wcs功能完善

pang.jiabao

2025-10-16 29ccba30133dec6ec0516c0782da5fe7d046848d

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

@@ -39,10 +39,8 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

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

/**
@@ -89,10 +87,13 @@
    @Autowired
    private BasRgvMapService basRgvMapService;

    @Resource
    private BasDevpErrLogService basDevpErrLogService;

    @Value("${wms.url}")
    private String wmsUrl;

    public Integer wrkNo = 9901;
    public Integer wrkNo = 9997;

    /**
     * 组托
@@ -146,20 +147,13 @@
                    errMsg = "超重";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeErr()) {
                if (!back && (staProtocol.isBarcodeErr()||Cools.isEmpty(barcode))) {
                    errMsg = "扫码失败";
                    back = true;
                }
                // 退回
                if (back) {
                if (back && staProtocol.getWorkNo() == 9999 && staProtocol.isInEnable() && staProtocol.isLoading() && staProtocol.isPakMk()) {
                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));

                    if (!staProtocol.isLoading()){
                        continue;
                    }
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);
                    News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
@@ -174,8 +168,9 @@
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && staProtocol.isPakMk()) {
                        && staProtocol.isPakMk() && staProtocol.getWorkNo() == 9999) {
                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
                        News.info("{}条码扫描错误：{}",barcodeThread.getSlave().getId(),barcode);
                        continue;
                    }
                    // 判断重复工作档
@@ -208,14 +203,12 @@
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo());
                            staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发2："+dto.getWorkNo()+","+dto.getStaNo());
                            if (!result) {
                                News.error(methodName + ":更新plc站点信息失败");

                                throw new CoolException("更新plc站点信息失败");
                            }else {
                                ledThread.errorReset();
                            }
@@ -236,7 +229,6 @@
                    }

                }


            }
        }
@@ -273,7 +265,7 @@
                    staProtocol = staProtocol.clone();
                }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && staProtocol.getWorkNo() == 9999) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行");
                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    if (wrkMast == null) {
@@ -297,7 +289,7 @@
                        staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发4："+9989+","+(pickSta.getStaNo().shortValue()-(short)1));
                        log.error("输送线下发4："+wrkNo+","+(pickSta.getStaNo().shortValue()-(short)1));
                        //LED
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                        // led 异常显示
@@ -350,7 +342,7 @@

                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                    staProtocol.setStaNo((short) 161);
                    staProtocol.setStaNo(staProtocol.getSiteId().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发5："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
@@ -418,7 +410,7 @@
                        wrkMast.setCrnEndTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) != 0) {
                            // 复位堆垛机
                            log.info("出库任务完成下发堆垛机复位,任务号：{}",wrkMast.getWrkNo());
                            News.info("出库任务完成下发堆垛机复位,任务号：{}",wrkMast.getWrkNo());
                            crnThread.setResetFlag(true);
                        } else {
                            News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
@@ -428,7 +420,7 @@
                        News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！"
                                +" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO
                                +"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast.getWrkNo().shortValue()
                                +"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
                                +"、状态枚举："+crnProtocol.statusType+"==WAITING：10 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
                                +"、货叉位置："+crnProtocol.forkPosType+"==HOME：0  // 货叉原位：" + CrnForkPosType.HOME);
                    }

@@ -671,7 +663,7 @@
                }

                // 判断堆垛机出库站状态
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                        && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
@@ -796,7 +788,7 @@
            News.error(""+mark+" - 3"+" - 2"+" - 工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
            return;
        }
        if(sta.getLocType1() != sourceSta.getLocType1()){
        if(!Objects.equals(sta.getLocType1(), sourceSta.getLocType1())){
            News.error("移库目标库位类型与源库位类型不符");
            return;
        }
@@ -907,13 +899,14 @@
            if (crnProtocol == null) {
                continue;
            }
            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) {
                        News.warnNoLog(""+mark+" - 1"+" - 开始执行：堆垛机异常信息记录 ： 有任务，有异常");
                        News.warnNoLog("" + mark + " - 1" + " - 开始执行：堆垛机异常信息记录 ： 有任务，有异常");
                        if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
                            WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
                            if (wrkMast == null) {
@@ -945,7 +938,7 @@
                                    "任务中异常"    // 备注
                            );
                            if (!basErrLogService.insert(basErrLog)) {
                                News.error(""+mark+" - 2"+" - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                                News.error("" + mark + " - 2" + " - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                            }
                        }
                    } else {
@@ -955,7 +948,7 @@
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
                            if (!basErrLogService.updateById(latest)) {
                                News.error(""+mark+" - 3"+" - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                                News.error("" + mark + " - 3" + " - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                            }
                        }
                    }
@@ -964,14 +957,14 @@
                    BasErrLog latest = basErrLogService.findLatest(crn.getId());
                    // 有异常
                    if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
                        News.warnNoLog(""+mark+" - 4"+" - 开始执行：堆垛机异常信息记录 ： 无任务，有异常");
                        News.warnNoLog("" + mark + " - 4" + " - 开始执行：堆垛机异常信息记录 ： 无任务，有异常");
                        // 记录新异常
                        if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                            String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    null,    // 工作号
                                    crnProtocol.getTaskNo().intValue(),    // 工作号
                                    now,    // 发生时间
                                    null,    // 结束时间
                                    null,    // 工作状态
@@ -993,7 +986,7 @@
                                    "无任务异常"    // 备注
                            );
                            if (!basErrLogService.insert(basErrLog)) {
                                News.error(""+mark+" - 5"+" - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                                News.error("" + mark + " - 5" + " - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                            }
                        }
                        // 无异常
@@ -1004,11 +997,12 @@
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
                            if (!basErrLogService.updateById(latest)) {
                                News.error(""+mark+" - 6"+" - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                                News.error("" + mark + " - 6" + " - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                            }
                        }
                    }
                }
            }
        }
    }

