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2025-05-14 29bb1c46cbca730c552f02b3fbe46ea53560f95f

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

@@ -113,6 +113,72 @@
    private CrnController crnController;
    @Autowired
    private SiteController siteController;
    @Autowired
    private TaskWrkLogService taskWrkLogService;

    /**
     * 堆垛机演示  ===>> 库位移转
     */
    public synchronized void crnDemoOfLocMove1() {
        try {
            List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>());
            for (BasCrnp crn : basCrnps) {
                if (!crn.getEmpIn().equals("1")) {
                    continue;
                }   // 必须为演示状态


                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getCrnNo());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    continue;
                }
                TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("crn_no", crn.getCrnNo()).eq("io_type", 3));
                if (taskWrk1 != 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

                    LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getCrnNo());

                    LocMast loc = locMastService.queryDemoLoc(crn.getCrnNo(), sourceLoc.getLocType1());
                    if (null == sourceLoc || null == loc) {
                        continue;
                    }
                    String sourceLocNo = sourceLoc.getLocNo();
                    String locNo = loc.getLocNo();
                    // 获取工作号
                    int workNo = commonService.getWorkNo(0);
                    // 保存工作档
                    TaskWrk taskWrk = new TaskWrk();
                    taskWrk.setWrkNo(workNo);
                    taskWrk.setTaskNo(workNo + "");//任务号
                    taskWrk.setWrkSts(11); // 工作状态：11.生成出库ID
                    taskWrk.setIoType(3); // 入出库状态： 3.库格移载
                    taskWrk.setIoPri(13);
                    taskWrk.setCrnNo(crn.getCrnNo());
                    taskWrk.setStartPoint(sourceLocNo);//起点
                    taskWrk.setTargetPoint(locNo);
                    taskWrk.setBarcode(sourceLoc.getBarcode()); // 托盘码
                    taskWrk.setModiTime(new Date());
                    int res = taskWrkMapper.insert(taskWrk);
                    if (res == 0) {
                        throw new CoolException("保存工作档失败");
                    } else {
                        loc.setCtnKind(1);
                        locMastService.updateById(loc);
                    }
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }


    @Synchronized
    public void shiftTargetToCyclePoint() throws IOException, InterruptedException {
        try {
@@ -164,10 +230,12 @@
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol5));
                            }
                        } else {
                            short workNo = staProtocol.getWorkNo();
                            staProtocol.setWorkNo(workNo);
                            staProtocol.setStaNo((short) 112);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
                            if (staProtocol.isLoading() && (staProtocol.getStaNo() == 105 || staProtocol.getStaNo() == 110 || staProtocol.getStaNo() == 111)) {
                                short workNo = staProtocol.getWorkNo();
                                staProtocol.setWorkNo(workNo);
                                staProtocol.setStaNo((short) 112);
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
                            }
                        }
                    }
                }
@@ -195,21 +263,7 @@
                }

                StaProtocol staProtocol = devpThread.getStation().get(112);
                StaProtocol staProtocol2 = devpThread.getStation().get(116);
//                StaProtocol staProtocol3 = devpThread.getStation().get(117);
//                if(Objects.equals(staProtocol3.getWorkNo(), staProtocol.getWorkNo()) && staProtocol.getWorkNo() != 0){
//                    staProtocol.setWorkNo((short) 0);
//                    staProtocol.setStaNo((short) 0);
//                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                    Thread.sleep(100); // 让 PLC 识别变化
//                }
                if (staProtocol == null || staProtocol.getWorkNo() == 0 || !staProtocol.isLoading() ) {
                    continue;
                }
                if(staProtocol.getStaNo() != 112){
                    continue;
                }
                if(staProtocol.getWorkNo() == staProtocol2.getWorkNo()) {
                if (staProtocol.getStaNo() != 112 || staProtocol.getWorkNo() == 0 || !staProtocol.isLoading() || staProtocol.getWorkNo() > 9000 || staProtocol.getWorkNo() < 6000) {
                    continue;
                }
                // 查询任务信息
@@ -218,14 +272,7 @@
                    continue;
                }

