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pang.jiabao

21 小时以前 2de4173f02cc9525949eb20e60595019b9be9a3f

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

@@ -6,10 +6,7 @@
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.SearchLocParam;
import com.zy.common.model.StartupDto;
import com.zy.common.model.*;
import com.zy.common.service.CommonService;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
@@ -53,12 +50,56 @@

    public static final long COMMAND_TIMEOUT = 5 * 1000;

    // 空拖出库站点
    // 空拖出库站点，区分子母空托盘
    public static final Map<Integer,String>  emptyPalletSiteMap = new HashMap<>();

    // 初始化空托盘出库站点 M空母托盘，Z空子托盘
    // 母托盘叠盘站点
    public static final List<Integer>  stackingSite = new ArrayList<>();

    // rgv接驳站点
    public static final List<Integer>  rgvConnectionSiteList = new ArrayList<>();

    // 工作档对应目标站点转换为rgv目标站点
    public static final Map<Integer,Integer> taskStaNoToRgvStaNoMap = new HashMap<>();

    // 罐装完成rgv接驳站点
    public static final List<Integer>  canningLineRgvConnectionSiteList = new ArrayList<>();

    // 入罐装线之前告诉罐装线桶信息的站点
    public static final List<Integer>  inGzxSiteList = new ArrayList<>();

    // 出罐装线后读取罐装线反馈信息
    public static final List<Integer>  outGzxSiteList = new ArrayList<>();

    // 成品库堆垛机出库站点到rgv接驳点
    public static final Map<Integer,Short>  crnOutSiteToRgvSite = new HashMap<>();

    static {
        emptyPalletSiteMap.put(1002,"M");emptyPalletSiteMap.put(1020,"M");emptyPalletSiteMap.put(1035,"Z");
        emptyPalletSiteMap.put(1001,"M"); // emptyPalletSiteMap.put(1002,"M");
        emptyPalletSiteMap.put(1019,"M"); // emptyPalletSiteMap.put(1020,"M");
        emptyPalletSiteMap.put(1034,"Z"); // emptyPalletSiteMap.put(1035,"Z");

        stackingSite.add(1019);stackingSite.add(1026);

        rgvConnectionSiteList.add(1012);rgvConnectionSiteList.add(1006);rgvConnectionSiteList.add(1001);rgvConnectionSiteList.add(1018);
        rgvConnectionSiteList.add(1019);rgvConnectionSiteList.add(1041);rgvConnectionSiteList.add(1034);rgvConnectionSiteList.add(1033);
        rgvConnectionSiteList.add(1026);rgvConnectionSiteList.add(1022);rgvConnectionSiteList.add(1044);
        rgvConnectionSiteList.add(1083);rgvConnectionSiteList.add(1086);rgvConnectionSiteList.add(1089);rgvConnectionSiteList.add(1090);
        rgvConnectionSiteList.add(1105);rgvConnectionSiteList.add(1100);rgvConnectionSiteList.add(1097);rgvConnectionSiteList.add(1094);
        rgvConnectionSiteList.add(1091);

        taskStaNoToRgvStaNoMap.put(1050,1044);taskStaNoToRgvStaNoMap.put(1078,1044);taskStaNoToRgvStaNoMap.put(1064,1044);taskStaNoToRgvStaNoMap.put(1071,1044);taskStaNoToRgvStaNoMap.put(1096,1094);
        taskStaNoToRgvStaNoMap.put(1104,1100);taskStaNoToRgvStaNoMap.put(1102,1100);taskStaNoToRgvStaNoMap.put(1090,1090);taskStaNoToRgvStaNoMap.put(1002,1001);taskStaNoToRgvStaNoMap.put(1016,1018);
        taskStaNoToRgvStaNoMap.put(1020,1019);taskStaNoToRgvStaNoMap.put(1024,1022);taskStaNoToRgvStaNoMap.put(1035,1034);taskStaNoToRgvStaNoMap.put(1040,1033);taskStaNoToRgvStaNoMap.put(1043,1041);

        canningLineRgvConnectionSiteList.add(1083);canningLineRgvConnectionSiteList.add(1086);
        canningLineRgvConnectionSiteList.add(1089);

        inGzxSiteList.add(1071);inGzxSiteList.add(1064);inGzxSiteList.add(1078);

        outGzxSiteList.add(1081);outGzxSiteList.add(1084);outGzxSiteList.add(1087);

        crnOutSiteToRgvSite.put(1093, (short) 1091);crnOutSiteToRgvSite.put(1099, (short) 1097);crnOutSiteToRgvSite.put(1107, (short) 1105);
    }

