocol.setLastIo("I");
                        }
                    }
                }
                // 如果最近一次是出库模式
                else if (crnProtocol.getLastIo().equals("O")) {
                    if (basCrnp.getOutEnable().equals("Y")) {
                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
                        crnProtocol.setLastIo("I");
                    } else if (basCrnp.getInEnable().equals("Y")) {
                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
                        crnProtocol.setLastIo("O");
                    // 如果最近一次是出库模式
                    else if (crnProtocol.getLastIo().equals("O")) {
                        if (basCrnp.getOutEnable().equals("Y")) {
                            this.outTake(crn, crnProtocol, mark); //  出库
                            crnProtocol.setLastIo("I");
                        } else if (basCrnp.getInEnable().equals("Y")) {
                            this.inTake(crn, crnProtocol, mark); //  入库
                            crnProtocol.setLastIo("O");
                        }
                    }

                } else if (crnProtocol.getLoaded() == 1 && crnProtocol.getLoadedTwo() == 1) {
                    // 堆垛机有物料
                    WrkMast wrkMast = wrkMastMapper.selectByPltType(crn.getId(), 1);
                    if (wrkMast != null) {
                        if (wrkMast.getIoType() >= 100) {
                            this.outPut(crn, crnProtocol, mark);
                        } else {
                            this.inPut(crn, crnProtocol, mark);
                        }
                    } else {
                        log.error("" + mark + " - 1" + " - 有物料无工作档  ===》异常");
                    }
                } else if (crnProtocol.getLoaded() == 1 && crnProtocol.getLoadedTwo() == 0) {
                    // 堆垛机工位1有物料
                    WrkMast wrkMast = wrkMastMapper.selectByPltType(crn.getId(), 1);
                    if (wrkMast != null) {
                        //先判断是出库还是入库
                        //再判断是还有没有同类型的工作档
                        if (wrkMast.getIoType() >= 100) {
                            WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep1(crn.getId(), wrkMast.getSourceStaNo());
                            if (wrkMast1 != null) {
                                this.outTake(crn, crnProtocol, mark);
                            } else {
                                this.outPut(crn, crnProtocol, mark);
                            }
                        } else {
                            WrkMast wrkMast1 = wrkMastMapper.selectPakInStep1All(wrkMast.getSourceStaNo(), crn.getId());
                            if (wrkMast1 != null) {
                                this.inTake(crn, crnProtocol, mark);
                            } else {
                                this.inPut(crn, crnProtocol, mark);
                            }
                        }
                    } else {
                        log.error("" + mark + " - 1" + " - 有物料无工作档  ===》异常");
                    }
                } else if (crnProtocol.getLoaded() == 0 && crnProtocol.getLoadedTwo() == 1) {
                    // 堆垛机工位2有物料
                    WrkMast wrkMast = wrkMastMapper.selectByPltType(crn.getId(), 2);
                    if (wrkMast != null) {
                        //先判断是出库还是入库
                        //再判断是还有没有同类型的工作档
                        if (wrkMast.getIoType() >= 100) {
                            WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep1(crn.getId(), wrkMast.getSourceStaNo());
                            if (wrkMast1 != null) {
                                this.outTake(crn, crnProtocol, mark);
                            } else {
                                this.outPut(crn, crnProtocol, mark);
                            }
                        } else {
                            WrkMast wrkMast1 = wrkMastMapper.selectPakInStep1All(wrkMast.getSourceStaNo(), crn.getId());
                            if (wrkMast1 != null) {
                                this.inTake(crn, crnProtocol, mark);
                            } else {
                                this.inPut(crn, crnProtocol, mark);
                            }
                        }
                    } else {
                        log.error("" + mark + " - 1" + " - 有物料无工作档  ===》异常");
                    }
                }
            }
@@ -953,6 +1034,518 @@

        }
//        News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
    }

    /**
     * 先判断是不是特殊的边库位
     *
     * @param locNo
     * @return
     */
    private Integer getCrnStation(String locNo) {
        String bay = locNo.substring(2, 6);
        if (Integer.parseInt(bay) == 1) {
            return 2;
        } else if (Integer.parseInt(bay) == 29) {
            return 1;
        }
        if (Integer.parseInt(locNo.substring(0, 2)) >= 14) {
            return 1;
        } else {
            return 2;
        }
    }