//                 先清零
                short workNo = staProtocol.getWorkNo();
                short oldStaNo = staProtocol.getStaNo();
//                staProtocol.setWorkNo((short) 0);
//                staProtocol.setStaNo((short) 0);
//                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                Thread.sleep(100); // 让 PLC 识别变化

                // 再写入目标站点
                staProtocol.setWorkNo(workNo);
                staProtocol.setStaNo(Short.valueOf(taskWrk.getTargetPoint()));
@@ -238,9 +285,6 @@
            log.error("shiftCyclePointToTarget error", e);
        }
    }





    public synchronized void generateStoreWrkFile1() throws IOException, InterruptedException {
@@ -295,7 +339,7 @@
                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && !staProtocol.isEmptyMk() && workNo >= 9790
                            && workNo >= 9990
                            && staProtocol.isPakMk()) {
                        // 获取条码扫描仪信息
                        BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
@@ -320,8 +364,13 @@
                            storageEscalationParam.setWCSStatus(1);
                            storageEscalationParam.setWCSErrorMessage(storageEscalationParam.getWCSErrorMessage() + errMsg);
                        }
                        log.info("组托入库={}", storageEscalationParam);
                        storageEscalationParam.setBoxNo(BoxNo);
                        //是否满板 1满板  0空板
                        storageEscalationParam.setStaType(staProtocol.isEmptyMk() ? 0 : 1);
                        //库位类型 1高库位 0低库位
                        storageEscalationParam.setLocType(staProtocol.isHigh() ? 1 : 0);
                        storageEscalationParam.setTerminalNo(staProtocol.getSiteId());
                        log.info("组托入库={}", storageEscalationParam);
                        String response = "";
                        Boolean success = false;
                        try {
@@ -332,25 +381,18 @@
                                    .build()
                                    .doPost();
                            JSONObject jsonObject = JSON.parseObject(response);
                            if(back){
                                if(staProtocol.getWorkNo()>=9801&&staProtocol.getWorkNo()<=9825){
                                    staProtocol.setStaNo((short)105);
                                } else if (staProtocol.getWorkNo()>=9826&&staProtocol.getWorkNo()<=9850) {
                                    staProtocol.setStaNo((short)107);
                                }else if (staProtocol.getWorkNo()>=9851&&staProtocol.getWorkNo()<=9875) {
                                    staProtocol.setStaNo((short)109);
                                }else{
                                    staProtocol.setStaNo((short)110);
                                }
                            if (back) {
                                staProtocol.setWorkNo((short) 9991);
                                staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            }else{
                                if (!Cools.isEmpty(response)&&!Cools.isEmpty(jsonObject.get("ReturnStatus"))&&jsonObject.get("ReturnStatus").equals(0) && !Cools.isEmpty(jsonObject.get("Result").toString())) {
                            } else {
                                if (!Cools.isEmpty(response) && !Cools.isEmpty(jsonObject.get("ReturnStatus")) && jsonObject.get("ReturnStatus").equals(0) && !Cools.isEmpty(jsonObject.get("Result").toString())) {
                                    Result result = JSON.parseObject(jsonObject.get("Result").toString(), Result.class);
                                    // 创新一个入库工作档
                                    TaskWrk taskWrk = taskWrkService.selectByTaskNo(result.getTaskNo());
                                    if (Cools.isEmpty(taskWrk)) {
                                        taskWrk = createTask1(result, BoxNo);
                                        taskWrk = createTask1(result, BoxNo,staProtocol.getSiteId());
                                        if (Cools.isEmpty(taskWrk)) {
                                            log.error("库位异常，库位号：={}", taskWrk.getOriginTargetPoint());
                                        } else {
@@ -361,7 +403,7 @@
                                            staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                            HashMap<String, Object> hashMap = new HashMap<>();
                                            hashMap.put("TaskNo",taskWrk.getTaskNo());
                                            hashMap.put("TaskNo", taskWrk.getTaskNo());
                                            try {
                                                //开始上报,任务开始时，WCS回调WMS
                                                response = new HttpHandler.Builder()
@@ -372,7 +414,7 @@
                                                        .doPost();
                                                JSONObject jsonObject1 = JSON.parseObject(response);
                                                Boolean bool = false;
                                                if(jsonObject1.get("ReturnStatus").equals(0)){
                                                if (jsonObject1.get("ReturnStatus").equals(0)) {
                                                    taskWrk.setStatus(2);//派发任务
                                                    bool = true;
                                                    taskWrkService.updateById(taskWrk);
@@ -390,27 +432,166 @@
                                            }
                                        }
                                    } else {
//                                    staProtocol.setWorkNo((short) 9991);
                                        if(staProtocol.getWorkNo()>=9801&&staProtocol.getWorkNo()<=9825){
                                            staProtocol.setStaNo((short)105);
                                        } else if (staProtocol.getWorkNo()>=9826&&staProtocol.getWorkNo()<=9850) {
                                            staProtocol.setStaNo((short)107);
                                        }else if (staProtocol.getWorkNo()>=9851&&staProtocol.getWorkNo()<=9875) {
                                            staProtocol.setStaNo((short)109);
                                        }else{
                                            staProtocol.setStaNo((short)110);
                                        }
                                        staProtocol.setWorkNo((short) 9991);
                                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    }