@@ -1044,7 +1038,7 @@
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && staProtocol.isPakMk()
                        && (staProtocol.getWorkNo() !=0 && staProtocol.getWorkNo() > 9700)
                        && staProtocol.getWorkNo() == 9998 // 9997 回退 9998 空 9999 满
                        ) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行：空栈板初始化入库,叉车入库站放货");

@@ -1091,7 +1085,7 @@
//                                ledThread.errorReset();
                            }
                        } else {
                            staProtocol.setWorkNo(wrkNo++);
                            staProtocol.setWorkNo(wrkNo);
                            staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -1123,9 +1117,177 @@
    }

    /**
     * 输送线异常
     */
    public synchronized void recDevpErr() {
        Date now = new Date();
        for (DevpSlave devp : slaveProperties.getDevp()) {
            Integer devpId = devp.getId();
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpId);
            Map<Integer, StaProtocol> station = devpThread.getStation();
            for (Map.Entry<Integer, StaProtocol> entry : station.entrySet()) {
                Integer siteNo = entry.getKey();
                StaProtocol staProtocol = entry.getValue();
                Integer workNo = staProtocol.getWorkNo();
                // 输送线报警
                String plcErr = staPlcErr(staProtocol);
                if (staProtocol.isAutoing()) {
                    // 有任务
                    if (staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() <= 9000) {

                        // 获取输送线报警信息
                        BasDevpErrLog latestByTaskNo = basDevpErrLogService.findLatestByTaskNo(siteNo, workNo);

                        // 有异常
                        if (latestByTaskNo == null) {
                            if (!plcErr.equals("")) {
                                WrkMast wrkMast = wrkMastMapper.selectById(workNo);
                                if (wrkMast == null) {
                                    continue;
                                }

                                BasDevpErrLog basErrLog = new BasDevpErrLog(
                                        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
                                        wrkMast.getCrnNo(),    // 堆垛机
                                        devpId,    // plc
                                        wrkMast.getLocNo(),    // 目标库位
                                        wrkMast.getStaNo(),    // 目标站
                                        siteNo,    // 源站
                                        wrkMast.getSourceLocNo(),    // 源库位
                                        wrkMast.getBarcode(),    // 条码
                                        0,    // 异常码
                                        plcErr,    // 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 (!basDevpErrLogService.insert(basErrLog)) {
                                    News.error("输送线异常信息插入表asr_bas_devp_err_log异常：{}", basErrLog);
                                }
                            }
                        } else {
                            // 异常修复
                            if (plcErr.equals("")) {
                                latestByTaskNo.setEndTime(now);
                                latestByTaskNo.setUpdateTime(now);
                                latestByTaskNo.setStatus(2);
                                if (!basDevpErrLogService.updateById(latestByTaskNo)) {
                                    News.error("输送线异常记录修复失败asr_bas_devp_err_log异常：{}", latestByTaskNo);
                                }
                            }
                        }
                        // 无任务
                    } else {
                        BasDevpErrLog latest = basDevpErrLogService.findLatest(siteNo);
                        // 有异常
                        if (!plcErr.equals("")) {
                            // 记录新异常
                            if (latest == null || !latest.getError().equals(plcErr) || latest.getStatus() == 2 ) {
                                BasDevpErrLog basErrLog = new BasDevpErrLog(
                                        null,    // 编号
                                        staProtocol.getWorkNo(),    // 工作号
                                        now,    // 发生时间
                                        null,    // 结束时间
                                        null,    // 工作状态
                                        null,    // 入出库类型
                                        0,    // 堆垛机
                                        devpId,    // plc
                                        null,    // 目标库位
                                        null,    // 目标站
                                        siteNo,    // 源站
                                        null,    // 源库位
                                        null,    // 条码
                                        0,    // 异常码
                                        plcErr,    // 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 (!basDevpErrLogService.insert(basErrLog)) {
                                    News.error("输送线异常记录asr_bas_devp_err_log异常：{}", basErrLog);
                                }
                            }
                            // 无异常
                        } else {
                            // 异常修复
                            if (latest != null && latest.getStatus() == 1) {
                                latest.setEndTime(now);
                                latest.setUpdateTime(now);
                                latest.setStatus(2);
                                if (!basDevpErrLogService.updateById(latest)) {
                                    News.error("输送线异常记录修复失败asr_bas_devp_err_log异常：{}", latest);
                                }
                            }
                        }
                    }
                }
            }
        }
    }

