#

luxiaotao1123

2021-01-16 29377e64aa049612af1ea511cbbc451e884952fc

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

@@ -5,14 +5,21 @@
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.WorkNoType;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.mapper.WaitPakinMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
import com.zy.common.utils.CollectionUtils;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
@@ -26,8 +33,6 @@
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.CrnThread;
import com.zy.core.thread.DevpThread;
import com.zy.core.thread.LedThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -35,8 +40,12 @@
import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.*;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Set;
import java.util.stream.Collectors;

/**
@@ -47,6 +56,9 @@
@Service("mainService")
@Transactional
public class MainServiceImpl {

    @Autowired
    private RowLastnoService rowLastnoService;

    @Autowired
    private CommonService commonService;
@@ -67,9 +79,16 @@
    @Autowired
    private BasDevpService basDevpService;
    @Autowired
    private LocDetlService locDetlService;
    @Autowired
    private BasErrLogService basErrLogService;
    @Autowired
    private BasCrnErrorMapper basCrnErrorMapper;
    @Autowired
    private JdbcTemplate jdbcTemplate;

    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
     */
    @Async
@@ -81,83 +100,96 @@
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                String barcode = barcodeThread.getBarcode();
                if(!Cools.isEmpty(barcode)) {
                    System.err.println(barcode);
                }
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
                        && staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {

                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    if (wrkMast != null) {
                        log.warn("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        log.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        continue;
                    }
                    // 获取入库通知档
                    List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
                    if (waitPakins.isEmpty()) {
                        log.warn("无此入库条码数据。条码号={}", barcode);
                        log.error("无此入库条码数据。条码号={}", barcode);
                        continue;
                    }
                    // 工作号
                    int workNo = commonService.getWorkNo(0);
                    // 检索库位
                    List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
                    StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos);
                    // 插入工作明细档
                    wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);

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

                    // 命令下发区 --------------------------------------------------------------------------
                        // 插入工作主档
                        wrkMast = new WrkMast();
                        wrkMast.setWrkNo(workNo);
                        wrkMast.setIoTime(new Date());
                        wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
                        wrkMast.setIoType(1); // 入出库状态：1.入库
                        wrkMast.setIoPri(10D); // 优先级：10
                        wrkMast.setCrnNo(startupDto.getCrnNo());
                        wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
                        wrkMast.setStaNo(startupDto.getStaNo());
                        wrkMast.setLocNo(startupDto.getLocNo());
                        wrkMast.setBarcode(barcode); // 托盘码
                        wrkMast.setFullPlt("Y"); // 满板：Y
                        wrkMast.setPicking("N"); // 拣料
                        wrkMast.setExitMk("N"); // 退出
                        wrkMast.setEmptyMk("N"); // 空板
                        wrkMast.setLinkMis("N");
                        // 操作人员数据
                        wrkMast.setAppeTime(new Date());
                        wrkMast.setModiTime(new Date());
                        Integer insert = wrkMastMapper.insert(wrkMast);
                        if (insert == 0) {
                            throw new CoolException("保存工作档失败");
                        }
                        // 更新目标库位状态
                        LocMast locMast = locMastService.selectById(startupDto.getLocNo());
                        locMast.setLocSts("S"); // S.入库预约
                        locMast.setModiTime(new Date());
                        if (!locMastService.updateById(locMast)){
                            throw new CoolException("改变库位状态失败");
                        }
                        // 将入库通知档修改为已启动
                        if (wrkMastMapper.updateWaitPakInStep1(barcode) == 0) {
                            throw new CoolException("修改入库通知档状态为已启动失败");
                        }

                    // 更新站点信息 且 下发plc命令
                    barcodeThread.setBarcode("");
                    staProtocol.setWorkNo((short) workNo);
                    staProtocol.setStaNo(startupDto.getStaNo().shortValue());
                    staProtocol.setPakMk(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");
                        // 命令下发区 --------------------------------------------------------------------------

                        // 更新站点信息 且 下发plc命令
                        barcodeThread.setBarcode("");
                        staProtocol.setWorkNo((short) workNo);
                        staProtocol.setStaNo(startupDto.getStaNo().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
                        }

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

                }
@@ -169,10 +201,11 @@
    }

    /**
     * wms入库
     * 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
     */
    @Async
    public void generateStoreWrkFile2() {
    public void generateStoreWrkFile0() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
@@ -180,34 +213,35 @@
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) { continue; }
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading()
                        && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
                        && staProtocol.isPakMk()) {
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
                    if (wrkMast == null) {
                        continue;
                    }