                                } else {
//                                staProtocol.setWorkNo((short) 9991);
                                    staProtocol.setWorkNo((short) 9991);
                                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                }
                            }
                        } catch (Exception e) {
                            log.error("请求入库调用接口失败");
                            log.error("异常信息打印：" + e);
                            try {
                                BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
                                if (Cools.isEmpty(basDevp)) {
                                    log.error("站点号异常" + inSta.getStaNo());
                                } else if (basDevp.getStaErr() != 0) {
                                    basDevp.setStaErr(2);
                                    basDevpService.updateById(basDevp);
                                }
                            } catch (Exception e1) {
                                // 退回
                                log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1);
                            }
                        } finally {
                            apiLogService.save("wms请求入库货位接口"
                                    , wmsUrl + inboundTaskApplyPath
                                    , null
                                    , "127.0.0.1"
                                    , JSON.toJSONString(storageEscalationParam)
                                    , response
                                    , success
                            );
                        }
                        log.info("入库请求参数=" + JSON.toJSONString(BoxNo));
                        log.info("入库请求返回参数=" + JSON.toJSONString(response));
                    }
                }
            }
        } catch (Exception e) {
            log.error("generateStoreWrkFile e", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }

    //拣料回库
    public synchronized void PickingAndReturningToTheWarehouse() throws IOException, InterruptedException {
        try {
            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历入库口
                for (DevpSlave.Sta inSta : devp.getPickSta()) {
                    StorageEscalationParam storageEscalationParam = new StorageEscalationParam();
                    // 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();
                    }
                    Short workNo = staProtocol.getWorkNo();
                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && staProtocol.isPakMk()) {
                        // 获取条码扫描仪信息
                        String BoxNo = "";
                        if(!staProtocol.isEmptyMk()&&staProtocol.getWorkNo()<9990){
                            TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("task_no", workNo));

                            if (!Cools.isEmpty(taskWrk1)) {
                                BoxNo = taskWrk1.getBarcode();
                            } else {
                                TaskWrkLog taskWrkLog = taskWrkLogService.selectOne(new EntityWrapper<TaskWrkLog>().eq("task_no", workNo).orderBy("modi_time", false));
                                if (taskWrkLog != null) {
                                    BoxNo = taskWrkLog.getBarcode();
                                }
                            }
                        }
                        log.info("组托入库={}", storageEscalationParam);
                        storageEscalationParam.setBoxNo(BoxNo);
                        //是否满板 1满板  0空板
                        storageEscalationParam.setStaType(staProtocol.isEmptyMk() ? 0 : 1);
                        //库位类型 1高库位 0低库位
                        storageEscalationParam.setLocType(staProtocol.isHigh() ? 1 : 0);
                        storageEscalationParam.setTerminalNo(staProtocol.getSiteId());
                        String response = "";
                        Boolean success = false;
                        try {
                            response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath(inboundTaskApplyPath)
                                    .setJson(JSON.toJSONString(storageEscalationParam))
                                    .build()
                                    .doPost();
                            JSONObject jsonObject = JSON.parseObject(response);

