#

TQS

2024-10-08 0fde674eccc26dd17601dac6e748aae8ab8f12dd

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

@@ -121,27 +121,45 @@
                        && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
                        && staProtocol.isPakMk()) {

                    //20230201. 2号堆垛机有出库任务时，禁止新板入库
                    if (staProtocol.getWorkNo() == 9995) {
                        if ( inSta.getStaNo()==103 && devpThread.ioModeOf1F == IoModeType.PAKOUT_MODE) {
                            //有出库任务，退库到入库口
                            staProtocol.setWorkNo((short) 9999);
                            staProtocol.setStaNo((short)100);
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            News.error("MainServiceImpl  generateStoreWrkFile"+"103为出库模式，禁止入库，退回入库口。！！！");
                            continue;
                        }
                        if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
                            //有出库任务，退库到入库口
                            staProtocol.setWorkNo((short) 9999);
                            staProtocol.setStaNo((short)200);
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            News.error("MainServiceImpl  generateStoreWrkFile"+"203为出库模式，禁止入库，退回入库口。！！！");
                            continue;
                        }
                    }
//                    //20230201. 2号堆垛机有出库任务时，禁止新板入库
//                    if (staProtocol.getWorkNo() == 9995) {
//                        if ( inSta.getStaNo()==103 && devpThread.ioModeOf1F == IoModeType.PAKOUT_MODE) {
//                            //有出库任务，退库到入库口
//                            staProtocol.setWorkNo((short) 9999);
//                            staProtocol.setStaNo((short)100);
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            News.error("MainServiceImpl  generateStoreWrkFile"+"103为出库模式，禁止入库，退回入库口。！！！");
//                            continue;
//                        }
//                        if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
//                            //有出库任务，退库到入库口
//                            staProtocol.setWorkNo((short) 9999);
//                            staProtocol.setStaNo((short)200);
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            News.error("MainServiceImpl  generateStoreWrkFile"+"203为出库模式，禁止入库，退回入库口。！！！");
//                            continue;
//                        }
//                        if ( inSta.getStaNo()==113 && devpThread.ioModeOf3F == IoModeType.PAKOUT_MODE) {
//                            //有出库任务，退库到入库口
//                            staProtocol.setWorkNo((short) 9999);
//                            staProtocol.setStaNo((short)114);
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            News.error("MainServiceImpl  generateStoreWrkFile"+"103为出库模式，禁止入库，退回入库口。！！！");
//                            continue;
//                        }
//                        if ( inSta.getStaNo()==213 && devpThread.ioModeOf4F == IoModeType.PAKOUT_MODE) {
//                            //有出库任务，退库到入库口
//                            staProtocol.setWorkNo((short) 9999);
//                            staProtocol.setStaNo((short)214);
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            News.error("MainServiceImpl  generateStoreWrkFile"+"203为出库模式，禁止入库，退回入库口。！！！");
//                            continue;
//                        }
//                    }

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

                            ledThread.errorReset();
@@ -222,14 +240,14 @@
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else if (code == 500){
                            if (ledThread != null) {
                                String errorMsg = jsonObject.getString("msg");
                                if (!Cools.isEmpty(errorMsg)) {
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                }
                            }
                            News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
//                        } else if (code == 500){
//                            if (ledThread != null) {
//                                String errorMsg = jsonObject.getString("msg");
//                                if (!Cools.isEmpty(errorMsg)) {
//                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
//                                }
//                            }
//                            News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        } else if (code == 700) {
                            staProtocol.setWorkNo((short) 9995);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
@@ -241,6 +259,43 @@
                                String errorMsg = barcode + "托盘识别异常，请先进行组托！";
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                            }
                        } else if (code == 1000){
                        } else if (code == 500){
                            if (inSta.getStaNo().equals(103)){
                                staProtocol.setWorkNo((short)9996);
                                staProtocol.setStaNo((short)203);
                            }
                            if (inSta.getStaNo().equals(203)){
                                staProtocol.setWorkNo((short)9996);
                                staProtocol.setStaNo((short)103);
                            }if (inSta.getStaNo().equals(113)){
                                staProtocol.setWorkNo((short)9995);
                                staProtocol.setStaNo((short)114);
                            }else if (inSta.getStaNo().equals(213)){
                                staProtocol.setWorkNo((short)9995);
                                staProtocol.setStaNo((short)214);
                            }else {
                                staProtocol.setWorkNo((short)9995);
                                staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            }
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            String data = jsonObject.getString("data");
                            String msg = jsonObject.getString("msg");
                            if (code == 500){
                                // led 异常显示
                                if (ledThread != null) {
                                    String errorMsg ="入库站：" + staProtocol.getStaNo() + "---" + barcode + "检索库位失败,请检查库存剩余。===>>" + data + "--" + msg;
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                }
                            } else if (code == 1000){
                                // led 异常显示
                                if (ledThread != null) {
                                    String errorMsg ="入库站：" + staProtocol.getStaNo() + "---" + barcode + "需要换入库站。";
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                }
                            }