                    // 更新工作主档
                    wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
                    wrkMast.setModiTime(new Date());
                    Integer update = wrkMastMapper.updateById(wrkMast);
                    if (update == 0) {
                        throw new CoolException("更新工作档失败");
                    }
                    if (wrkMast == null) { continue; }

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

                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                    staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                    staProtocol.setPakMk(false);
                    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");
                    if (result) {
                        // 更新工作主档
                        wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
                        wrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
                        }
                    } else {
                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }

                }
@@ -229,7 +263,11 @@
                // 获取拣料入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
                if (staProtocol == null) { continue; }
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                    && staProtocol.getWorkNo() > 0 && staProtocol.isPakMk()){
                    WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo().intValue());
@@ -237,17 +275,9 @@
                        // 无拣料数据
                        continue;
                    }
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 1070)
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
                        || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
                        continue;
                    }
                    // 保存工作明细档历史档
                    if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
                        throw new CoolException("保存工作明细档历史档失败");
                    }
                    // 保存工作主档历史档
                    if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
                        throw new CoolException("保存工作主档历史档失败");
                    }
                    // 获取目标站
                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
@@ -256,36 +286,53 @@
                            .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                    StaDesc staDesc = staDescService.selectOne(wrapper);
                    if (Cools.isEmpty(staDesc)) {
                        throw new CoolException("入库路径不存在");
                        log.error("入库路径不存在");
                        continue;
                    }
                    // 堆垛机站点(目标站)
                    Integer staNo = staDesc.getCrnStn();
                    // 更新工作档数据状态
                    wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
                    wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                    wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
                    wrkMast.setStaNo(staNo); // 目标站
                    wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
                    wrkMast.setSourceLocNo(""); // 源库位清空
                    wrkMast.setModiTime(new Date());
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        throw new CoolException("更新工作档数据状态失败");
                    }
                    // 修改库位状态 Q.拣料/盘点/并板再入库
                    LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
                    locMast.setLocSts("Q");
                    locMast.setModiTime(new Date());
                    if (!locMastService.updateById(locMast)) {
                        throw new CoolException("修改库位状态失败");

                    try {
                        // 保存工作明细档历史档
                        if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
                            throw new CoolException("保存工作明细档历史档失败");
                        }
                        // 保存工作主档历史档
                        if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
                            throw new CoolException("保存工作主档历史档失败");
                        }

                        // 堆垛机站点(目标站)
                        Integer staNo = staDesc.getCrnStn();
                        // 更新工作档数据状态
                        wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
                        wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                        wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
                        wrkMast.setStaNo(staNo); // 目标站
                        wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
                        wrkMast.setSourceLocNo(""); // 源库位清空
                        wrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            throw new CoolException("更新工作档数据状态失败");
                        }
                        // 修改库位状态 Q.拣料/盘点/并板再入库
                        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
                        locMast.setLocSts("Q");
                        locMast.setModiTime(new Date());
                        if (!locMastService.updateById(locMast)) {
                            throw new CoolException("修改库位状态失败");
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        continue;
                    }

                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                    staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                    staProtocol.setPakMk(false);
                    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");
                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }

                }
@@ -306,7 +353,11 @@
                // 获取堆垛机出库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
                if (staProtocol == null) { continue; }
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
@@ -326,26 +377,26 @@
                    }
                    //  判断堆垛机状态等待确认
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
                            && crnProtocol.statusType == CrnStatusType.WAITING
                            && crnProtocol.getTaskFinish() == 1  // todo:luxiaotao 等待确认
                            && crnProtocol.forkPosType == CrnForkPosType.HOME) {

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

                        // 1.复位堆垛机
                        crnThread.setResetFlag(true);

                        // 2.下发站点信息
                        // 下发站点信息
                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                            throw new CoolException("更新plc站点信息失败");
                            continue;
                        }

                        // 更新工作档状态为14失败
                        wrkMast.setWrkSts(14L);
                        wrkMast.setCrnEndTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            throw new CoolException("更新工作档的工作状态为14失败，工作号"+wrkMast.getWrkNo());
                        if (wrkMastMapper.updateById(wrkMast) != 0) {
                            // 复位堆垛机
                            crnThread.setResetFlag(true);
                        } else {
                            log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                        }

                    }
@@ -371,7 +422,7 @@
                continue;
            }
            // 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) {
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                // 如果最近一次是入库模式
                if (crnProtocol.getLastIo().equals("I")) {
                    if (basCrnp.getInEnable().equals("Y")) {
@@ -401,21 +452,24 @@
    /**
     * 入库  ===>>  堆垛机站到库位
     */
    @Async
    public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
    public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
            boolean flag = false;
            // 获取堆垛机入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) { continue; }
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                log.error("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
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
                flag = true;
            }
@@ -474,8 +528,7 @@
    /**
     * 出库  ===>>  库位到堆垛机站
     */
    @Async
    public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
    public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
            // 获取工作状态为11（生成出库ID）的出库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId());
@@ -496,7 +549,11 @@
            // 获取堆垛机出库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) { continue; }
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
@@ -505,12 +562,46 @@
            }
            // 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.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;
                }

