#

lsh

2024-02-17 2f264c1b46174f861d10cd81b8b0eec1e4157db4

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

@@ -47,6 +47,7 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.*;
import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;

/**
@@ -98,6 +99,10 @@
    private WrkMastStaMapper wrkMastStaMapper;
    @Autowired
    private BasRgvMapMapper basRgvMapMapper;
    @Autowired
    private RgvOneSignMapper rgvOneSignMapper;
    @Autowired
    private WrkMastCrnMapper wrkMastCrnMapper;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -135,6 +140,47 @@
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                // 尺寸检测异常
                boolean back = false;
                String errMsg = "异常：";
                if (staProtocol.isFrontErr()) {
                    errMsg = errMsg+"前超限；";
                    back = true;
                }
                if (staProtocol.isBackErr()) {
                    errMsg = errMsg+"后超限";
                    back = true;
                }
                if (staProtocol.isHighErr()) {
                    errMsg = errMsg+"高超限";
                    back = true;
                }
                if (staProtocol.isLeftErr()) {
                    errMsg = errMsg+"左超限";
                    back = true;
                }
                if (staProtocol.isRightErr()) {
                    errMsg = errMsg+"右超限";
                    back = true;
                }
                if (staProtocol.isWeightErr()) {
                    errMsg = errMsg+"超重";
                    back = true;
                }
                if (staProtocol.isBarcodeErr()) {
                    errMsg = errMsg+"扫码失败";
                    back = true;
                }
                // 退回
                if (back) {
                    // led 异常显示
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                    if (ledThread != null) {
                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
                    }
                    continue;
                }

                // 入出库模式判断
@@ -215,6 +261,175 @@
                            }
                        } else {
                            log.error("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();
                    }

                }


            }
        }

    }

    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
     */
    public synchronized void generateStoreWrkFileSingle() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSingleSta()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();

                if (!Cools.isEmpty(barcode)) {
//                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
                } else {
                    continue;
                }

                // 获取入库站信息
//                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                // 尺寸检测异常
                boolean back = false;
                String errMsg = "异常：";
                if (staProtocol.isFrontErr()) {
                    errMsg = errMsg+"前超限；";
                    back = true;
                }
                if (staProtocol.isBackErr()) {
                    errMsg = errMsg+"后超限";
                    back = true;
                }
                if (staProtocol.isHighErr()) {
                    errMsg = errMsg+"高超限";
                    back = true;
                }
                if (staProtocol.isLeftErr()) {
                    errMsg = errMsg+"左超限";
                    back = true;
                }
                if (staProtocol.isRightErr()) {
                    errMsg = errMsg+"右超限";
                    back = true;
                }
                if (staProtocol.isWeightErr()) {
                    errMsg = errMsg+"超重";
                    back = true;
                }
                if (staProtocol.isBarcodeErr()) {
                    errMsg = errMsg+"扫码失败";
                    back = true;
                }
                // 退回
                if (back) {
                    // led 异常显示
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                    if (ledThread != null) {
                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
                    }
                    continue;
                }

                // 入出库模式判断
//                if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
//                if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
//                    continue;
//                }

                // 判断是否满足入库条件
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && staProtocol.getWorkNo() == 0
                        && staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {

//                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
//                        //条码为空或者不符合，退库到172站点
//                        staProtocol.setWorkNo((short)32222);
//                        staProtocol.setStaNo((short)172);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }
//                        continue;
//                    }

                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    if (wrkMast != null) {
                        log.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        continue;
                    }
//                    // 获取入库通知档
//                    List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
//                    if (waitPakins.isEmpty()) {
//                        log.error("无此入库条码数据。条码号={}", barcode);
//                        continue;
//                    }

                    try {

                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
                        param.setSourceStaNo(inSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/pair/station/single/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);

                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());


                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo());

                            if(Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) {
                                staProtocol.setStaNo(dto.getStaNo());
                            } else {//如果存在RGV编号，说明需要RGV接驳，先下发任务到RGV源站
                                staProtocol.setStaNo(dto.getRgvSstaNo());
                            }

                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/pair/station/single/loc/v1", JSON.toJSONString(param), response);
                        }

                    } catch (Exception e) {
@@ -385,7 +600,7 @@

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
//                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"7");
                    if (wrkMast == null) {
                        // 无拣料数据
                        continue;
@@ -395,64 +610,67 @@
                        continue;
                    }