    /**
     * 入库取货
     */
    public synchronized void inTake(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
        News.warnNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发：执行入库");
        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
            boolean flag = false;
            // 获取堆垛机入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                News.infoNoLog("" + mark + " - 1" + " - 1" + " - 堆垛机入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }

            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                flag = true;
            }
            if (!flag) {
                News.errorNoLog("" + mark + " - 1" + " - 3" + " - 堆垛机入库站信息(以下需要全true):"
                        + "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
                        + "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isInEnable()
                        + "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
                continue;
            }
            // 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) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
//                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
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
            if (locMast == null) {
                News.error("" + mark + " - 1" + " - 5" + " - 查询库存无数据--库位号{}", wrkMast.getLocNo());
                continue;
            }
            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
                News.error("" + mark + " - 1" + " - 6" + " - 入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
                continue;
            }

            // 堆垛机控制过滤
            if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                News.infoNoLog(""+mark+" - 1"+" - 7"+" - 堆垛机控制过滤:堆垛机是否空闲={}，任务号={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo());
                continue;
            }

            WrkMast wrkMast103 = wrkMastMapper.selectPakInStep103(slave.getId());
            if (wrkMast103 != null) {
                News.error("" + mark + " - 1" + " - 8" + " - 堆垛机正在执行其他任务,请稍后再试");
            }

            Integer crnStation = getCrnStation(wrkMast.getLocNo());
            if (wrkMastMapper.selectByPltType(slave.getId(), crnStation) != null) {
                News.error("" + mark + " - 1" + " - 9" + " - 堆垛机改工位存在工作档,工位={}", crnStation);
            }

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

            News.warnNoLog("" + mark + " - 1" + " - 15" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
                    , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue()
                    , locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue());

            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setPltType(crnStation);
            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.TAKE); // 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((short) (locMast.getRow1() + slave.getOffset()));     // 目标库位排
//            crnCommand.setDestinationPosY((short) (locMast.getBay1() + slave.getOffset()));     // 目标库位列
//            crnCommand.setDestinationPosZ((short) (locMast.getLev1() + slave.getOffset()));     // 目标库位层
//            crnCommand.setTraySize(locMast.getLocType1() == 2);
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                News.error("" + mark + " - 1" + " - 16" + " - 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 => 103.吊车入库中
                Date now = new Date();
                wrkMast.setWrkSts(103L);
                wrkMast.setPltType(1);
                wrkMast.setCrnStrTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    News.error("" + mark + " - 1" + " - 17" + " - 修改工作档状态 2.设备上走 => 103.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                }
            }
        }
        News.infoNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发 ： 入库取货执行完毕");
    }


    /**
     * 入库放货
     */
    public synchronized void inPut(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
        News.warnNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发：执行入库");
        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
            boolean flag = false;

            // 获取工作状态为104（设备上走）的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep104(slave.getId());
            if (null == wrkMast) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts=2, 工作号={}");
//                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
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
            if (locMast == null) {
                News.error("" + mark + " - 1" + " - 5" + " - 查询库存无数据--库位号{}", wrkMast.getLocNo());
                continue;
            }
            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
                News.error("" + mark + " - 1" + " - 6" + " - 入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
                continue;
            }

            // 堆垛机控制过滤
            if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                News.infoNoLog(""+mark+" - 1"+" - 7"+" - 堆垛机控制过滤:堆垛机是否空闲={}，任务号={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo());
                continue;
            }

            if (wrkMast.getPltType() == 1) {
                if (crnProtocol.getLoaded() == 0) {
                    News.infoNoLog("" + mark + " - 1" + " - 7" + " - 堆垛机有工作档无物，任务号={}", crnProtocol.getStatusType(), wrkMast.getWrkNo());
                }
            } else if (wrkMast.getPltType() == 2) {
                if (crnProtocol.getLoadedTwo() == 0) {
                    News.infoNoLog("" + mark + " - 1" + " - 7" + " - 堆垛机有工作档无物，任务号={}", crnProtocol.getStatusType(), wrkMast.getWrkNo());