                        }
                    } catch (Exception e) {
                        e.printStackTrace();
@@ -828,6 +883,67 @@
                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep16(staProtocol.getSiteId());
                    if (wrkMast == null) {
                        try{
                            if (crnSlave.getId()!=2){
                                // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
                                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                                if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
                                    // 移动中
                                    continue;
                                }
                                WrkMast onlyWrkNo = wrkMastMapper.selectByOnlyWrkNo(crnProtocol.getTaskNo().intValue());
                                if (Cools.isEmpty(onlyWrkNo) && (crnStn.getStaNo()  == 112 || crnStn.getStaNo() == 212)){
                                    //  判断堆垛机状态等待确认
                                    if (crnProtocol.modeType == CrnModeType.AUTO
                                            && crnProtocol.statusType == CrnStatusType.WAITING
                                            && crnProtocol.forkPosType == CrnForkPosType.HOME
                                            && crnProtocol.getBay().equals(crnStn.getBay().shortValue()) && crnProtocol.getLevel().equals(crnStn.getLev().shortValue())) {
                                        News.info("堆垛机接驳任务完成，工作号："+crnProtocol.getTaskNo()+"；执行堆垛机号："+crnSlave.getId()+"；接驳放货位："+crnStn.getStaNo()+"；接驳行走目标站："+Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()));
                                        // 下发站点信息
                                        News.error("new867===>"+crnProtocol.getTaskNo());
                                        News.error("new867===>"+Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()).toString());
                                        staProtocol.setWorkNo(crnProtocol.getTaskNo());
                                        staProtocol.setStaNo(Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()).shortValue());
                                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                            continue;
                                        }
                                        // 复位堆垛机
                                        crnThread.setResetFlag(true);
                                        continue;
                                    }
                                }
                                if (Cools.isEmpty(onlyWrkNo) ||
                                        ((onlyWrkNo.getStaNo()!=114 && onlyWrkNo.getStaNo()!=214 &&
                                                onlyWrkNo.getSourceStaNo()!=114 && onlyWrkNo.getSourceStaNo()!=214)
                                                &&
                                                (onlyWrkNo.getStaNo()!=113 && onlyWrkNo.getStaNo()!=213 &&
                                                        onlyWrkNo.getSourceStaNo()!=113 && onlyWrkNo.getSourceStaNo()!=213))
                                ){
                                    continue;
                                }
                                //  判断堆垛机状态等待确认
                                if (crnProtocol.modeType == CrnModeType.AUTO
                                        && crnProtocol.statusType == CrnStatusType.WAITING
                                        && crnProtocol.forkPosType == CrnForkPosType.HOME
                                        && crnProtocol.getBay().equals(crnStn.getBay().shortValue()) && crnProtocol.getLevel().equals(crnStn.getLev().shortValue())) {
                                    News.info("堆垛机接驳任务完成，工作号："+crnProtocol.getTaskNo()+"；执行堆垛机号："+crnSlave.getId()+"；接驳放货位："+crnStn.getStaNo()+"；接驳行走目标站："+Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()));
                                    // 下发站点信息
                                    News.error("new867===>"+crnProtocol.getTaskNo());
                                    News.error("new867===>"+Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()).toString());
                                    staProtocol.setWorkNo(crnProtocol.getTaskNo());
                                    staProtocol.setStaNo(Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()).shortValue());
                                    if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                        continue;
                                    }
                                    // 复位堆垛机
                                    crnThread.setResetFlag(true);
                                    continue;
                                }
                            }
                        } catch (Exception e){
                            News.info("堆垛机接驳任务完成，异常："+e.getMessage());
                        }
                        continue;
                    }
                    // 判断工作档条件
@@ -850,7 +966,9 @@