    @Autowired
@@ -129,44 +170,36 @@
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
//                if ((staProtocol.getSiteId() == 101 && devpThread.ioModeOf101 == IoModeType.PAKOUT_MODE)
//                ||(staProtocol.getSiteId() == 103 && devpThread.ioModeOf103 == IoModeType.PAKOUT_MODE)
//                ||(staProtocol.getSiteId() == 305 && devpThread.ioModeOf305 == IoModeType.PAKOUT_MODE)) {
//                    errMsg = "当前为出库模式";
//                if (staProtocol.isFrontErr()) {
//                    errMsg = "前超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isFrontErr()) {
                    if (staProtocol.isFrontErr()) {
                    errMsg = "前超限";
                    back = true;
                }
                if (!back && staProtocol.isBackErr()) {
                    errMsg = "后超限";
                    back = true;
                }
                if (!back && staProtocol.isHighErr()) {
                    errMsg = "高超限";
                    back = true;
                }
                if (!back && staProtocol.isLeftErr()) {
                    errMsg = "左超限";
                    back = true;
                }
                if (!back && staProtocol.isRightErr()) {
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.isWeightErr()) {
                    errMsg = "超重";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeErr()) {
                    errMsg = "扫码失败";
                    back = true;
                }
//                if (!back && staProtocol.isBackErr()) {
//                    errMsg = "后超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isHighErr()) {
//                    errMsg = "高超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isLeftErr()) {
//                    errMsg = "左超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isRightErr()) {
//                    errMsg = "右超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isWeightErr()) {
//                    errMsg = "超重";
//                    back = true;
//                }
//                if (!back && staProtocol.isBarcodeErr()) {
//                    errMsg = "扫码失败";
//                    back = true;
//                }
                // 退回
                if (back) {
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                if (back && staProtocol.isInEnable()) {
                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));

                    if (!staProtocol.isLoading()){
@@ -175,12 +208,8 @@
                    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());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
                    log.error("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
                    return;
                }

@@ -188,43 +217,32 @@
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && staProtocol.isPakMk()) {
                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
//                        News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
//
//                        staProtocol.setWorkNo(wrkNo);
//                        News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
//                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
                        && staProtocol.getWorkNo() == 0
                        && staProtocol.isPakMk()
                ) {
                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode) || barcode.startsWith("ERROR")) {
                        log.error("{}号条码检测失败，条码信息：{}", inSta.getBarcode(), barcode);
                        continue;
                    }
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    if (wrkMast != null) {
//                        News.error(methodName + ":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());
//                        if (ledThread != null) {
//                            News.error(methodName + ":扫码失败，请重试");
//                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "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() + "}, 请手动取消已存在工作档"));
//                        }
                        continue;
                    }
                    WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                            .eq("barcode", barcode)
                            .in("io_type", 107,103,57));
                    if (!Cools.isEmpty(checkPick)) {
                        continue;
                    }

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
                        param.setIoType(staProtocol.getBucketType().equals("21")  || staProtocol.getBucketType().equals("20") ? 10 : 1);
                        param.setSourceStaNo(inSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        param.setBucketType(staProtocol.getBucketType());
                        param.setBucketCount(staProtocol.getBucketCount());
                        param.setTailSupportFlag(staProtocol.isTailSupportFlag());
                        param.setWantBucketFlag(getWantBucketFlag());

                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
@@ -237,112 +255,48 @@
                            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();
                            }
                        } else {
                            staProtocol.setWorkNo(wrkNo);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//
//                            if (ledThread != null) {
                            if (ledThread != null) {
                                String errorMsg = jsonObject.getString("msg");
                                if (!Cools.isEmpty(errorMsg)) {
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                }
//                            }
//                            News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            }
                            News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }


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

                }


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

    }

    /**
     * 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
     * 获取罐装线要桶信息
     */
    public synchronized void generateStoreWrkFile0(Integer mark) {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                // 获取入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

//                // 入出库模式判断
                if (inSta.getStaNo() == 203 && devpThread.ioModeOf101 != IoModeType.PAKIN_MODE) {
                    continue;
                }

                // 判断是否满足入库条件
                if (!staProtocol.isLoading()){
                    continue;
                }
                if (staProtocol.isAutoing() && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
                        && staProtocol.isPakMk()) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行");
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
                    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());
                    staProtocol.setStaNo(wrkMast.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3："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
                    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) {
                            News.error(""+mark+" - 1"+" - 更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
                        }
                    } else {
                        News.error(""+mark+" - 2"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }

                }else {
                    News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isLoading()+"、可入信号：" + staProtocol.isInEnable()
                            +"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
                            +"、锁定标记"+ staProtocol.isPakMk()+"、入库印记：" + staProtocol.getStamp());
                }
            }
        }
//        News.infoNoLog(""+mark+" - 0"+" - wms入库  ===》执行完成");

    private List<SearchLocParam.WantBucket> getWantBucketFlag() {
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
        StaProtocol staProtocol1081 = devpThread.getStation().get(1081);
        StaProtocol staProtocol1084 = devpThread.getStation().get(1084);
        StaProtocol staProtocol1087 = devpThread.getStation().get(1087);
        List<SearchLocParam.WantBucket> wantBucketList = new ArrayList<>();
        wantBucketList.add(new SearchLocParam.WantBucket(1071,staProtocol1081.getWantBucketFlag()));
        wantBucketList.add(new SearchLocParam.WantBucket(1064,staProtocol1084.getWantBucketFlag()));
        wantBucketList.add(new SearchLocParam.WantBucket(1078,staProtocol1087.getWantBucketFlag()));
        return wantBucketList;
    }

    /**
@@ -522,39 +476,34 @@
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
                            && crnProtocol.statusType == CrnStatusType.WAITING
                            && crnProtocol.forkPosType == CrnForkPosType.HOME) {
//                        News.error("堆垛机出库完成 - 开始执行");