                }
            }

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

            News.warnNoLog("" + mark + " - 1" + " - 15" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
                    , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue()
                    , locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue());

            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setPltType(wrkMast.getPltType());
            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.PUT); // 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((short) (locMast.getRow1() + slave.getOffset()));     // 目标库位排
            crnCommand.setDestinationPosY((short) (locMast.getBay1() + slave.getOffset()));     // 目标库位列
            crnCommand.setDestinationPosZ((short) (locMast.getLev1() + slave.getOffset()));     // 目标库位层
//            crnCommand.setTraySize(locMast.getLocType1() == 2);
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                News.error("" + mark + " - 1" + " - 16" + " - 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 => 105.吊车入库取货中
                Date now = new Date();
                wrkMast.setWrkSts(105L);
                wrkMast.setCrnStrTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    News.error("" + mark + " - 1" + " - 17" + " - 修改工作档状态 2.设备上走 => 103.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                }
            }
        }
        News.infoNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发 ： 入库放货执行完毕");
    }


    /**
     * 出库取货
     */
    public synchronized void outTake(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
        News.warnNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发：执行出库");
        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
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            for (WrkMast wrkMast : wrkMasts) {
                if (wrkMast == null) {
                    continue;
                }
                // 工作档状态判断
                if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
                    News.error("" + mark + " - 2" + " - 1" + " - 查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                    continue;
                }
                // 获取源库位信息
                LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
                if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
                    News.error("" + mark + " - 2" + " - 2" + " - 出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                    continue;
                }
                // 获取堆垛机出库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
                if (staProtocol == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
                    break;
                } else {
                    staProtocol = staProtocol.clone();
                }


                // 查询站点详细信息
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    News.error("" + mark + " - 2" + " - 5" + " - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    break;
                }
                // 判断堆垛机出库站状态
                if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                        && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                    // 命令下发区 --------------------------------------------------------------------------

                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                        break;
                    }

                    // 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.getSourceLocNo())) {
                        News.warnNoLog("" + mark + " - 2" + " - 6" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}", wrkMast.getWrkNo());
                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
                        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")) {
                            News.warnNoLog("" + mark + " - 2" + " - 7" + " - // 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！库位状态={}", shallowLoc.getLocSts());
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            if (null == waitWrkMast) {
                                News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                            } else {
                                if (waitWrkMast.getWrkSts() == 11) {
                                    waitWrkMast.setIoPri(15D);
                                    waitWrkMast.setModiTime(new Date());
                                    if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                        News.error("" + mark + " - 2" + " - 8" + " - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                    }
                                    continue;
                                } else {

                                }
                            }
                        } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                            News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F、D  库位状态={}", shallowLoc.getLocSts());
//                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            //2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                            // 此标记避免多次执行移库任务
//                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
//                                || Cools.isEmpty(waitWrkMast)) {
                            if (Cools.isEmpty(waitWrkMast)) {
                                wrkMast.setUpdMk("Y");
                                wrkMastMapper.updateById(wrkMast);
                                // 生成工作档,将浅库位移转到新的库位中
                                moveLocForDeepLoc(slave, shallowLoc, mark);
                            }
                            News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                            continue;
                        } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
                            News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q、S  库位状态={}", shallowLoc.getLocSts());
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                            if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                                News.infoNoLog("" + mark + " - 2" + " - 11" + " - // F、D  工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
                                continue;
                            }
                        }
                    }

                    Integer crnStation = getCrnStation(wrkMast.getSourceLocNo());
                    if (wrkMastMapper.selectByPltType(slave.getId(), crnStation) != null) {
                        News.error("" + mark + " - 1" + " - 9" + " - 堆垛机改工位存在工作档,工位={}", crnStation);
                    }

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

                    News.warnNoLog("" + mark + " - 2" + " - 12" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
                            , sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue()
                            , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue());