                        // 下发站点信息
                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                        News.error("new902===>"+crnProtocol.getCrnNo().toString());
                        News.error("new902===>"+wrkMast.getStaNoConvert(crnProtocol.getCrnNo()).toString());
                        staProtocol.setStaNo(wrkMast.getStaNoConvert(crnProtocol.getCrnNo()).shortValue());
                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                            continue;
                        }
@@ -953,15 +1071,91 @@

            // 获取工作状态为 2,3,4,5,6 的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            if(null == wrkMast) {
//                News.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
            if(null == wrkMast){
                try{
                    WrkMast onlyWrkNo = wrkMastMapper.selectByOnlyWrkNo(staProtocol.getWorkNo().intValue());
                    if (!Cools.isEmpty(onlyWrkNo) && onlyWrkNo.getCrnNo()==2 && onlyWrkNo.getWrkSts()==2 && crnProtocol.getCrnNo()!=2 && (onlyWrkNo.getIoType()==1 || onlyWrkNo.getIoType()==10)){
                        //                News.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                        // 已经存在吊车执行任务时，则过滤
                        if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                            continue;
                        }
                        if (Cools.isEmpty(staProtocol.getWorkNo()) || !staProtocol.isLoading()){
                            continue;
                        }
                        //  判断堆垛机状态等待确认
                        if (crnProtocol.modeType == CrnModeType.AUTO
                                && crnProtocol.statusType == CrnStatusType.IDLE
                                && crnProtocol.forkPosType == CrnForkPosType.HOME && crnStn.getBay()!=(short)4) {
                            News.info("堆垛机接驳任务执行，工作号："+staProtocol.getWorkNo()+"；执行堆垛机号："+slave.getId()+"；接驳取货位："+crnStn.getStaNo()+"；接驳放货位："+staProtocol.getSiteId());
                            // 堆垛机接驳任务命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                            crnCommand.setTaskNo(onlyWrkNo.getWrkNo().shortValue()); // 工作号
                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                            crnCommand.setCommand((short) 0);
                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                            crnCommand.setDestinationPosX(Utils.getRow(staProtocol.getSiteId()));     // 目标库位排
                            crnCommand.setDestinationPosY(Utils.getBay(staProtocol.getSiteId()));     // 目标库位列
                            crnCommand.setDestinationPosZ(Utils.getLev(staProtocol.getSiteId()));     // 目标库位层
                            if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                                News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", slave.getId(), JSON.toJSONString(crnCommand));
                            }
                            return true;
                        }
                    } else if (!Cools.isEmpty(onlyWrkNo) && onlyWrkNo.getCrnNo()==2 && onlyWrkNo.getWrkSts()>16 && crnProtocol.getCrnNo()!=2 && onlyWrkNo.getIoType()>100){
                        //                News.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                        // 已经存在吊车执行任务时，则过滤
                        if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                            continue;
                        }
                        if (Cools.isEmpty(staProtocol.getWorkNo()) || !staProtocol.isLoading()){
                            continue;
                        }
                        //  判断堆垛机状态等待确认
                        if (crnProtocol.modeType == CrnModeType.AUTO
                                && crnProtocol.statusType == CrnStatusType.IDLE
                                && crnProtocol.forkPosType == CrnForkPosType.HOME && crnStn.getBay()==(short)4) {
                            News.info("堆垛机接驳任务执行，工作号："+staProtocol.getWorkNo()+"；执行堆垛机号："+slave.getId()+"；接驳取货位："+crnStn.getStaNo()+"；接驳放货位："+staProtocol.getSiteId());
                            // 堆垛机接驳任务命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                            crnCommand.setTaskNo(onlyWrkNo.getWrkNo().shortValue()); // 工作号
                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                            crnCommand.setCommand((short) 0);
                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                            crnCommand.setDestinationPosX(Utils.getRow(staProtocol.getSiteId()));     // 目标库位排
                            crnCommand.setDestinationPosY(Utils.getBay(staProtocol.getSiteId()));     // 目标库位列
                            crnCommand.setDestinationPosZ(Utils.getLev(staProtocol.getSiteId()));     // 目标库位层
                            if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                                News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", slave.getId(), JSON.toJSONString(crnCommand));
                            }
                            return true;
                        }
                    }
                        continue;
                } catch (Exception e){
                    News.info("堆垛机接驳任务执行，异常："+e.getMessage());
                }
                continue;
            }

