zy-wcs.git - Gitblit

			@@ -65,11 +65,21 @@
			// 罐装完成rgv接驳站点
			public static final List<Integer> canningLineRgvConnectionSiteList = new ArrayList<>();

			static {
			emptyPalletSiteMap.put(1002,"M");
			emptyPalletSiteMap.put(1020,"M");emptyPalletSiteMap.put(1035,"Z");
			// 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<>();

			stackingSite.add(1027);stackingSite.add(1020);
			// 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(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);
			@@ -78,13 +88,18 @@
			rgvConnectionSiteList.add(1105);rgvConnectionSiteList.add(1100);rgvConnectionSiteList.add(1097);rgvConnectionSiteList.add(1094);
			rgvConnectionSiteList.add(1091);

			taskStaNoToRgvStaNoMap.put(1050,1044);taskStaNoToRgvStaNoMap.put(1079,1044);taskStaNoToRgvStaNoMap.put(1065,1044);taskStaNoToRgvStaNoMap.put(1072,1044);taskStaNoToRgvStaNoMap.put(1093,1094);
			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
			@@ -155,36 +170,36 @@
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			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 (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;
			// }
			// 退回
			if (back) {
			if (back && staProtocol.isInEnable()) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));

			if (!staProtocol.isLoading()){
			@@ -193,12 +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;
			}

			@@ -206,48 +217,31 @@
			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.setLocArea(2);// 入空桶库标识
			param.setBucketType(staProtocol.getBucketType());
			param.setBucketCount(staProtocol.getBucketCount());
			param.setTailSupportFlag(staProtocol.isTailSupportFlag());
			param.setWantBucketFlag(devpThread.getWantBucketFlag());
			param.setWantBucketFlag(getWantBucketFlag());

			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			@@ -260,28 +254,18 @@
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			barcodeThread.setBarcode("");
			// 目标站点是直供罐装线
			if (dto.getStaNo() == 1079 \|\| dto.getStaNo() == 1065 \|\| dto.getStaNo() == 1072) {
			devpThread.getWantBucketFlag().remove(dto.getCrnNo()); // 移除输送线要桶信号
			staProtocol.setClearBucketSignal(dto.getCrnNo()); // 清除要桶信号标识
			}
			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) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			@@ -301,70 +285,18 @@
			}

			/**
			* 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;
			}

			/**
			@@ -545,33 +477,34 @@
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {

			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			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;
			}
			wrkMast.setWrkSts(14L);
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 空桶出库完成库位组任务
			if (wrkMast.getSourceStaNo() == 1056) {
			WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", 1056).eq("wrk_sts", 12));
			if (wrkMast1 != null) {
			StaProtocol staProtocol1 = devpThread.getStation().get(1057);
			if (staProtocol1 != null) {
			staProtocol1 = staProtocol1.clone();
			staProtocol1.setStaNo(wrkMast1.getStaNo().shortValue());
			staProtocol1.setWorkNo(wrkMast1.getWrkNo());
			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());
			if (wrkMastMapper.updateById(wrkMast1) != 0) {
			}
			// 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());
			crnThread.setResetFlag(true);
			@@ -591,142 +524,6 @@
			}
			}
			// News.infoNoLog(""+mark+" - 0"+" - 堆垛机站出库到出库站 ===》执行完成");
			}

			/**
			* 空子托盘入库
			*/
			public synchronized void storeEmptyPlt() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getEmptyInSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			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;
			}
			// 退回
			if (back) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
			if (!staProtocol.isLoading()) {
			continue;
			}
			if (!staProtocol.isPakMk()) {
			continue;
			}
			staProtocol.setWorkNo(wrkNo);
			News.info("{}空托入库回退：{}，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());
			return;
			}

			// 判断是否满足入库条件
			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);
			continue;
			}
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			continue;
			}
			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(10);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			log.info("空子托盘入库请求wms原始返回：" + response);
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(), dto.getSourceStaNo()));
			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(":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));
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			}
			}

			/**
			@@ -801,7 +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;
			}
			@@ -813,11 +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());
			@@ -897,22 +713,22 @@
			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 {