                    // 获取目标站
                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                            .eq("type_no", wrkMast.getIoType() - 50)
                            .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
                            .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                    StaDesc staDesc = staDescService.selectOne(wrapper);
                    if (Cools.isEmpty(staDesc)) {
                        log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
                        continue;
                    }

                    //   获取库位号
                    try {
                        // 保存工作明细档历史档
                        if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
                            throw new CoolException("保存工作明细档历史档失败");
                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(wrkMast.getBarcode());
                        param.setIoType(wrkMast.getIoType());
                        param.setSourceStaNo(pickSta.getStaNo()); //作业站点
                        param.setLocType1((short)1);
                        String response = "";
                        log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
                        try {
                            response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/pakin2/loc/v1")
                                    .setJson(JSON.toJSONString(param))
                                    .setTimeout(15, TimeUnit.SECONDS)
                                    .build()
                                    .doPost();
                        } catch(Exception e){
                            log.error("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
                            log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
                            e.printStackTrace();
                            continue;
                        }
                        // 保存工作主档历史档
                        if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
                            throw new CoolException("保存工作主档历史档失败");
                        log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
                        log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response);
                        if(response.equals("")) {
                            continue;
                        }

                        Date now = new Date();
                        // 堆垛机站点(目标站)
                        Integer staNo = staDesc.getCrnStn();
                        // 更新工作档数据状态
                        wrkMast.setIoTime(now);
                        wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
                        wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                        wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
                        wrkMast.setStaNo(staNo); // 目标站
                        wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
                        wrkMast.setSourceLocNo(""); // 源库位清空
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            throw new CoolException("更新工作档数据状态失败");
                        }
                        // 更新明细档io_time (历史档关联使用）
                        wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
                        // 修改库位状态 Q.拣料/盘点/并板再入库
                        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
                        locMast.setLocSts("Q");
                        locMast.setModiTime(new Date());
                        if (!locMastService.updateById(locMast)) {
                            throw new CoolException("修改库位状态失败");
                        JSONObject jsonObject = JSON.parseObject(response);
//                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                        Integer code = jsonObject.getInteger("code");
                        if (code == 200) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                            if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
                                log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
                            } else {
                                log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位成功===>>" + jsonObject.toJSONString());
                                try {
                                    // 更新站点信息 且 下发plc命令
                                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                                    staProtocol.setStaNo(dto.getStaNo());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
//                                    ledThread.errorReset();
                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    if (!result) {
                                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                                    }
                                    log.info("任务号"+wrkMast.getWrkNo()+"盘点/拣料再入库任务下发成功===>>" + staProtocol);
                                } catch (Exception e) {
                                    log.error("盘点再入库失败===>>" + e);
                                    e.printStackTrace();
                                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                }
                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        log.error("stnToCrnStnPick2===>>fail", e);
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        continue;
                    }

                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                    staProtocol.setStaNo(wrkMast.getStaNo());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    if (!result) {
                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }

                }
@@ -487,19 +705,6 @@
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");

                    if (wrkMast == null) {
//                        WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
//                        if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
//                            WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 9999L);
//                            if (Cools.isEmpty(wrkMastSta)){
//                                WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
//                                wrkMastSta1.setType(2);
//                                wrkMastSta1.setWrkType(1);
//                                wrkMastStaMapper.insert(wrkMastSta1);
//                            }
//                            continue;
//                        }
//                        log.error("站点号"+staProtocol.getSiteId()+"未查询到工作档案！");
                        // 无拣料数据
                        continue;
                    }
                    if (staProtocol.isEmptyMk()){
@@ -511,65 +716,137 @@
                        continue;
                    }

                    // 获取目标站
                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                            .eq("type_no", wrkMast.getIoType() - 50)
                            .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
                            .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                    StaDesc staDesc = staDescService.selectOne(wrapper);
                    if (Cools.isEmpty(staDesc)) {
                        log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
                    String barcode = wrkMast.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                            continue;
                        }
                    } else {
                        continue;
                    }

                    //   获取库位号
                    try {
                        // 保存工作明细档历史档
                        if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
                            throw new CoolException("保存工作明细档历史档失败");
                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(wrkMast.getIoType());
                        param.setSourceStaNo(pickSta.getStaNo()); //作业站点
                        param.setLocType1((short)1);
                        String response = "";
                        log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
                        try {
                            response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/pakin2/loc/v1")
                                    .setJson(JSON.toJSONString(param))
                                    .setTimeout(15, TimeUnit.SECONDS)
                                    .build()
                                    .doPost();
                        } catch(Exception e){
                            log.error("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
                            log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
                            e.printStackTrace();
                            continue;
                        }
                        // 保存工作主档历史档
                        if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
                            throw new CoolException("保存工作主档历史档失败");
                        log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
                        log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response);
                        if(response.equals("")) {
                            continue;
                        }