            // 入库深库位是否有非F、D、X库位进行校验
            // 入库深库位是否有非F、D、X库位进行校验 （ Q、P、R、S）
            if (wrkMastMapper.selectShallowLoc(Integer.parseInt(wrkMast.getLocNo().substring(0, 2)),Integer.parseInt(wrkMast.getLocNo().substring(2, 5)),Integer.parseInt(wrkMast.getLocNo().substring(5, 7)))!=null){
                continue;
                //检查入库库位是否是在堆垛机边库位
                ArrayList<Integer> outLoc = new ArrayList<>();
                outLoc.add(3);outLoc.add(4);outLoc.add(11);outLoc.add(12);outLoc.add(18);outLoc.add(19);
                if (!outLoc.contains(Integer.parseInt(wrkMast.getLocNo().substring(0, 2)))) {
                    continue;
                }
            }


            //加强判断，只要存在移库任务，说明出库任务未完全结束，不执行入库任务
            WrkMast one = wrkMastMapper.selectLocMoveData(slave.getId());
@@ -1032,7 +1226,8 @@
                }
            }
            if(flag){
                return false;
                continue;
//                return false;
            }

            // 判断是否已存在小车绑定任务
@@ -1167,6 +1362,7 @@
                        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                        SteProtocol steProtocol = steThread.getSteProtocol();
                        if (steProtocol == null) { continue; }
                        if (steProtocol.loca==0) continue;
                        if (steProtocol.isIdle()) {

                            // 已经存在吊车执行任务时，则过滤
@@ -1235,10 +1431,21 @@
    public synchronized boolean locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
        Collections.shuffle(slave.getCrnOutStn());
        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
            // 获取工作状态为11,12,13,14,15, 16（生成出库ID）的出库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakOutStep111215(slave.getId(), crnStn.getStaNo());
            if (wrkMast == null) {
                continue;
            }

            /*
             * 100、200存在进行中的盘点任务，则不执行盘点任务
             * */
            if (wrkMast.getIoType().equals(107)){
                Integer countPan = wrkMastMapper.selectWrkStsAndIoType107Count(wrkMast.getSourceStaNo(),wrkMast.getWrkNo());
                if (countPan > 0){
                    News.error("MainServiceImpl  locToCrnStn 1271行"+"盘点出库跳过，存在进行中可能堵塞任务数{}个",countPan);
                    continue;
                }
            }

            // 获取堆垛机出库站信息
@@ -1259,12 +1466,20 @@
                    News.error("MainServiceImpl  locToCrnStn"+"203非出库模式，禁止出库。任务号:{}！！！",wrkMast.getWrkNo());
                    return false;
                }
                if (wrkMast.getStaNo() == 113 && devpThread.ioModeOf3F != IoModeType.PAKOUT_MODE) {
                    News.error("MainServiceImpl  locToCrnStn"+"113非出库模式，禁止出库。任务号:{}！！！",wrkMast.getWrkNo());
                    return false;
                }
                if (wrkMast.getStaNo() == 213 && devpThread.ioModeOf4F != IoModeType.PAKOUT_MODE) {
                    News.error("MainServiceImpl  locToCrnStn"+"213非出库模式，禁止出库。任务号:{}！！！",wrkMast.getWrkNo());
                    return false;
                }

                if (wrkMast.getWrkSts() == 11 && (wrkMast.getIoType() == 103 || wrkMast.getIoType() == 107)){
                    Integer sour = wrkMast.getSourceStaNo();
                    List<WrkMast> wrkMasts = wrkMastMapper.selectWrkStsAndIoType0(sour);
                    if (wrkMasts.size() > 0){
                        News.error("MainServiceImpl  1028行"+"存在捡料、盘点未入库货物，2号堆垛机暂时禁止出库！！！");
                        News.error("MainServiceImpl  1300行"+"存在捡料、盘点未入库货物，2号堆垛机暂时禁止出库！！！");
                        return false;
                    }