                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setPltType(crnStation);
                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
//                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.TAKE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX((short) (sourceSta.getRow1() + slave.getOffset()));     // 源库位排
                    crnCommand.setSourcePosY((short) (sourceSta.getBay1() + slave.getOffset()));     // 源库位列
                    crnCommand.setSourcePosZ((short) (sourceSta.getLev1() + slave.getOffset()));     // 源库位层
//                    crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
//                    crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
//                    crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                    crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 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(106L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.error("" + mark + " - 2" + " - 14" + " - 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());
                        }
                        break;
                    }
                }
            }
        }
        News.infoNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发 ： 出库执行完毕");
    }

    /**
     * 出库放货
     */
    public synchronized void outPut(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
        News.warnNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发：执行出库");
        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
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep107(slave.getId(), crnStn.getStaNo());
            for (WrkMast wrkMast : wrkMasts) {
                if (wrkMast == null) {
                    continue;
                }
                // 工作档状态判断
                if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
                    News.error("" + mark + " - 2" + " - 1" + " - 查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                    continue;
                }
                // 获取源库位信息
                LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
                if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
                    News.error("" + mark + " - 2" + " - 2" + " - 出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                    continue;
                }
                // 获取堆垛机出库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
                if (staProtocol == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
                    break;
                } else {
                    staProtocol = staProtocol.clone();
                }


                // 查询站点详细信息
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    News.error("" + mark + " - 2" + " - 5" + " - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    break;
//                    continue;
                }
                // 判断堆垛机出库站状态
                if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                        && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                    // 命令下发区 --------------------------------------------------------------------------

                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                        break;
                    }

                    // 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.getSourceLocNo())) {
                        News.warnNoLog("" + mark + " - 2" + " - 6" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}", wrkMast.getWrkNo());
                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
                        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")) {
                            News.warnNoLog("" + mark + " - 2" + " - 7" + " - // 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！库位状态={}", shallowLoc.getLocSts());
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            if (null == waitWrkMast) {
                                News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                            } else {
                                if (waitWrkMast.getWrkSts() == 11) {
                                    waitWrkMast.setIoPri(15D);
                                    waitWrkMast.setModiTime(new Date());
                                    if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                        News.error("" + mark + " - 2" + " - 8" + " - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                    }
                                    continue;
                                } else {

                                }
                            }
                        } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                            News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F、D  库位状态={}", shallowLoc.getLocSts());
//                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            //2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                            // 此标记避免多次执行移库任务
//                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
//                                || Cools.isEmpty(waitWrkMast)) {
                            if (Cools.isEmpty(waitWrkMast)) {
                                wrkMast.setUpdMk("Y");
                                wrkMastMapper.updateById(wrkMast);
                                // 生成工作档,将浅库位移转到新的库位中
                                moveLocForDeepLoc(slave, shallowLoc, mark);
                            }
                            News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                            continue;
                        } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
                            News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q、S  库位状态={}", shallowLoc.getLocSts());
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                            if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                                News.infoNoLog("" + mark + " - 2" + " - 11" + " - // F、D  工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
                                continue;
                            }
                        }
                    }

                    if (wrkMastMapper.selectByPltType(slave.getId(), wrkMast.getPltType()) == null) {
                        News.error("" + mark + " - 1" + " - 9" + " - 堆垛机改工位存在工作档,工位={}", wrkMast.getPltType());
                    }


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

                    News.warnNoLog("" + mark + " - 2" + " - 12" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
                            , sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue()
                            , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue());

                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setPltType(wrkMast.getPltType());
                    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.PUT); // 任务模式:  库位移转
//                    crnCommand.setSourcePosX((short) (sourceSta.getRow1() + slave.getOffset()));     // 源库位排
//                    crnCommand.setSourcePosY((short) (sourceSta.getBay1() + slave.getOffset()));     // 源库位列
//                    crnCommand.setSourcePosZ((short) (sourceSta.getLev1() + slave.getOffset()));     // 源库位层
                    crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                    crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 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(108L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.error("" + mark + " - 2" + " - 14" + " - 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());
                        }
                        break;
                    }
                }
            }
        }
        News.infoNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发 ： 出库执行完毕");
    }