                        Date now = new Date();
                        // 堆垛机站点(目标站)
                        Integer staNo = staDesc.getCrnStn();
                        // 更新工作档数据状态
                        wrkMast.setIoTime(now);
                        wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
                        wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                        wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
                        wrkMast.setStaNo(staNo); // 目标站
                        wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
                        wrkMast.setSourceLocNo(""); // 源库位清空
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            throw new CoolException("更新工作档数据状态失败");
                        }
                        // 更新明细档io_time (历史档关联使用）
                        wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
                        // 修改库位状态 Q.拣料/盘点/并板再入库
                        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
                        locMast.setLocSts("Q");
                        locMast.setModiTime(new Date());
                        if (!locMastService.updateById(locMast)) {
                            throw new CoolException("修改库位状态失败");
                        JSONObject jsonObject = JSON.parseObject(response);
//                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                        Integer code = jsonObject.getInteger("code");
                        if (code == 200) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                            if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
                                log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
                            } else {
                                log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位成功===>>" + jsonObject.toJSONString());
                                try {
                                    // 更新站点信息 且 下发plc命令
                                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                                    staProtocol.setStaNo(dto.getStaNo());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
//                                    ledThread.errorReset();
                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    if (!result) {
                                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                                    }
                                    log.info("任务号"+wrkMast.getWrkNo()+"盘点/拣料再入库任务下发成功===>>" + staProtocol);
                                } catch (Exception e) {
                                    log.error("盘点再入库失败===>>" + e);
                                    e.printStackTrace();
                                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                }
                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        log.error("stnToCrnStnPick2===>>fail", e);
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        continue;
                    }

                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                    staProtocol.setStaNo(wrkMast.getStaNo());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    if (!result) {
                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }
//                    // 获取目标站
//                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
//                            .eq("type_no", wrkMast.getIoType() - 50)
//                            .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
//                            .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
//                    StaDesc staDesc = staDescService.selectOne(wrapper);
//                    if (Cools.isEmpty(staDesc)) {
//                        log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
//                        continue;
//                    }
//
//                    try {
//                        // 保存工作明细档历史档
//                        if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
//                            throw new CoolException("保存工作明细档历史档失败");
//                        }
//                        // 保存工作主档历史档
//                        if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
//                            throw new CoolException("保存工作主档历史档失败");
//                        }
//
//                        Date now = new Date();
//                        // 堆垛机站点(目标站)
//                        Integer staNo = staDesc.getCrnStn();
//                        // 更新工作档数据状态
//                        wrkMast.setIoTime(now);
//                        wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
//                        wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
//                        wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
//                        wrkMast.setStaNo(staNo); // 目标站
//                        wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
//                        wrkMast.setSourceLocNo(""); // 源库位清空
//                        wrkMast.setModiTime(now);
//                        if (wrkMastMapper.updateById(wrkMast) == 0) {
//                            throw new CoolException("更新工作档数据状态失败");
//                        }
//                        // 更新明细档io_time (历史档关联使用）
//                        wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
//                        // 修改库位状态 Q.拣料/盘点/并板再入库
//                        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
//                        locMast.setLocSts("Q");
//                        locMast.setModiTime(new Date());
//                        if (!locMastService.updateById(locMast)) {
//                            throw new CoolException("修改库位状态失败");
//                        }
//                    } catch (Exception e) {
//                        e.printStackTrace();
//                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
//                        continue;
//                    }
//
//                    // 更新站点信息 且 下发plc命令
//                    staProtocol.setWorkNo(wrkMast.getWrkNo());
//                    staProtocol.setStaNo(wrkMast.getStaNo());
//                    devpThread.setPakMk(staProtocol.getSiteId(), false);
//                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                    if (!result) {
//                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
//                    }