@@ -1273,7 +1488,7 @@
                            .eq("sta_no",300)
                            .last(" and wrk_sts>11 and io_type in (103,107) "));
                    if(!Cools.isEmpty(one)){
                        News.error("MainServiceImpl  1099行"+"存在捡料、盘点未入库货物，2号堆垛机暂时禁止出库！！！");
                        News.error("MainServiceImpl  1309行"+"存在捡料、盘点未入库货物，2号堆垛机暂时禁止出库！！！");
                        continue;
                    }
                }
@@ -1347,13 +1562,11 @@
                                        }else {
                                            waitWrkMast.setIoPri(9999d);
                                        }
                                        if(wrkMast.getIoPri()>=9000.0){
                                            wrkMast.setIoPri(9999d);
                                        }else if (wrkMast.getIoPri()>20.0){
                                            wrkMast.setIoPri(wrkMast.getIoPri()-10.0);
                                        }else {
                                            wrkMast.setIoPri(13.0d);
                                        }
//                                        if (wrkMast.getIoPri()>23.0){
//                                            wrkMast.setIoPri(wrkMast.getIoPri()-10.0);
//                                        }else {
                                            wrkMast.setIoPri(15.0d);
//                                        }
                                        if (wrkMastMapper.updateById(wrkMast)==0){
                                            News.error("调整优先级失败");
                                        }
@@ -1494,6 +1707,7 @@
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
                            if (steProtocol.loca==0) continue;
                            if (steProtocol.isIdle()) {

                                //小车只能绑定一笔作业中任务
@@ -2515,6 +2729,8 @@
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (Cools.isEmpty(steProtocol.loca))  continue;
            if (steProtocol.loca==0) continue;
            if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
                return steProtocol.getSteNo().intValue();
            }
@@ -2531,6 +2747,8 @@
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (Cools.isEmpty(steProtocol.loca)) continue;
            if (steProtocol.loca==0) continue;
            if (steProtocol.isIdle()) {
                if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
                    return steProtocol.getSteNo().intValue();
@@ -2949,6 +3167,7 @@
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
//                            if (steProtocol.loca==0) continue;
                            if (steProtocol.isIdle()) {
                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
@@ -3041,6 +3260,7 @@
                        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                        SteProtocol steProtocol = steThread.getSteProtocol();
                        if (steProtocol == null) { continue; }
//                        if (steProtocol.loca==0) continue;
                        // 穿梭车重新定位排列层
                        if (!steThread.confirmPos()) {
                            News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
@@ -3113,6 +3333,7 @@
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
//                            if (steProtocol.loca==0) continue;
                            if (steProtocol.isIdle()) {
                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
@@ -3309,6 +3530,7 @@
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
                            if (steProtocol.loca==0) continue;
                            if (steProtocol.isIdle()) {
                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
@@ -3338,6 +3560,7 @@
                        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                        SteProtocol steProtocol = steThread.getSteProtocol();
                        if (steProtocol == null) { continue; }
                        if (steProtocol.loca==0) continue;
                        // 穿梭车重新定位排列层
                        if (!steThread.confirmPos()) {
                            News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
@@ -3379,6 +3602,8 @@
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (Cools.isEmpty(steProtocol.loca)) continue;
            if (steProtocol.loca==0) continue;
            if (steProtocol.getWaiting() && steProtocol.getTaskNo() == 0){
                News.info("ste[id={}] 收到等待WCS确认信号，但是任务号(地址V824)为0", steProtocol.getSteNo());
            }
@@ -3795,6 +4020,24 @@
                        News.error("MainServiceImpl  storeEmptyPlt"+"203为出库模式，禁止入库，退回入库口。！！！");
                        continue;
                    }
                    if ( emptyInSta.getStaNo()==113 && devpThread.ioModeOf3F == IoModeType.PAKOUT_MODE) {
                        //有出库任务，退库到入库口
                        staProtocol.setWorkNo((short) 9999);
                        staProtocol.setStaNo((short)100);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        News.error("MainServiceImpl  storeEmptyPlt"+"113为出库模式，禁止入库，退回入库口。！！！");
                        continue;
                    }
                    if ( emptyInSta.getStaNo()==213 && devpThread.ioModeOf4F == IoModeType.PAKOUT_MODE) {
                        //有出库任务，退库到入库口
                        staProtocol.setWorkNo((short) 9999);
                        staProtocol.setStaNo((short)200);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        News.error("MainServiceImpl  storeEmptyPlt"+"213为出库模式，禁止入库，退回入库口。！！！");
                        continue;
                    }
                }