                // 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())) {
                    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")) {
                        WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                        if (null == waitWrkMast) {
                            log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                        } else {
                            waitWrkMast.setIoPri(15D);
                            waitWrkMast.setModiTime(new Date());
                            if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                            }
                        }
                        continue;
                    } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                        // 此标记避免多次执行移库任务
                        if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                            wrkMast.setUpdMk("Y");
                            wrkMastMapper.updateById(wrkMast);
                            // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
                            moveLocForDeepLoc(slave, shallowLoc);
                        }
                        continue;
                    }
                }

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

                // 1.堆垛机开始移动
@@ -544,8 +635,7 @@
    /**
     * 库位移转
     */
    @Async
    public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
    public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
        // 获取工作档信息
        WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
        if (null == wrkMast) {
@@ -575,6 +665,11 @@

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

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

@@ -616,7 +711,8 @@
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) { continue; }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
            if (crnProtocol.getTaskFinish() == 1    // todo:luxiaotao 等待确认
                    && crnProtocol.getTaskNo() != 0) {
                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                if (wrkMast == null) {
@@ -626,10 +722,6 @@
                // 入库 + 库位转移  ==> 4.入库完成
                if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)){
                    wrkMast.setWrkSts(4L);
                // 出库 + 拣料/盘点/并板出库中：12.吊车出库中 ==> 14.出库完成
                    // todo:luxiaotao
//                } else if (wrkMast.getWrkSts() == 12) {
//                    wrkMast.setWrkSts(14L);
                } else  {
                    continue;
                }
@@ -642,11 +734,6 @@
                    crnThread.setResetFlag(true);
                }

                // 完成通知档
//                if (wrkMastMapper.updateWaitPakInStep2(wrkMast.getBarcode()) == 0) {
//                    log.error("入库通知档修改结束状态失败，workNo=[{}]", wrkMast.getWrkNo());
//                }

            }
        }
    }
@@ -654,8 +741,120 @@
    /**
     * 堆垛机异常信息记录
     */
    @Async
    public void recCrnErr(){
        Date now = new Date();
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }
            if (true) {
//            if (crnProtocol.getModeType() != CrnModeType.STOP) {
                // 有任务
                if (crnProtocol.getTaskNo() != 0) {
                    BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
                    // 有异常
                    if (latest == null) {
                        if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
                            WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
                            if (wrkMast == null) {
                                continue;
                            }
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
                            String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    wrkMast.getWrkNo(),    // 工作号
                                    now,    // 发生时间
                                    null,    // 结束时间
                                    wrkMast.getWrkSts(),    // 工作状态
                                    wrkMast.getIoType(),    // 入出库类型
                                    crn.getId(),    // 堆垛机
                                    null,    // plc
                                    wrkMast.getLocNo(),    // 目标库位
                                    wrkMast.getStaNo(),    // 目标站
                                    wrkMast.getSourceStaNo(),    // 源站
                                    wrkMast.getSourceLocNo(),    // 源库位
                                    wrkMast.getBarcode(),    // 条码
                                    crnProtocol.getAlarm1(),    // 异常码
                                    errName,    // 异常
                                    1,    // 异常情况
                                    now,    // 添加时间
                                    null,    // 添加人员
                                    now,    // 修改时间
                                    null,    // 修改人员
                                    "任务中异常"    // 备注
                            );
                            if (!basErrLogService.insert(basErrLog)) {
                                log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                            }
                        }
                    } else {
                        // 异常修复
                        if (crnProtocol.getAlarm1() == null || crnProtocol.getAlarm1() == 0) {
                            latest.setEndTime(now);
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
                            if (!basErrLogService.updateById(latest)) {
                                log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                            }
                        }
                    }
                // 无任务
                } else {
                    BasErrLog latest = basErrLogService.findLatest(crn.getId());
                    // 有异常
                    if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
                        // 记录新异常
                        if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm1().intValue())) {
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
                            String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    null,    // 工作号
                                    now,    // 发生时间
                                    null,    // 结束时间
                                    null,    // 工作状态
                                    null,    // 入出库类型
                                    crn.getId(),    // 堆垛机
                                    null,    // plc
                                    null,    // 目标库位
                                    null,    // 目标站
                                    null,    // 源站
                                    null,    // 源库位
                                    null,    // 条码
                                    crnProtocol.getAlarm1(),    // 异常码
                                    errName,    // 异常
                                    1,    // 异常情况
                                    now,    // 添加时间
                                    null,    // 添加人员
                                    now,    // 修改时间
                                    null,    // 修改人员
                                    "无任务异常"    // 备注
                            );
                            if (!basErrLogService.insert(basErrLog)) {
                                log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                            }
                        }
                    // 无异常
                    } else {
                        // 异常修复
                        if (latest != null && latest.getStatus() == 1) {
                            latest.setEndTime(now);
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
                            if (!basErrLogService.updateById(latest)) {
                                log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                            }
                        }
                    }
                }
            }