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

                        // 更新工作档状态为14失败

                        // 下发站点信息

                        if (wrkMast.getSourceStaNo() == 106 && wrkMast.getWrkSts() == 12L) {
                            wrkMast.setWrkSts(16L);
                            wrkMast.setCrnNo(1);
                            if (wrkMast.getStaNo() == 107) {
                                wrkMast.setSourceStaNo(107);
                            } else if(wrkMast.getStaNo()==104) {
                                wrkMast.setSourceStaNo(105);
                            }
                            staProtocol.setStaNo((short) 106);

                            log.info("----------106移库标识---------");
                        }else if(wrkMast.getSourceStaNo() == 105 && wrkMast.getWrkSts() == 16L) {
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                            log.info("106移库完成，输送线发送105到104，源站为：" + staProtocol.getSiteId());
                            wrkMast.setWrkSts(14L);
                        }else {
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                            wrkMast.setWrkSts(14L);
                        }

                        staProtocol.setStaNo(crnSlave.getId() == 4 ? wrkMast.getStaNo().shortValue() : crnOutSiteToRgvSite.get(wrkMast.getSourceStaNo()));
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                            continue;
                        }
                        // 空桶出库完成库位组任务
                        if (wrkMast.getWorkNoOther() != 0) {
                            WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", wrkMast.getWorkNoOther()));
                            if (wrkMast1 != null) {
                                StaProtocol staProtocol1 = devpThread.getStation().get(1057);
                                if (staProtocol1 != null) {
                                    staProtocol1 = staProtocol1.clone();
                                    staProtocol1.setWorkNo(wrkMast1.getWrkNo());
                                    staProtocol1.setStaNo(wrkMast1.getStaNo().shortValue());
                                    if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol1))) {
                                        log.error("空桶出库完成库位组任务推送输送线命令队列失败");
                                    }
                                    wrkMast1.setWrkSts(14L);
                                    wrkMast1.setCrnEndTime(new Date());
                                    wrkMast1.setWorkNoOther(0);
                                    wrkMastMapper.updateById(wrkMast1);
                                }
                            }
                        }
                        wrkMast.setWrkSts(14L);
                        wrkMast.setCrnEndTime(new Date());
                        wrkMast.setWorkNoOther(0); // 清除另一个任务号
                        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());
@@ -595,11 +544,6 @@
                continue;
            }

//            //堆垛机回原点任务中
//            if(crnThread.isBackHpFlag()){
//                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
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
@@ -628,12 +572,8 @@
                }
            }
            // 库位移转
            //mark - 3 - ....
            this.locToLoc(crn, crnProtocol,mark);
//            this.crnRebackHp(crnProtocol, crnThread);

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

    /**
@@ -658,7 +598,7 @@
                News.error(""+mark+" - 1"+" - 2"+" - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 // && staProtocol.isInEnable()
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                flag = true;
            }
@@ -670,11 +610,30 @@
                continue;
            }
            // 获取工作状态为2（设备上走）的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo(), crnStn.getStaNo());
            WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo());

            if (null == wrkMast) {
                News.infoNoLog(""+mark+" - 1"+" - 4"+" - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
//                log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                continue;
            }
            if (crnStn.getStaNo() == 1050 && wrkMast.getCtnType() != 1) {
                continue;
            } else if(crnStn.getStaNo() == 1049) {
                // 判断1050是否有货
                StaProtocol staProtocol1 = devpThread.getStation().get(1050);
                if(staProtocol1.isAutoing() && staProtocol1.isLoading() && staProtocol1.isInEnable() && staProtocol1.getWorkNo() != 0) {

                } else {
                    continue;
                }
            }
            if (crnStn.getStaNo() == 1096) { // 判断入库到1096，判断1093是否有物
                StaProtocol staProtocol2 = devpThread.getStation().get(1093);
                if(!staProtocol2.isAutoing() || staProtocol2.isLoading() || staProtocol2.getWorkNo() != 0) {
                    log.warn("1号堆垛机入库取货前，判断1096站点信息自动：{}，有物：{}，工作号：{}，不可入",staProtocol2.isAutoing(),staProtocol2.isLoading(),staProtocol2.getWorkNo());
                    continue;
                }
            }
            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
@@ -754,33 +713,47 @@
            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
            crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
            if(crnStn.getStaNo() == 1050 && locMast.getRow1() == 10) {
                crnCommand.setDestinationPosX((short) 9);
            }
            if(crnStn.getStaNo() == 1049 && locMast.getRow1() == 11) {
                crnCommand.setDestinationPosX((short) 12);
            }
            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
            crnCommand.setTraySize(locMast.getLocType1() == 2);
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                News.error(""+mark+" - 1"+" - 16"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            } else {

//                long startTime = System.currentTimeMillis();
//                while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
//
//                    if (true) {
//                        break;
//                    }
//
//                    try{
//                        Thread.sleep(500);
//                    }catch(Exception ignore){}
//                }

                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                Date now = new Date();
                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                // 如果是1049则有两个任务，需要把1050改成吊车入库中
                int workNoOther = 0;
                if (crnStn.getStaNo() == 1049) {
                    BasDevp basDevp = basDevpService.selectById(1050);
                    if (basDevp.getWrkNo() == 0) {
                        log.error("取货点为1049，但是1050任务号为0");
                    } else {
                        WrkMast wrkMast1 = wrkMastMapper.selectById(basDevp.getWrkNo());
                        wrkMast1.setWrkSts(3L);
                        wrkMast1.setCrnStrTime(now);
                        wrkMast1.setModiTime(now);
                        wrkMast1.setWorkNoOther(0);
                        workNoOther = wrkMast1.getWrkNo();
                        if (wrkMastMapper.updateById(wrkMast1) == 0) {
                            News.error(""+mark+" - 1"+" - 17"+" - 修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                    }
                }

                wrkMast.setWrkSts(3L);
                wrkMast.setCrnStrTime(now);
                wrkMast.setModiTime(now);
                wrkMast.setWorkNoOther(workNoOther);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    News.error(""+mark+" - 1"+" - 17"+" - 修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                }