                // 站点条件判断
@@ -3877,109 +4120,116 @@
     */
    public synchronized void ledExecute() {
        for (LedSlave led : slaveProperties.getLed()) {
            // 获取输送线plc线程
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
            // 命令集合
            List<LedCommand> commands = new ArrayList<>();
            // 工作档集合
            List<WrkMast> wrkMasts = new ArrayList<>();
            for (Integer staNo : led.getStaArr()) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                // 获取工作档数据
                WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
                if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
                wrkMasts.add(wrkMast);
                // 组装命令
                LedCommand ledCommand = new LedCommand();
                ledCommand.setWorkNo(wrkMast.getWrkNo());
                ledCommand.setIoType(wrkMast.getIoType());
                // 出库模式
                switch (wrkMast.getIoType()) {
                    case 101:
                        ledCommand.setTitle("全板出库");
                        break;
                    case 103:
                        ledCommand.setTitle("拣料出库");
                        break;
                    case 104:
                        ledCommand.setTitle("并板出库");
                        break;
                    case 107:
                        ledCommand.setTitle("盘点出库");
                        break;
                    case 110:
                        ledCommand.setTitle("空板出库");
                        ledCommand.setEmptyMk(true);
                        break;
                    default:
                        News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                        break;
                }
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
                ledCommand.setBarcode(wrkMast.getBarcode());
                if (wrkMast.getIoType() != 110) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
            try{
                // 获取输送线plc线程
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
                // 命令集合
                List<LedCommand> commands = new ArrayList<>();
                // 工作档集合
                List<WrkMast> wrkMasts = new ArrayList<>();
                for (Integer staNo : led.getStaArr()) {
                    // 获取叉车站点
                    StaProtocol staProtocol = devpThread.getStation().get(staNo);
                    if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    // 获取工作档数据
                    WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
                    if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
                    wrkMasts.add(wrkMast);
                    // 组装命令
                    LedCommand ledCommand = new LedCommand();
                    ledCommand.setWorkNo(wrkMast.getWrkNo());
                    ledCommand.setIoType(wrkMast.getIoType());
                    // 出库模式
                    switch (wrkMast.getIoType()) {
                        case 101:
                            ledCommand.setTitle("全板出库");
                            break;
                        case 103:
                            ledCommand.setTitle("拣料出库");
                            break;
                        case 104:
                            ledCommand.setTitle("并板出库");
                            break;
                        case 107:
                            ledCommand.setTitle("盘点出库");
                            break;
                        case 110:
                            ledCommand.setTitle("空板出库");
                            ledCommand.setEmptyMk(true);
                            break;
                        default:
                            News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                            break;
                    }
                    ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                    ledCommand.setStaNo(wrkMast.getStaNo());
                    ledCommand.setBarcode(wrkMast.getBarcode());
                    if (wrkMast.getIoType() != 110) {
                        List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());