    /**
@@ -1175,7 +1768,7 @@
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            for (WrkMast wrkMast : wrkMasts) {
                 if (wrkMast == null) {
                if (wrkMast == null) {
                    continue;
                }
                // 工作档状态判断
@@ -1198,14 +1791,18 @@
                } else {
                    staProtocol = staProtocol.clone();
                }
                StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() - 1);
                StaProtocol staProtocol1 = staProtocol.getSiteId() == 101 ? devpThread.getStation().get(crnStn.getStaNo() + 1) : devpThread.getStation().get(crnStn.getStaNo() - 1);
//                StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() - 1);
//                StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() + 1);
                if (staProtocol1 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
                    break;
                } else {
                    staProtocol1 = staProtocol1.clone();
                }
                StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() - 2);
                StaProtocol staProtocol2 = staProtocol.getSiteId() == 101 ? devpThread.getStation().get(crnStn.getStaNo() + 2) : devpThread.getStation().get(crnStn.getStaNo());
//                StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() - 2);
//                StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() + 2);
                if (staProtocol2 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
                    break;
@@ -1213,7 +1810,7 @@
                    staProtocol2 = staProtocol2.clone();
                }
                //出入口输送线只允许存在一个托盘
                if(staProtocol.isLoading() || staProtocol1.isLoading() || staProtocol2.isLoading() ) {
                if (staProtocol.isLoading() || staProtocol1.isLoading() || staProtocol2.isLoading() || staProtocol.getWorkNo() != 0 || staProtocol1.getWorkNo() != 0 || staProtocol2.getWorkNo() != 0) {
                    break;
                }

@@ -1502,6 +2099,7 @@

        // 命令下发区 --------------------------------------------------------------------------
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setPltType(getCrnStation(wrkMast.getSourceLocNo()));
        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
@@ -1544,7 +2142,10 @@
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

                if (crnProtocol.getTaskNo() == 9999) {
                    crnThread.setResetFlag(true);
                    continue;
                }
                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                if (wrkMast == null) {
@@ -1552,8 +2153,19 @@
                    continue;
                }
                // 入库 + 库位转移  ==> 4.入库完成
                if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                if (wrkMast.getWrkSts() == 3) {
                    wrkMast.setWrkSts(4L);
                    wrkMast.setPltType(0);
                } else if (wrkMast.getWrkSts() == 103) {
                    wrkMast.setWrkSts(104L);
                } else if (wrkMast.getWrkSts() == 105) {
                    wrkMast.setWrkSts(4L);
                    wrkMast.setPltType(0);
                } else if (wrkMast.getWrkSts() == 106) {
                    wrkMast.setWrkSts(107L);
                } else if (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11) {
                    wrkMast.setWrkSts(4L);
                    wrkMast.setPltType(0);
                } else {
                    continue;
                }
@@ -1771,7 +2383,7 @@
                                LedCommand ledCommand = new LedCommand();
                                ledCommand.setWorkNo(dto.getWorkNo());
                                ledCommand.setIoType(1);
                                ledCommand.setTitle("全板入库");
                                ledCommand.setTitle("空板入库");
                                ledCommand.setLocNo(dto.getLocNo());
                                ledCommand.setStaNo(dto.getStaNo());
                                commands.add(ledCommand);
@@ -1808,7 +2420,7 @@
                }
            }
        }
//        News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成");
        News.infoNoLog("" + mark + " - 0" + " - 空栈板初始化入库,叉车入库站放货执行完成");
    }