            }
        }
        News.infoNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发 ： 入库执行完毕");
@@ -794,9 +767,7 @@
        News.warnNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发：执行出库");
        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
            // 获取工作状态为11（生成出库ID）的出库工作档
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            // todo 限制出库到305的工作档，如果配置outModel不等于Y，则跳过
            for (WrkMast wrkMast : wrkMasts) {
                if (wrkMast == null) {
                    continue;
@@ -818,41 +789,22 @@
                if (staProtocol == null) {
                    News.infoNoLog(""+mark+" - 2"+" - 3"+" - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol="+staProtocol);
                    break;
//                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

//            // 入出库模式判断
//            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
//                if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
//                    News.infoNoLog(""+mark+" - 2"+" - 4"+" - 入出库模式（此处出库方法，出库模式继续=="+devpThread.ioModeOf2F);
//                    continue;
//                }
                // 入出库模式判断
//                if ((staProtocol.getSiteId() == 101 && devpThread.ioModeOf101 != IoModeType.PAKOUT_MODE)
//                   || (staProtocol.getSiteId() == 103 && devpThread.ioModeOf103 != IoModeType.PAKOUT_MODE)
//                   || (staProtocol.getSiteId() == 305 && devpThread.ioModeOf305 != IoModeType.PAKOUT_MODE)) {
//                    continue;
//                }

                // 查询站点详细信息
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    break;
//                    continue;
                }
                // 107无物才能出，其他有转运架才能出
                boolean loading = (staProtocol.getSiteId() == 107) != staProtocol.isLoading();

                // 判断堆垛机出库站状态
                if (staProtocol.isAutoing() && loading && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                        && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                    // 命令下发区 --------------------------------------------------------------------------
//                    log.warn("堆垛机出库命令下发："+staProtocol.getWorkNo()+","+staProtocol.isOutEnable()+","+staProtocol.getSiteId());
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                        break;
                    }

@@ -908,11 +860,51 @@
                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
//                        return;
                    }
//                    if(crnStn.getStaNo() == 105) {
//                        continue;
//                    }

                    if(slave.getId() == 4 && crnStn.getStaNo() == 1057) {
                        String locNo = wrkMast.getSourceLocNo();
                        // 取对应另一个库位
                        String newLocNo="";
                        switch (locNo.substring(0,2)){
                            case "09":newLocNo="10";break;
                            case "10":newLocNo="09";break;
                            case "11":newLocNo="12";break;
                            case "12":newLocNo="11";break;
                        }
                        newLocNo = newLocNo + locNo.substring(2);
                        // 对应库位有无任务
                        WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_loc_no", newLocNo));
                        if(wrkMast1 == null) {
                             if(locNo.startsWith("10") || locNo.startsWith("11")){ // 浅库位

                             } else  { // 深库位判断浅库位状态
                                LocMast locMast = locMastService.selectById(newLocNo);
                                if(!locMast.getLocSts().equals("O")) {
                                     log.info("{}空桶单出库，浅库位{}被堵塞",locNo,newLocNo);
                                     break;
                                }
                            }
                            // 出一个时，取货排11，12，目标位置1057，放货伸叉会伸到1056上，所以得判断1056没东西才能放
                            if(sourceSta.getRow1() == 11 || sourceSta.getRow1() == 12) {
                                StaProtocol staProtocol2 = devpThread.getStation().get(1056);
                                if(!staProtocol2.isAutoing() || staProtocol2.isLoading() || staProtocol2.getWorkNo() != 0) {
                                    log.warn("1057空桶出一个货时，1056不满足放货条件，自动：{}，有物：{}，任务号：{}",staProtocol2.isAutoing(),staProtocol2.isLoading(),staProtocol2.getWorkNo());
                                    continue;
                                }
                            }
                        } else { // 有任务
                            // 每个库位默认出库站点是1057，如果深浅库位一起出，则修改源站点为1056，堆垛机出库站点为1056时更新对应库位出到1057
                            if(locNo.startsWith("09") || locNo.startsWith("11")) { //
                                wrkMast.setSourceStaNo(1056);
                                wrkMastService.updateById(wrkMast);
                            } else  {
                                wrkMast1.setSourceStaNo(1056);
                                wrkMastService.updateById(wrkMast1);
                            }
                            break;
                        }
                    }

                    News.warnNoLog(""+mark+" - 2"+" - 12"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
                            ,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue()
@@ -925,20 +917,49 @@
//                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                    if(slave.getId() == 4 && crnStn.getStaNo() == 1056 && sourceSta.getRow1() == 11) { // 11排出到1056一次出两个时，取货位置偏移到12排
                        crnCommand.setSourcePosX((short) 12);
                        crnCommand.setTaskCount((short) 2);  // 出两个桶时告诉堆垛机这是两个
                    } else {
                        crnCommand.setTaskCount((short) 1); // 其他默认出的是一个
                    }
                    crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                    crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                    crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排