        }
    }


@@ -672,57 +871,66 @@
                // 获取空板入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
                if (staProtocol == null) { continue; }
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk()) {
                    // 工作号
                    int workNo = commonService.getWorkNo(0);
                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999) && staProtocol.isPakMk()) {
                    // 检索库位
                    StartupDto startupDto = commonService.getLocNo(1, 10, emptyInSta.getStaNo(), null);
                    LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
                    StartupDto startupDto = commonService.getLocNo(1, 10, emptyInSta.getStaNo(), null, locTypeDto, 0);
                    // 工作号
                    int workNo = startupDto.getWorkNo();

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

                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo((short) workNo);
                    staProtocol.setStaNo(startupDto.getStaNo().shortValue());
                    staProtocol.setPakMk(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");
                        // 更新站点信息 且 下发plc命令
                        staProtocol.setWorkNo((short) workNo);
                        staProtocol.setStaNo(startupDto.getStaNo().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }


                }

@@ -746,20 +954,47 @@
            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()) { continue; }
                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 (wrkMast.getWrkSts() == 14L || wrkMast.getWrkSts() == 15L) {
                    wrkMasts.add(wrkMast);
                    // 添加命令
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                    LedCommand ledCommand = new LedCommand();
                    ledCommand.setWorkNo(wrkMast.getWrkNo());
                    ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                    ledCommand.setStaNo(wrkMast.getStaNo());
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMatnr(), wrkDetl.getAnfme())));
                    commands.add(ledCommand);
                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());
                // 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:
                        log.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());
                if (wrkMast.getIoType() != 110) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())));
                }
                commands.add(ledCommand);
            }
            Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
            // 获取LED线程
@@ -771,23 +1006,317 @@
            // 命令下发 -------------------------------------------------------------------------------
            if (!commands.isEmpty()) {
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
                    log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    continue;
                }
            }

            // 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");
            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");
                    }
                }
            }

            // 更新线程当前工作号集合
            ledThread.setWorkNos(workNos);
                // 更新线程当前工作号集合
                ledThread.setWorkNos(workNos);

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

        }
    }

    /**
     * 其他  ===>> LED显示器复位，显示默认信息
     */
    @Async
    public void ledReset() {
        for (LedSlave led : slaveProperties.getLed()) {
            // 获取输送线plc线程
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
            // 命令集合
            boolean reset = true;
            for (Integer staNo : led.getStaArr()) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.getWorkNo() != 0) {
                    reset = false;
                    break;
                }
            }
            // 获取led线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
            // led显示默认内容
            if (!ledThread.isResetStatus() && reset) {
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
                    log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                }
            }
        }
    }

    /**
     * 因双深库位阻塞，对浅库位进行移转（立即执行版)
     * tip：同步
     */
    private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){
        List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
        LocMast loc = null;
        for (Integer row : rows) {
            if (Utils.isDeepLoc(slaveProperties, row)) {
                loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
                if (null != loc) { break; }
            }
        }
        if (null == loc) {
            for (Integer row : rows) {
                if (Utils.isShallowLoc(slaveProperties, row)) {
                    loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
                    if (null != loc) { break; }
                }
            }
        }
        if (null == loc) {
            throw new CoolException("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
        }

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

    }

    /**
     * 堆垛机演示  ===>> 库位移转
     */
    @Async
    public void crnDemoOfLocMove(Integer crn){
        for (int i = 0; i < 5; i++) {

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

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

    /**
     * 堆垛机演示  ===>> 库位移转
     */
    public synchronized void crnDemoOfLocMove1(){
        for (CrnSlave crn : slaveProperties.getCrn()) {
            if (!crn.getDemo()) { continue; }   // 必须为演示状态

            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) { continue; }

            // 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) {
                // 获取移库工作档信息
                WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
                if (null != wrkMast) { continue; }

                LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
                LocMast loc = locMastService.queryDemoLoc(crn.getId());
                if (null == sourceLoc || null == loc) { continue; }

                String sourceLocNo = sourceLoc.getLocNo();
                String locNo = loc.getLocNo();

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

            }

        }
    }


}