                }

@@ -866,20 +1143,44 @@
                    // 如果最近一次是入库模式
                    if (crnProtocol.getLastIo().equals("I")) {
                        if (basCrnp.getInEnable().equals("Y")) {
                            this.crnStnToLoc1(crn, crnProtocol); //  入库
                            switch (crn.getId()){
                                case 1:
                                case 2:
                                    this.crnStnToLoc1Single(crn, crnProtocol); //  入库
                                default:
                                    this.crnStnToLoc1(crn, crnProtocol); //  入库
                            }
                            crnProtocol.setLastIo("O");
                        } else if (basCrnp.getOutEnable().equals("Y")) {
                            this.locToCrnStn1(crn, crnProtocol); //  出库
                            switch (crn.getId()){
                                case 1:
                                case 2:
                                    this.locToCrnStn1Single(crn, crnProtocol); //  出库
                                default:
                                    this.locToCrnStn1(crn, crnProtocol); //  出库
                            }
                            crnProtocol.setLastIo("I");
                        }
                    }
                    // 如果最近一次是出库模式
                    else if (crnProtocol.getLastIo().equals("O")) {
                        if (basCrnp.getOutEnable().equals("Y")) {
                            this.locToCrnStn1(crn, crnProtocol); //  出库
                            switch (crn.getId()){
                                case 1:
                                case 2:
                                    this.locToCrnStn1Single(crn, crnProtocol); //  出库
                                default:
                                    this.locToCrnStn1(crn, crnProtocol); //  出库
                            }
                            crnProtocol.setLastIo("I");
                        } else if (basCrnp.getInEnable().equals("Y")) {
                            this.crnStnToLoc1(crn, crnProtocol); //  入库
                            switch (crn.getId()){
                                case 1:
                                case 2:
                                    this.crnStnToLoc1Single(crn, crnProtocol); //  入库
                                default:
                                    this.crnStnToLoc1(crn, crnProtocol); //  入库
                            }
                            crnProtocol.setLastIo("O");
                        }
                    }
@@ -1280,6 +1581,140 @@
    }

    /**
     * 入库  ===>>  堆垛机站到库位
     * 2022-12-03 TQS修改，先遍历查询同台堆垛机工作档所有站点入库任务LIST，根据工作档任务排序优先级高于 根据堆垛机入库站点排序
     */
    public synchronized void crnStnToLoc1Single(CrnSlave slave, CrnProtocol crnProtocol) {
        List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
        for(WrkMast wrkMast : wrkMasts){
            if (wrkMast == null) {
                continue;
            }

            CrnSlave.CrnStn crnStn = null;
            for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
                if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
                    crnStn = crnStn1;
                    break;
                }
            }
            if(Cools.isEmpty(crnStn)){
                continue;
            }

            boolean flag = false;
            boolean flagOther = false;
            // 获取堆垛机入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
            if (staProtocolOther == null) {
                continue;
            } else {
                staProtocolOther = staProtocolOther.clone();
            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                flag = true;
            }

            // 查询站点详细信息
            BasDevp staDetlOther = basDevpService.selectById(crnStn.getStaNoOther());
            if (staDetlOther == null) {
                log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNoOther());
                continue;
            }
            if (staProtocolOther.isAutoing() && staProtocolOther.isLoading() && staProtocolOther.getWorkNo() > 0 && staProtocolOther.isInEnable()
                    && staDetlOther.getCanining() != null && staDetlOther.getCanining().equals("Y")) {
                flagOther = true;
            }
            if (!flag || !flagOther) {
                continue;
            }

            //查询堆垛机任务
            WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(wrkMast.getWrkNo());
            if (Cools.isEmpty(wrkMastCrn)){
                continue;
            }

            WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());

            // 获取库位信息
            LocMast locMast = locMastService.selectById(Utils.getRow(wrkMastCrn.getLocNo())%4>2? wrkMastCrn.getLocNoTwo():wrkMastCrn.getLocNoOne());
            if (locMast == null) {
                log.error("查询库存无数据--库位号{}", wrkMastCrn.getLocNo());
                continue;
            }
            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
                log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
                continue;
            }

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

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

            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
            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(crnStn.getRow().shortValue());     // 源库位排
            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
            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                log.error("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) {
                    log.error("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
                wrkMastOther.setWrkSts(3L);
                wrkMastOther.setCrnStrTime(now);
                wrkMastOther.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMastOther) == 0) {
                    log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMastOther.getWrkNo());
                }

                wrkMastCrn.setWrkSts(3L);
                wrkMastCrn.setModiTime(now);
                if (wrkMastCrnMapper.updateById(wrkMastCrn) == 0) {
                    log.error("修改堆垛机工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMastCrn.getWrkNo());
                }
            }
        }