                    // 源站1057
                    if(slave.getId() == 4 && crnStn.getStaNo() == 1057 && sourceSta.getRow1() == 12) {
                        crnCommand.setDestinationPosX((short) 9);
                    }
                    crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                    crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        News.error(""+mark+" - 2"+" - 13"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改工作档状态 11.生成出库ID => 12.吊车出库中

                        Date now = new Date();
                        int workNoOther = 0;
                        // 修改空桶库对应库位任务状态
                        if(slave.getId() == 4 && crnStn.getStaNo() == 1056) {
                            String locNo2 = (wrkMast.getSourceLocNo().startsWith("09") ? "10" : "12") + wrkMast.getSourceLocNo().substring(2);
                            WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_loc_no", locNo2));
                            if (wrkMast1 != null) {
                                wrkMast1.setWrkSts(12L);
                                wrkMast1.setCrnStrTime(now);
                                wrkMast1.setModiTime(now);
                                if (wrkMastMapper.updateById(wrkMast1) == 0) {
                                    News.error(""+mark+" - 2"+" - 14"+" - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast1.getWrkNo());
                                }
                                workNoOther = wrkMast1.getWrkNo(); // 记录任务号，出库完成的时候一起完成
                            }
                        }

                        // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                        wrkMast.setWrkSts(12L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        wrkMast.setWorkNoOther(workNoOther);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.error(""+mark+" - 2"+" - 14"+" - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
@@ -1061,8 +1082,22 @@
                        continue;
                    }
                    Date now = new Date();
                    // 空桶入库完成，先完成对应库位组任务
                    if(wrkMast.getWorkNoOther() != 0 ){
                        WrkMast wrkMast1 = wrkMastService.selectByWrkNo(wrkMast.getWorkNoOther());
                        // 交换库位号
                        String locNo = wrkMast.getLocNo();
                        wrkMast.setLocNo(wrkMast1.getLocNo());
                        wrkMast1.setLocNo(locNo);
                        wrkMast1.setCrnEndTime(now);
                        wrkMast1.setModiTime(now);
                        wrkMast1.setWrkSts(4L);
                        wrkMast1.setWorkNoOther(0);
                        wrkMastMapper.updateById(wrkMast1);
                    }
                    wrkMast.setCrnEndTime(now);
                    wrkMast.setModiTime(now);
                    wrkMast.setWorkNoOther(0); // 清空另一个任务号
                    // 修改成功后复位堆垛机
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        // 堆垛机复位
@@ -1230,6 +1265,9 @@
                    case 1:
                        ledCommand.setTitle("全板入库");
                        break;
                    case 3:
                        ledCommand.setTitle("站到站");
                        break;
                    case 10:
                        ledCommand.setTitle("空板入库");
                        break;
@@ -1259,7 +1297,7 @@
                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 -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getBatch(), wrkDetl.getSpecs(),wrkDetl.getManuDate(),wrkDetl.getModel(),wrkDetl.getWeight(),wrkDetl.getManLength(),wrkDetl.getVolume())));
//                    wrkDetls.forEach(wrkDetl -> {
//                        Double total = 0.0;
//                        EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
@@ -1500,12 +1538,11 @@
    }

    /**
     * 生成 空子/母托盘任务
     * 生成 空子/母托盘出库任务
     */
    public synchronized void generateEmptyPalletStoreWrk() {
        Integer devpId = 1;
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        for (Map.Entry<Integer, String> entry : emptyPalletSiteMap.entrySet()) {
            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devpId);
            StaProtocol staProtocol = devpThread.getStation().get(entry.getKey());
            if (staProtocol == null) {
                continue;
@@ -1514,14 +1551,20 @@
            }

            // 自动&无物&可出
            if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isOutEnable()) {
            if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isOutEnable() && staProtocol.getWrkNo() == 0) {
                // 判断是否已经生成任务
                if (wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("io_type", 110).eq("sta_no", entry.getKey())).size() > 0) {
                    log.warn("{}站点已经存在空板出库任务", entry.getKey());
                int dismantlingMachine = entry.getKey();
                switch (entry.getKey()) {
                    case 1001:dismantlingMachine = 1002;break;
                    case 1019:dismantlingMachine = 1020;break;
                    case 1034:dismantlingMachine = 1035;break;
                }
                if (wrkMastService.selectList(new EntityWrapper<WrkMast>().in("io_type", 110).eq("sta_no", dismantlingMachine)).size() > 0) {
//                    log.warn("{}站点已经存在两个空板出库任务", entry.getKey());
                    continue;
                }
                Map<String, String> map = new HashMap<>();
                map.put("site", String.valueOf(entry.getKey()));
                map.put("site", String.valueOf(dismantlingMachine));
                map.put("flag", entry.getValue());
                String response = "";
                try {
@@ -1544,4 +1587,392 @@
            }
        }
    }