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

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

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

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

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

        }
@@ -3990,26 +4240,32 @@
     */
    public synchronized 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; }
                if (staProtocol.getWorkNo() != 0) {
                    reset = false;
                    break;
            try{
                // 获取输送线plc线程
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
                // 命令集合
                boolean reset = true;
                for (Integer staNo : led.getStaArr()) {
                    // 获取叉车站点
                    StaProtocol staProtocol = devpThread.getStation().get(staNo);
                    if (staProtocol == null) { continue; }
                    if (staProtocol.getWorkNo() != 0) {
                        reset = false;
                        break;
                    }
                }
            }
            // 获取led线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
            // led显示默认内容
            if (reset) {
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
                    News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                // 获取led线程
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
                // led显示默认内容
                if (reset) {
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
                        News.error("{}号LED复位命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    } else {
//                        News.info("{}号LED复位命令下发成功！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    }
                }
            } catch (Exception e){
                News.error("LED异常"+led.getId());
            }
        }
    }
@@ -4375,6 +4631,75 @@
                    break;
            }
            LocMast loc = null;

            if(shallowLoc.getLocType2() == 3){ //低频混直接出库
                // 获取工作号
                int workNo = commonService.getWorkNo(0);
                Date now = new Date();
                // 保存工作档
                WrkMast wrkMast = new WrkMast();
                wrkMast.setWrkNo(workNo);
                wrkMast.setIoTime(now);
                wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
                wrkMast.setIoType(101); // 入出库状态： 101.全板出库
                wrkMast.setIoPri((double) 9999);
                wrkMast.setCrnNo(crn.getId());
                wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
                if (shallowLoc.getCrnNo()==1){
                    wrkMast.setStaNo(100);
                    wrkMast.setSourceStaNo(108);
                }else if (shallowLoc.getCrnNo()==2){
                    wrkMast.setStaNo(100);
                    wrkMast.setSourceStaNo(104);
                }else {
                    wrkMast.setStaNo(200);
                    wrkMast.setSourceStaNo(208);
                }


//                wrkMast.setLocNo(loc.getLocNo()); // 目标库位
                wrkMast.setFullPlt("Y"); // 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.setAppeTime(now);
                wrkMast.setModiTime(now);
                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.sync(locDetl);
                        wrkDetl.setWrkNo(workNo);
                        wrkDetl.setIoTime(new Date());
                        wrkDetl.setAnfme(locDetl.getAnfme());
                        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("R"); // R.出库预约
                    shallowLoc.setModiTime(now);
                    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");
                }

                return;
            }

            List<LocMast> locs = locMastService.selectList(new EntityWrapper<LocMast>().eq("crn_no",crn.getId())
                                                .eq("loc_type1",shallowLoc.getLocType1())
                                                .eq("loc_type2",shallowLoc.getLocType2())
@@ -4410,7 +4735,7 @@

            if (null == loc) {
                News.error("深库位出库 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
//                return;
                return;
//                throw new CoolException("深库位出库 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
            }

@@ -4492,10 +4817,10 @@
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

                for (DevpSlave.Sta inSta : devp.getInSta()) {
                    Integer sourceStaNo = inSta.getStaNo()==103 ? 104 : 204;
                    Integer sourceStaNo = inSta.getStaNo()==103 ? 104 : inSta.getStaNo()==113 ? 104 : 204;
                    WrkMast pakout = wrkMastMapper.selectWorkingPakout(sourceStaNo);
                    switch (inSta.getStaNo()) {
                        case 103://1F
                        case 103://1F1
                            if (pakout != null) {
                                if (devpThread.ioModeOf1F != IoModeType.PAKOUT_MODE) {
                                    // 出库切换中
@@ -4513,7 +4838,7 @@
                                devpThread.ioModeOf1F = IoModeType.PAKIN_MODE;
                            }
                            break;
                        case 203://2F
                        case 203://1F2
                            if (pakout != null) {
                                if (devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
                                    // 出库切换中
@@ -4531,6 +4856,42 @@
                                devpThread.ioModeOf2F = IoModeType.PAKIN_MODE;
                            }
                            break;
//                        case 113://2F1
//                            if (pakout != null) {
//                                if (devpThread.ioModeOf3F != IoModeType.PAKOUT_MODE) {
//                                    // 出库切换中
////                                    devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
////                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
////                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
////                                            && !devpThread.getStation().get(inSta.getStaNo()-1).isLoading()
////                                            && devpThread.getStation().get(inSta.getStaNo()-1).getWorkNo()==0) {
////                                        // 出库模式
//                                    devpThread.ioModeOf3F = IoModeType.PAKOUT_MODE;
////                                    }
//                                }
//                            } else {
//                                // 入库模式
//                                devpThread.ioModeOf3F = IoModeType.PAKIN_MODE;
//                            }
//                            break;
//                        case 213://2F2
//                            if (pakout != null) {
//                                if (devpThread.ioModeOf4F != IoModeType.PAKOUT_MODE) {
//                                    // 出库切换中
////                                    devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
////                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
////                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
////                                            && !devpThread.getStation().get(inSta.getStaNo()-1).isLoading()
////                                            && devpThread.getStation().get(inSta.getStaNo()-1).getWorkNo()==0) {
////                                        // 出库模式
//                                    devpThread.ioModeOf4F = IoModeType.PAKOUT_MODE;
////                                    }
//                                }
//                            } else {
//                                // 入库模式
//                                devpThread.ioModeOf4F = IoModeType.PAKIN_MODE;
//                            }
//                            break;
                    }
                }