                            if (!Cools.isEmpty(response) && !Cools.isEmpty(jsonObject.get("ReturnStatus")) && jsonObject.get("ReturnStatus").equals(0) && !Cools.isEmpty(jsonObject.get("Result").toString())) {
                                Result result = JSON.parseObject(jsonObject.get("Result").toString(), Result.class);
                                // 创新一个入库工作档
                                TaskWrk taskWrk = taskWrkService.selectByTaskNo(result.getTaskNo());
                                if (Cools.isEmpty(taskWrk)) {
                                    taskWrk = createTask1(result, BoxNo,staProtocol.getSiteId());
                                    if (Cools.isEmpty(taskWrk)) {
                                        log.error("库位异常，库位号：={}", taskWrk.getOriginTargetPoint());
                                    } else {
                                        taskWrkService.insert(taskWrk);
                                        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                                .eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
                                        staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                                        staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                        HashMap<String, Object> hashMap = new HashMap<>();
                                        hashMap.put("TaskNo", taskWrk.getTaskNo());
                                        try {
                                            //开始上报,任务开始时，WCS回调WMS
                                            response = new HttpHandler.Builder()
                                                    .setUri(wmsUrl)
                                                    .setPath(taskStatusFeedbackPath)
                                                    .setJson(JSON.toJSONString(hashMap))
                                                    .build()
                                                    .doPost();
                                            JSONObject jsonObject1 = JSON.parseObject(response);
                                            Boolean bool = false;
                                            if (jsonObject1.get("ReturnStatus").equals(0)) {
                                                taskWrk.setStatus(2);//派发任务
                                                bool = true;
                                                taskWrkService.updateById(taskWrk);
                                            }
                                            apiLogService.save("wcs开始入库任务上报wms"
                                                    , wmsUrl + TaskExecCallback
                                                    , null
                                                    , "127.0.0.1"
                                                    , JSON.toJSONString(hashMap)
                                                    , response
                                                    , bool
                                            );
                                        } catch (Exception e) {

                                        }
                                    }
                                } else {
                                    staProtocol.setWorkNo((short) 9991);
                                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                }

                            } else {
                                staProtocol.setWorkNo((short) 9991);
                                staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            }

                        } catch (Exception e) {
                            log.error("请求入库调用接口失败");
                            log.error("异常信息打印：" + e);
@@ -895,7 +1076,7 @@
                crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位层
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand.setCommand((short) 1);
                log.info("堆垛机入库任务下发={}",crnCommand);
                log.info("堆垛机入库任务下发={}", crnCommand);
                if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) {
                    log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                    throw new CoolException("堆垛机命令生成失败");
@@ -915,7 +1096,7 @@
     * 出库  ===>>  库位到堆垛机站
     * 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
     */
    public synchronized void  locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
    public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
        List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null);
        if (taskWrksInitial.size() == 0) {
            return;
@@ -935,24 +1116,15 @@
                        continue;
                    }