    /**
     * 托盘到达rgv接驳站点，更改工作档状态为9.呼叫RGV，环穿程序调度rgv
     */
    public synchronized void callRgv() {
        for (Integer site : rgvConnectionSiteList) {
            // 输送线plc编号
            Integer devpPlcId = site < 1044 ? 1 : site <= 1090 ? 2 : 3;
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpPlcId);
            StaProtocol staProtocol = devpThread.getStation().get(site);
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.isInEnable() || staProtocol.isOutEnable() && site == 1090) && staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() < 9000) {
                // 查询工作档
                WrkMast wrkMast = wrkMastMapper.selectByWrkNo(staProtocol.getWorkNo());
                if (wrkMast == null) {
                    log.error("呼叫rgv,任务号不存在:{}",staProtocol.getWorkNo());
                    continue;
                }
                if (staProtocol.getSiteId() == 1090 && wrkMast.getLocNo() == null) {
                    continue;
                }
                if ((wrkMast.getWrkSts() == 2 || wrkMast.getWrkSts() == 15) && wrkMast.getRgvNo() == null) {
                    wrkMast.setRgvNo(0);
                    wrkMast.setRgvSstaNo(site);
                    wrkMast.setRgvDstaNo(taskStaNoToRgvStaNoMap.get(wrkMast.getStaNo()));
                    wrkMast.setWrkSts(9L);
                    wrkMast.setModiTime(new Date());
                    wrkMastMapper.updateById(wrkMast);
                    log.info("任务号：{}已到达rgv接驳位，准备呼叫rgv...", wrkMast.getWrkNo());
                }
            }
        }
    }

    /**
     * rgv放货完成，给输送线下发任务
     */
    public synchronized void rgvToDev() {
        for (Integer site : rgvConnectionSiteList) {
            // 输送线plc编号
            Integer devpPlcId = site < 1044 ? 1 : site <= 1090 ? 2 : 3;
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpPlcId);
            StaProtocol staProtocol = devpThread.getStation().get(site);
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.isOutEnable() ||  (staProtocol.getSiteId() == 1001 || staProtocol.getSiteId() == 1019 || staProtocol.getSiteId() == 1034))&& staProtocol.getWorkNo() == 0 && staProtocol.getHideWorkNo() != 0) {
                // 查询工作档
                WrkMast wrkMast = wrkMastMapper.selectByWrkNo(staProtocol.getHideWorkNo());
                if (wrkMast == null) {
                    log.error("rgv放货完成，{}站点,隐藏任务号找不到工作档:{}", site, staProtocol.getHideWorkNo());
                    continue;
                }

                if(wrkMast.getIoType() == 3 && (wrkMast.getStaNo() == 1024 || wrkMast.getStaNo() == 1016 || wrkMast.getStaNo() == 1043)) { // 到1024出库口，放到输送线后任务完成
                    wrkMast.setWrkSts(2L);
                    wrkMast.setModiTime(new Date());
                    wrkMastService.updateById(wrkMast);
                } else if(wrkMast.getIoType() == 101 && (wrkMast.getStaNo() == 1024 || wrkMast.getStaNo() == 1016 || wrkMast.getStaNo() == 1043)) {
                    wrkMast.setWrkSts(15L);
                    wrkMast.setModiTime(new Date());
                    wrkMastService.updateById(wrkMast);
                } else if(wrkMast.getIoType() == 110 && (wrkMast.getStaNo() == 1002 || wrkMast.getStaNo() == 1020 ||wrkMast.getStaNo() == 1035)) {
                    wrkMast.setWrkSts(15L);
                    wrkMast.setModiTime(new Date());
                    wrkMastService.updateById(wrkMast);
                }

                // 给输送线下发命令
                staProtocol.setWorkNo(staProtocol.getHideWorkNo());
                staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                if (!MessageQueue.offer(SlaveType.Devp, devpPlcId, new Task(2, staProtocol))) {
                    log.info("rgv搬运完成给输送线下发命令失败!,plc id:{},站点{}，任务号：{}，目标站：{}", devpPlcId,staProtocol.getStaNo(), staProtocol.getWorkNo(), staProtocol.getStaNo());
                } else {
                    log.info("rgv搬运完成给输送线下发命令成功plc id:{}!,站点{}，任务号：{}，目标站：{}", devpPlcId,staProtocol.getStaNo(), staProtocol.getWorkNo(), staProtocol.getStaNo());
                }
            }
        }
    }

    /**
     * 读异常口可入信号，分配库位
     */
    public synchronized void abnormalMouthWarehousing() {
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
        StaProtocol staProtocol = devpThread.getStation().get(1090);
        if (staProtocol == null) {
            return;
        } else {
            staProtocol = staProtocol.clone();
        }
        if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.isInEnable() || staProtocol.isOutEnable()) && staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() < 9000) {
            // 查询工作档
            WrkMast wrkMast = wrkMastService.selectById(staProtocol.getWorkNo());
            if (wrkMast == null) {
                log.error("异常口入库任务号无任务:{}", staProtocol.getWorkNo());
                return;
            } else if (wrkMast.getLocNo() != null) {
                log.info("异常口入库库位已分配:{}", wrkMast.getLocNo());
                return;
            } else if(wrkMast.getStaNo() != 1090) {
                log.info("异常口入库入库目标站点已分配:{}", wrkMast.getStaNo());
                return;
            }

            try {
                CanningLineInLocParam param = new CanningLineInLocParam();
                param.setWrkNo(staProtocol.getWrkNo());
                param.setSourceStaNo(1090);
                param.setTbFlag(staProtocol.isInEnable()); // true入成品库，false入空桶库