    // 获取输送线报警
    public String staPlcErr(StaProtocol staProtocol){
        Integer siteId = staProtocol.getSiteId();
        if (staProtocol.getBreakerErr()){
            return "断路器故障";
        }
        if (staProtocol.getInfraredErr()){
            return "光电异常";
        }
        if (staProtocol.getOutTimeErr()){
            return "运行超时";
        }
        if (staProtocol.getSeizeSeatErr()){
            return "占位超时";
        }
        if (staProtocol.getWrkYgoodsN()){
            return "有任务无货故障";
        }
        if (staProtocol.getInverterErr()){
            return "变频器故障";
        }
        if (staProtocol.getContactErr()){
            return "电机接触器故障";
        }
        if (staProtocol.getUpcontactErr()){
            return "顶升电机接触器故障";
        }
        if (staProtocol.isFrontErr()){
            return "前超限";
        }
        if (staProtocol.isBackErr()){
            return "后超限";
        }
        if (staProtocol.isHighErr()){
            return "高超限";
        }
        if (staProtocol.isLeftErr()){
            return "左超限";
        }
        if (staProtocol.isRightErr()){
            return "右超限";
        }
        if (staProtocol.isBarcodeErr() && siteId != 1083 && siteId != 1086 && siteId != 1089 ){
            return "扫码失败";
        }
        return "";
    }

    /**
     * 出库  ===>> 工作档信息写入led显示器
     */
    public synchronized void ledExecute(Integer mark) {
    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());
@@ -1177,32 +1339,16 @@
                        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.setLocNo(wrkMast.getLocNo());
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
                ledCommand.setBarcode(wrkMast.getBarcode());
                if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                    List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkMast.getWrkNo()));
//                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getSpecs(),wrkDetl.getManuDate(),wrkDetl.getModel(),wrkDetl.getWeight(),wrkDetl.getLength(),wrkDetl.getVolume())));
//                    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 || wrkMast.getIoType() == 1) {
//                            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 -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getOrderNo(),wrkDetl.getMatnr(),wrkDetl.getMaktx(),
                            wrkDetl.getBatch(), wrkDetl.getSpecs(),wrkDetl.getManuDate(),wrkDetl.getModel(),wrkDetl.getAnfme())));
                } else {
                    ledCommand.getMatDtos().add(new MatDto("","","","","","","",1.0));
                }
                commands.add(ledCommand);
            }
@@ -1269,7 +1415,7 @@
                }
                ledThread.errorReset();
                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());
                    News.error("显示默认内容{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                }
            }
        }
@@ -1306,7 +1452,7 @@
            if (null == loc) {
                for (Integer row : rows) {
                    if (Utils.isShallowLoc(slaveProperties, row)) {
                        loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType2());
                        loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

                        if (null != loc) {//对应深库位非在库状态,不能移库
                            String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
@@ -1423,4 +1569,67 @@
//        News.infoNoLog(""+mark+" - 0"+" - outOfDevp执行完成");
    }

    /**
     * 堆垛机回原点
     */
    public synchronized void originGo() throws InterruptedException {

        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 (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
                // 判断是不是已在原点
                if(crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
                    continue;
                }
                // 判断是不是空闲三分钟
                BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
                if (basCrnp.getWrkNo() != 0) {
                    continue;
                }
                Date now = new Date();
                Date modiTime = basCrnp.getModiTime();
                long diffInMillis = now.getTime()-modiTime.getTime();
                if(diffInMillis < 10 * 1000) { // 空闲小于10秒则跳过
                    continue;
                } else {  // 有入库任务或大于2分钟，回原点
                    int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("io_type", 1).eq("crn_no", crn.getId()).in("wrk_sts", 2));
                    if(count == 0 && diffInMillis < 2 * 60 * 1000) {
                        continue;
                    }
                }

                // 有吊车入库或吊车出库任务
                int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("crn_no", crnProtocol.getCrnNo()).in("wrk_sts", 3, 12));
                if(count != 0) {
                    continue;
                }

                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
                crnCommand.setTaskNo((short) 9999); // 工作号
                crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  回原点
                crnCommand.setSourcePosX((short) (crn.getId() == 1 ? 3 : 6));     // 源库位排
                crnCommand.setSourcePosY((short) 1);     // 源库位列
                crnCommand.setSourcePosZ((short) 1);     // 源库位层
                crnCommand.setDestinationPosX((short) 0);     // 目标库位排
                crnCommand.setDestinationPosY((short) 0);     // 目标库位列
                crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
                    News.error("回原点任务下发失败", crn.getId(), JSON.toJSON(crnCommand));
                } else {
                    basCrnp.setModiTime(new Date());
                    basCrnpService.updateById(basCrnp); // 设置更新时间，避免重复下发回原点
                    log.info("{}号堆垛机回原点任务下发成功：{}", crn.getId(), JSON.toJSON(crnCommand));
                }
                Thread.sleep(3000);
            }
        }
    }

}