                    LocMast locMast=locMastService.selectByLocNo(taskWrk.getStartPoint());
                    LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
                    //判断其库位是否为深库位，如果为深库位找其浅库位是都有货
                    if(locMast.getRow1()==1||locMast.getRow1()==5){
                        LocMast locMast1=locMastService.selectOne(new EntityWrapper<LocMast>()
                                .eq("row1", (locMast.getRow1()+1))
                                .eq("bay1",locMast.getBay1())
                                .eq("lev1",locMast.getLev1()).eq("loc_sts","F"));
                        if (!Cools.isEmpty(locMast1)){
                            log.info(locMast.getLocNo()+"出深库位，浅库位有货");
                            continue;
                        }
                    }else if(locMast.getRow1()==4||locMast.getRow1()==8){
                        LocMast locMast1=locMastService.selectOne(new EntityWrapper<LocMast>()
                                .eq("row1", (locMast.getRow1()-1))
                                .eq("bay1",locMast.getBay1())
                                .eq("lev1",locMast.getLev1()).eq("loc_sts","F"));
                        if (!Cools.isEmpty(locMast1)){
                            log.info(locMast.getLocNo()+"出深库位，浅库位有货");
                    if (locMast.getRow1() == 8 || locMast.getRow1() == 5) {
                        LocMast locMast1 = locMastService.selectOne(new EntityWrapper<LocMast>()
                                .eq("row1", (locMast.getRow1() + 1))
                                .eq("bay1", locMast.getBay1())
                                .eq("lev1", locMast.getLev1()).eq("loc_sts", "F"));
                        if (!Cools.isEmpty(locMast1)) {
                            log.info(locMast.getLocNo() + "出深库位，浅库位有货");
                            continue;
                        }
                    }
@@ -982,11 +1154,11 @@
                        if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                            break;
                        }
                        int storeCount = basDevpService.getStoreCount();
                        if(storeCount >= maxCount){
                            log.error("输送线暂存数达到上限");
                            break;
                        }
//                        int storeCount = basDevpService.getStoreCount();
//                        if (storeCount >= maxCount) {
//                            log.error("输送线暂存数达到上限{}", storeCount);
//                            break;
//                        }


                        // 已经存在吊车执行任务时，则过滤
@@ -1123,7 +1295,7 @@
                        log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
                    }
                    String response = "";
                    Boolean bool=false;
                    Boolean bool = false;
                    HashMap<String, Object> headParam = new HashMap<>();
                    headParam.put("TaskNo", taskWrk.getTaskNo());
                    try {
@@ -1135,7 +1307,7 @@
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if(jsonObject.get("ReturnStatus").equals(0)){
                        if (jsonObject.get("ReturnStatus").equals(0)) {
                            bool = true;
                            taskWrk.setStatus(2);
                            taskWrkMapper.updateById(taskWrk);
@@ -1144,7 +1316,7 @@
                    } catch (Exception e) {
                        log.error("wcs派发移库库任务上报wms失败", taskWrk);
//                        throw new CoolException("wcs派发移库库任务上报wms失败");
                    }finally {
                    } finally {
                        apiLogService.save("wcs派发移库任务上报wms"
                                , wmsUrl + taskStatusFeedbackPath
                                , null
@@ -1235,7 +1407,7 @@
                crnOperatorParam.setCrnNo(crn.getId());
                R r = crnController.crnTaskComplete(crnOperatorParam);
                Thread.sleep(1000);
                if(!r.get("code").equals(200)){
                if (!r.get("code").equals(200)) {
                    return;
                }
                if (!Cools.isEmpty(taskWrk)) {
@@ -1596,9 +1768,8 @@
        return response;
    }

    private TaskWrk createTask1(Result result, String barcode) {
    private TaskWrk createTask1(Result result, String barcode,Integer staNo) {
        String locNo = Utils.Fusion(result.getRow(), result.getFloor(), result.getColumn());


        Date now = new Date();
        TaskWrk taskWrk = new TaskWrk();
@@ -1607,18 +1778,13 @@
        taskWrk.setWrkNo(workNo1);
        taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收
        taskWrk.setCreateTime(now);
        taskWrk.setIoType(1);//任务类型
        taskWrk.setIoType(1);//任务类型 入库
        taskWrk.setIoPri(13);//优先级
        taskWrk.setBarcode(barcode);//条码
        LocMast locMast = locMastService.selectByLocNo(locNo);
        taskWrk.setCrnNo(locMast.getCrnNo());
        taskWrk.setTargetPoint(locNo);
        taskWrk.setStartPoint("116");
        if (result.getAlley().equals("1")) {
            taskWrk.setCrnNo(1);
        } else {
            taskWrk.setCrnNo(2);
        }
        taskWrk.setStartPoint(staNo+"");
        taskWrk.setCrnNo(Integer.valueOf(result.getAlley()));//堆垛机号

        if (taskWrk.getIoType() == 1) {
            taskWrk.setWrkSts(2);
            if (!Cools.isEmpty(taskWrk.getTargetPoint())) {