                String response = new HttpHandler.Builder()
                        .setUri(wmsUrl)
                        .setPath("/rpc/pakin/abnormalMouthWarehousing/loc/v1")
                        .setJson(JSON.toJSONString(param))
                        .build()
                        .doPost();
                log.info("异常口入库请求wms原始返回：" + response);
                JSONObject jsonObject = JSON.parseObject(response);
                if (jsonObject.getInteger("code").equals(200)) {
//                    StartupDto dto = jsonObject.getObject("data", StartupDto.class);
//                    staProtocol.setWorkNo(dto.getWorkNo());
//                    staProtocol.setStaNo(dto.getStaNo().shortValue());
//                    devpThread.setPakMk(staProtocol.getSiteId(), false);
//                    boolean result = MessageQueue.offer(SlaveType.Devp, 2, new Task(2, staProtocol));
//                    if (result) {
//                        log.info("异常口入库推送输送线命令成功：" + dto.getWorkNo() + "," + 1090 + "," + dto.getStaNo());
//                        News.info("异常口入库推送输送线命令成功：" + dto.getWorkNo() + "," + 1090 + "," + dto.getStaNo());
//                    } else {
//                        log.error("异常口入库推送输送线命令失败：" + dto.getWorkNo() + "," + 1090 + "," + dto.getStaNo());
//                        News.error("异常口入库推送输送线命令失败：" + dto.getWorkNo() + "," + 1090 + "," + dto.getStaNo());
//                        throw new CoolException("异常口入库推送输送线命令失败:" + 1090);
//                    }
                } else {
                    log.error("异常口入库请求接口异常，url:{}，request:{},response:{}", wmsUrl + "/rpc/pakin/CanningLine/loc/v1", JSON.toJSONString(param), response);
                    News.error("异常口入库请求接口异常！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/CanningLine/loc/v1", JSON.toJSONString(param), response);
                }
            } catch (Exception e) {
                e.printStackTrace();
                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
            }
        }
    }

    /**
     * 母托盘叠满自动入库
     */
    public synchronized void autoEmptyIn() {

        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            for (Integer site :  stackingSite) {
                StaProtocol staProtocol = devpThread.getStation().get(site);
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.getWorkNo() == 0) {
                    try {
                        SearchLocParam param = new SearchLocParam();
                        param.setIoType(10);
                        param.setSourceStaNo(site);
                        param.setLocType1((short) 1);

                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(dto.getWorkNo());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
                            log.error("母托叠盘入库输送线下发："+dto.getWorkNo()+","+staProtocol.getSiteId());
                            if (!result) {
                                News.errorNoLog(""+" - 1"+" - 更新plc站点信息失败");
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            News.error(" - 3"+" - 母托叠盘入库请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }
                }
            }
    }

    /**
     * 子托盘底下母托盘回流
     */
    public synchronized void motherTrayReflow() {

        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        StaProtocol staProtocol = devpThread.getStation().get(1034);
        if (staProtocol == null) {
            return;
        } else {
            staProtocol = staProtocol.clone();
        }

        // 站点条件判断
        if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.getWrkNo() == 0) {

            Date now = new Date();
            // 保存工作档
            WrkMast wrkMast = new WrkMast();
            wrkMast.setWrkNo(commonService.getWorkNo(1));
            wrkMast.setIoTime(now);
            wrkMast.setWrkSts(2L);
            wrkMast.setIoType(3);
            wrkMast.setSourceStaNo(1034); // 源站
            wrkMast.setStaNo(1024); // 目标站
            wrkMast.setAppeTime(now);
            wrkMast.setMemo("子托盘底座母托盘回流");
            wrkMastService.insert(wrkMast);

            staProtocol.setWorkNo(wrkMast.getWrkNo());
            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
            boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
            if (result) {
                log.info("子托盘底座母托盘回流命令推送队列成功：" + wrkMast.getWrkNo() + "," + staProtocol.getSiteId());
            } else {
                log.error("子托盘底座母托盘回流命令推送队列失败：" + wrkMast.getWrkNo() + "," + staProtocol.getSiteId());
            }
        }
    }

    /**
     * 空桶罐装完成到达罐装线出口 完成直供罐装线任务和空桶出库任务，创建成品桶入库任务
     */
    public synchronized void canningLineTaskFinish() {
        // 输送线plc编号
        Integer devpPlcId = 2;
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpPlcId);
        for (Integer site : outGzxSiteList) {
            StaProtocol staProtocol = devpThread.getStation().get(site);
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.getWorkNo() == 0) {
                if(staProtocol.getWrkNo() == 0) {
                    log.error("{}出罐装线货物到位，没有读取到任务号:{}",staProtocol.getSiteId(),staProtocol.getWrkNo());
                    continue;
                }

                // 贴标结果反馈到外形检测的扫描条码失败
                StaProtocol staProtocol2 = devpThread.getStation().get(site + 2);
                // 根据罐装线反馈任务号查询工作档
                WrkMast wrkMast = wrkMastService.selectById(staProtocol.getWrkNo());
                if(wrkMast == null) {
                    log.error("出罐装线货物任务号工作档不存在:{}",staProtocol.getWrkNo());
                    continue;
                } else if(wrkMast.getWrkSts() != 2) {
                    log.error("出罐装线货物任务号工作档状态异常，不为2:{}",staProtocol.getWrkNo());
                    continue;
                }

                try {
                    CanningLineInLocParam param = new CanningLineInLocParam();
                    param.setWrkNo(staProtocol.getWrkNo());
                    param.setMatnr(staProtocol.getMatnr().trim());
                    param.setBatch(staProtocol.getBatch());
                    param.setManuDate(staProtocol.getManuDate());
                    param.setWeight(staProtocol.getWeight());
                    param.setGrossWeight(staProtocol.getGrossWeight());
                    param.setSourceStaNo(site + 2);
                    param.setTbFlag(staProtocol2.isBarcodeErr());