			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			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());
			}
			// 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) {
			@@ -922,11 +738,22 @@
			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");
			@@ -974,7 +801,7 @@
			}

			// 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) {
			@@ -1035,35 +862,47 @@
			break;
			}

			WrkMast wrkMast1 = null; // 库位任务对应另一个库位任务
			LocMast locMast = null; // 库位对应另一个库位
			// 空桶库出库需要两个库位一起出
			if(slave.getId() == 4) {
			Integer row = sourceSta.getRow1();
			// 获取对应库位
			String newLocNo = (row == 9 \|\| row == 11 ? String.valueOf(row + 1) : row == 10 ? "09" : "11") + sourceSta.getLocNo().substring(2);
			locMast = locMastService.selectById(newLocNo);
			if (locMast == null) {
			log.error("空桶出库寻找{}对应库位组库位号{}错误",sourceSta.getLocNo(),newLocNo);
			break;
			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;
			}
			if (locMast.getLocSts().equals("R")) {
			wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_loc_no", newLocNo));
			} else if(locMast.getLocSts().equals("F")) {
			log.error("空桶出库寻找{}对应库位组库位号{}库位状态错误F",sourceSta.getLocNo(),newLocNo);
			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;
			}
			}
			if (wrkMast1 != null) {
			// 判断给堆垛机发生命令的源库位
			if (sourceSta.getRow1() == 10 \|\| sourceSta.getRow1() == 11) {
			// 交换库位和任务
			LocMast t1 = sourceSta;
			sourceSta = locMast;
			locMast = t1;
			WrkMast t2 = wrkMast1;
			wrkMast1 = wrkMast;
			wrkMast = t2;
			}
			}

			@@ -1078,31 +917,51 @@
			// 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());
			}
			// 修改空桶库对应库位任务状态
			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={}", wrkMast.getWrkNo());
			}
			}
			break;
			}
			@@ -1223,8 +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
			@@ -1392,6 +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;
			@@ -1421,7 +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<>();
			@@ -1665,9 +1541,8 @@
			* 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;
			@@ -1676,14 +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>().in("io_type", 111,112).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 {
			@@ -1711,23 +1592,31 @@
			* 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() {
			// 输送线plc编号
			Integer devpPlcId = 1;
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpPlcId);
			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.getWorkNo() != 0) {
			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());
			@@ -1737,15 +1626,124 @@
			}

			/**
			* 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() {

			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历空板入库口
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			for (Integer site : stackingSite) {
			// 获取空板入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(site);
			if (staProtocol == null) {
			continue;
			@@ -1753,26 +1751,14 @@
			staProtocol = staProtocol.clone();
			}

			if (!staProtocol.isLoading()){
			continue;
			}

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

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.getWorkNo() == 0) {
			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			param.setSourceStaNo(site);
			param.setLocType1(locTypeDto.getLocType1());
			param.setLocType1((short) 1);

			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			@@ -1784,10 +1770,9 @@
			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(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6："+dto.getWorkNo()+","+staProtocol.getSiteId());
			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");
			@@ -1799,24 +1784,149 @@
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			} else {
			News.errorNoLog(" - 母托叠盘入库站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isAutoing()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
			+"、锁定标记"+ staProtocol.isPakMk());
			}
			}
			}

			}

			/**
			* 空桶罐装完成到达罐装线rgv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
			* 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 = 1;
			Integer devpPlcId = 2;
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpPlcId);
			for (Integer site : canningLineRgvConnectionSiteList) {
			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;
			@@ -1826,45 +1936,43 @@
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.getWorkNo() != 0) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectByWrkNo(staProtocol.getWorkNo());
			if (wrkMast.getIoType() != 1) {
			try {
			CanningLineInLocParam param = new CanningLineInLocParam();
			param.setWrkNo(wrkMast.getWrkNo());
			param.setSourceStaNo(site);

			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(RouteUtils.SouStaEnd(dto.getStaNo(), dto.getSourceStaNo()));
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			// 这里下发命令后，输送线要把该站点可入信号去除
			boolean result = MessageQueue.offer(SlaveType.Devp, devpPlcId, new Task(2, staProtocol));
			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();
			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);
			}
			}
			}
			}
			}