@@ -4540,5 +4901,140 @@
            e.printStackTrace();
        }
    }
    public synchronized void ioConvert2F() {
        try {
            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
                if (devp.getId() == 1){
                    continue;
                }
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

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

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

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

                                }
                            }
                            break;
                        case 213://2F2
                            staNos = new int[]{212,213,214};
                            for (int staNo : staNos){
                                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                                if (Cools.isEmpty(staProtocol)) continue;
                                if (!staProtocol.isAutoing() || staProtocol.isLoading()){
                                    sign = false;
                                }
                            }
                            if (sign){
                                if (pakout != null) {
                                    if (devpThread.ioModeOf4F != IoModeType.PAKOUT_MODE) {
                                        // 出库切换中
//                                    devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
//                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
//                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
//                                            && !devpThread.getStation().get(inSta.getStaNo()-1).isLoading()
//                                            && devpThread.getStation().get(inSta.getStaNo()-1).getWorkNo()==0) {
//                                        // 出库模式
                                        devpThread.ioModeOf4F = IoModeType.PAKOUT_MODE;
//                                    }
                                    }
                                } else {
                                    // 入库模式
                                    devpThread.ioModeOf4F = IoModeType.PAKIN_MODE;
                                }
                            }
                            break;
                    }
                }

            }

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

    public synchronized void automaticallyTurnOffCharging() {
        // 获取当前时间戳
        long timestamp = System.currentTimeMillis();
        Date date = new Date(timestamp);
        TimeZone timeZone = TimeZone.getTimeZone("Asia/Shanghai");
        java.util.Calendar calendar = java.util.Calendar.getInstance(timeZone);
        calendar.setTime(date);
        int hour = calendar.get(java.util.Calendar.HOUR_OF_DAY);
        if (hour>8 && hour<18){
            for (SteSlave ste : slaveProperties.getSte()) {
                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
                SteProtocol steProtocol = steThread.getSteProtocol();
                BasSte basSte = basSteService.selectById(ste.getId());
                if (Cools.isEmpty(steProtocol, basSte)) { continue; }
                try{
                    // 在线 空闲   无作业标记   不在充电
                    if (steProtocol.getMode() == 0
                            || !steProtocol.statusType.equals(SteStatusType.IDLE)
                            || basSte.getPakMk().equals("Y")
                            || steProtocol.getChargeStatus() == 0
                    ) {
                        continue;
                    }
                    if (!steProtocol.isEnable()) {
                        continue;
                    }
                    if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())) {
                        WrkCharge wrkCharge = wrkChargeService.selectWorking(steProtocol.getSteNo().intValue());
                        if (wrkCharge == null) {
                            if (steProtocol.getChargeStatus() == 1){
                                SteCommand steCommand = new SteCommand();
                                steCommand.setSteNo(ste.getId()); // 穿梭车编号
                                steCommand.setTaskNo(9999); // 工作号
                                steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE);
                                if (!MessageQueue.offer(SlaveType.Ste, ste.getId(), new Task(2, steCommand))) {
                                    News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", ste.getId(), JSON.toJSON(steCommand));
                                }
                                try{
                                    Thread.sleep(500);
                                } catch (Exception e){

                                }
                            }
                        }
                    }
                }catch (Exception e){
                    News.error("自动关闭充电出错，联系管理员！"+hour+"点;"+ste.getId()+"号小车;");
                }
            }
        }
    }

}