//                    param.setWrkNo(57);
//                    param.setMatnr("101");
//                    param.setBatch("tt1");
//                    param.setManuDate("2025-06-05");
//                    param.setWeight(100.0);
//                    param.setGrossWeight(100.0);
//                    param.setSourceStaNo(site);
//                    param.setTbFlag(true);

                    String response = new HttpHandler.Builder()
                            .setUri(wmsUrl)
                            .setPath("/rpc/pakin/CanningLine/loc/v1")
                            .setJson(JSON.toJSONString(param))
                            .build()
                            .doPost();
                    log.info("罐装线入库请求wms原始返回：" + response);
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)) {
                        StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                        staProtocol.setWorkNo(dto.getWorkNo());
                        staProtocol.setStaNo(dto.getSourceStaNo().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devpPlcId, new Task(2, staProtocol));
                        staProtocol.setPlaceableFlag(1);
                        boolean offer = MessageQueue.offer(SlaveType.Devp, outGzxSiteList.indexOf(site) + 4, new Task(5, staProtocol));
                        if (offer) {
                            log.info("给罐装线写入可出信号推送{}号输送线命令成功：{}" ,site,1);
                        }
                        if (result) {
                            log.info("罐装线入库推送输送线命令成功：" + dto.getWorkNo() + "," + site + "," + dto.getStaNo());
                            News.info("罐装线入库推送输送线命令成功：" + dto.getWorkNo() + "," + site + "," + dto.getStaNo());
                        } else {
                            log.error("罐装线入库推送输送线命令失败：" + dto.getWorkNo() + "," + site + "," + dto.getStaNo());
                            News.error("罐装线入库推送输送线命令失败：" + dto.getWorkNo() + "," + site + "," + dto.getStaNo());
                            throw new CoolException("罐装线入库推送输送线命令失败:" + site);
                        }
                    } else {
                        log.error("罐装线入库请求接口异常，url:{}，request:{},response:{}", wmsUrl + "/rpc/pakin/CanningLine/loc/v1", JSON.toJSONString(param), response);
                        News.error("罐装线入库请求接口异常！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/CanningLine/loc/v1", JSON.toJSONString(param), response);
                    }
                } catch (Exception e) {
                    e.printStackTrace();
                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                }
            }
        }
    }

    /**
     * 到达罐装线入库口，告诉罐装线要入库桶信息
     */
    public synchronized void inGzxBefore() {
        // 输送线plc编号
        Integer devpPlcId = 2;
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpPlcId);
        for (Integer site : inGzxSiteList) {
            StaProtocol staProtocol = devpThread.getStation().get(site);
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.getWorkNo() != 0) {
                // 查询工作档
                WrkMast wrkMast = wrkMastMapper.selectByWrkNo(staProtocol.getWorkNo());
                if (wrkMast != null && wrkMast.getWhsType() == null) {
                    WrkDetl wrkDetl = wrkDetlService.selectOne(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkMast.getWrkNo()));
                    staProtocol.setBucketType(wrkDetl.getMatnr());
                    staProtocol.setBucketCount(wrkDetl.getAnfme().intValue());
                    boolean result = MessageQueue.offer(SlaveType.Devp, inGzxSiteList.indexOf(site) + 4, new Task(4, staProtocol));
                    if (result) {
                        log.info("告诉罐装线入库桶信息命令队列推送成功：" + staProtocol.getWorkNo() + "," + site + "," + staProtocol.getBucketType() +"," + staProtocol.getBucketCount());
                        News.info("告诉罐装线入库桶信息命令队列推送成功：" + staProtocol.getWorkNo() + "," + site + "," + staProtocol.getBucketType() +"," + staProtocol.getBucketCount());
                        wrkMast.setWhsType(1); // 更新推送标识，避免重复推送
                        wrkMastService.updateById(wrkMast);
                    } else {
                        log.error("告诉罐装线入库桶信息命令队列推送失败：" + staProtocol.getWorkNo() + "," + site + "," + staProtocol.getBucketType() +"," + staProtocol.getBucketCount());
                        News.error("告诉罐装线入库桶信息命令队列推送失败：" + staProtocol.getWorkNo() + "," + site + "," + staProtocol.getBucketType() +"," + staProtocol.getBucketCount());
                        throw new CoolException("告诉罐装线入库桶信息命令队列推送失败:" + site);
                    }
                }
            }
        }
    }

    public synchronized void intiGzxkc() throws InterruptedException {
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
        for (Integer site : outGzxSiteList) {
            StaProtocol staProtocol = devpThread.getStation().get(site);
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo() == 0) {
                staProtocol.setPlaceableFlag(1);
                boolean offer = MessageQueue.offer(SlaveType.Devp, outGzxSiteList.indexOf(site) + 4, new Task(5, staProtocol));
                if(offer) {
                    log.info("初始化罐装线可出信号成功，站点{}，信号：{}",site,1);
                    Thread.sleep(500);
                }
            }
        }
    }
}