    /**
@@ -1890,13 +2502,13 @@
                            total = locDetl.getAnfme();
                        }
                        if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1 || wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(), total));
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(), wrkDetl.getOutOrderNo(), wrkDetl.getUnit(), wrkDetl.getWeight(), wrkDetl.getSupp(), wrkDetl.getLength(), wrkDetl.getTemp1(), wrkDetl.getProType(), wrkDetl.getAnfme(), wrkDetl.getTemp2(), total));
                        }
                        if (wrkMast.getIoType() == 103 ) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(), total));
                        if (wrkMast.getIoType() == 103) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(), wrkDetl.getOutOrderNo(), wrkDetl.getUnit(), wrkDetl.getWeight(), wrkDetl.getSupp(), wrkDetl.getLength(), wrkDetl.getTemp1(), wrkDetl.getProType(), wrkDetl.getAnfme(), wrkDetl.getTemp2(), total));
                        }
                        if (wrkMast.getIoType() == 107) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(), total));
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(), wrkDetl.getOutOrderNo(), wrkDetl.getUnit(), wrkDetl.getWeight(), wrkDetl.getSupp(), wrkDetl.getLength(), wrkDetl.getTemp1(), wrkDetl.getProType(), wrkDetl.getAnfme(), wrkDetl.getTemp2(), total));
                        }
                    });
                }
@@ -2060,7 +2672,14 @@
            LocMast loc = null;
            for (Integer row : rows) {
                if (Utils.isDeepLoc(slaveProperties, row)) {
                    loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
                    if (shallowLoc.getBay1() == 1) {
                        loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1(), 1);
                    } else if (shallowLoc.getRow1() == 29) {
                        loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1(), 29);
                    } else {
                        loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
                    }


                    if (loc != null) {
                        if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
@@ -2079,7 +2698,14 @@
            if (null == loc) {
                for (Integer row : rows) {
                    if (Utils.isShallowLoc(slaveProperties, row)) {
                        loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
                        if (shallowLoc.getBay1() == 1) {
                            loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1(), 1);
                        } else if (shallowLoc.getRow1() == 29) {
                            loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1(), 29);
                        } else {
                            loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
                        }


                        if (null != loc) {//对应深库位非在库状态,不能移库
                            String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
@@ -3211,11 +3837,7 @@
            }

            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {

                if ((crnProtocol.getCrnNo()==3 || crnProtocol.getCrnNo()==4) && crnProtocol.getBay()==0 && crnProtocol.getLevel() == 1) {
                    continue;
                }
                if ((crnProtocol.getCrnNo()==1 || crnProtocol.getCrnNo()==2) && crnProtocol.getBay()==1 && crnProtocol.getLevel() == 1) {
                if (crnProtocol.getCrnNo() == 1 && crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
                    continue;
                }
                Page<BasCrnOpt> basCrnOptPage = crnOptService.selectPage(new Page<>(1, 1), new EntityWrapper<BasCrnOpt>().eq("crn_no", crn.getId()).orderBy("send_time", false));
@@ -3241,31 +3863,18 @@
                News.info("堆垛机无任务自动回入库口待机==>>" + crnProtocol.getCrnNo() + "号堆垛机");
                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                if (crnProtocol.getCrnNo()==3 || crnProtocol.getCrnNo()==4){
                    crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                    crnCommand.setTaskNo((short) 9999); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  堆垛机移动
                    crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                    crnCommand.setSourcePosY((short) 0);     // 源库位列
                    crnCommand.setSourcePosZ((short) 1);     // 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
                    crnCommand.setCommand((short) 1);
                }else {
                    crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                    crnCommand.setTaskNo((short) 9999); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  堆垛机移动
                    crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                    crnCommand.setSourcePosY((short) 1);     // 源库位列
                    crnCommand.setSourcePosZ((short) 1);     // 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
                    crnCommand.setCommand((short) 1);
                }
                crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                crnCommand.setTaskNo((short) 9999); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
//                    crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  堆垛机移动
                crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);//余姚锐麒回原点任务模式:  站位转移
                crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                crnCommand.setSourcePosY((short) 1);     // 源库位列
                crnCommand.setSourcePosZ((short) 1);     // 源库位层
                crnCommand.setDestinationPosX((short) 0);     // 目标库位排
                crnCommand.setDestinationPosY((short) 14);     // 目标库位列
                crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
                crnCommand.setCommand((short) 1);//任务确认位
                if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
                    News.error("堆垛机移动命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
                }