    }

    /**
     * 出库  ===>>  库位到堆垛机站
     * 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
     */
@@ -1443,6 +1878,167 @@
            if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
                log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                continue;
            }
            //退库模式跳过118、119出库任务
            if (wrkMast.getStaNo()==118 || wrkMast.getStaNo()==119){
                RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
                if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
                    continue;
                }
            }
            // 获取源库位信息
            LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
            if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
                log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                continue;
            }
            // 获取堆垛机出库站信息
            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                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) {
                continue;
            }

            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                break;
//                    continue;
            }
            // 判断堆垛机出库站状态
            if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                    && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                // 命令下发区 --------------------------------------------------------------------------

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

                // 双深库位且浅库位有货，则需先对浅库位进行库位移转
                if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
                    LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                    // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                    if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                        WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                        if (null == waitWrkMast) {
                            log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                        } else {
                            if (waitWrkMast.getWrkSts() == 11) {
                                waitWrkMast.setIoPri(15D);
                                waitWrkMast.setModiTime(new Date());
                                if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                    log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                }
                                continue;
                            } else {

                            }
                        }
                    } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
//                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                        //2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
                        WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                        // 此标记避免多次执行移库任务
//                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
//                                || Cools.isEmpty(waitWrkMast)) {
                        if (Cools.isEmpty(waitWrkMast)) {
                            wrkMast.setUpdMk("Y");
                            wrkMastMapper.updateById(wrkMast);
                            // 生成工作档,将浅库位移转到新的库位中
                            moveLocForDeepLoc(slave, shallowLoc);
                        }
                        log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                        continue;
                    } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
                        WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                        if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                            continue;
                        }
                    }
                }

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

                // 1.堆垛机开始移动
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                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
                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
                crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("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();
                    wrkMast.setWrkSts(12L);
                    wrkMast.setCrnStrTime(now);
                    wrkMast.setModiTime(now);
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
                    break;
                }
            }
        }

    }

    /**
     * 出库  ===>>  库位到堆垛机站
     * 2022-12-03 TQS修改，先遍历查询工作档所有站点出库任务LIST，根据工作档任务排序优先级高于 根据堆垛机入库站点排序
     */
    public synchronized void locToCrnStn1Single(CrnSlave slave, CrnProtocol crnProtocol) {
        List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
        for (WrkMast wrkMast : wrkMasts) {
            if (wrkMast == null) {
                continue;
            }

            CrnSlave.CrnStn crnStn = null;
            for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
                if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){
                    crnStn = crnStn1;
                    break;
                }
            }
            if(Cools.isEmpty(crnStn)){
                continue;
            }

            // 工作档状态判断
            if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
                log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                continue;
            }
            //退库模式跳过118、119出库任务
            if (wrkMast.getStaNo()==118 || wrkMast.getStaNo()==119){
                RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
                if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
                    continue;
                }
            }
            // 获取源库位信息
            LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
@@ -1790,6 +2386,47 @@
                if (crnProtocol.getTaskNo() == 32222) {
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
                } else if (crnProtocol.getCrnNo()<3) {
                    // 获取入库待确认工作档
                    WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(crnProtocol.getTaskNo().intValue());
                    if (wrkMastCrn == null) {
                        log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                        continue;
                    }
                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                    if (wrkMast == null) {
                        log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                        continue;
                    }

                    // 获取入库待确认工作档
                    WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());
                    if (wrkMastOther == null) {
                        log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                        continue;
                    }
                    // 入库 + 库位转移  ==> 4.入库完成
                    if (wrkMastCrn.getWrkSts() == 3 || (wrkMastCrn.getWrkSts() == 12 && wrkMastCrn.getIoType() == 11)) {
                        wrkMastCrn.setWrkSts(4L);
                    } else {
                        continue;
                    }
                    Date now = new Date();
                    wrkMastCrn.setModiTime(now);

                    wrkMast.setCrnEndTime(now);
                    wrkMast.setWrkSts(4L);
                    wrkMast.setModiTime(now);

                    wrkMastOther.setCrnEndTime(now);
                    wrkMastOther.setWrkSts(4L);
                    wrkMastOther.setModiTime(now);
                    // 修改成功后复位堆垛机
                    if (wrkMastCrnMapper.updateById(wrkMastCrn) > 0 && wrkMastMapper.updateById(wrkMast) > 0 && wrkMastMapper.updateById(wrkMastOther) > 0 ) {
                        // 堆垛机复位
                        crnThread.setResetFlag(true);
                    }
                } else {
                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
@@ -2128,6 +2765,63 @@
    }

    /**
     * 空栈板初始化入库,叉车入库站放货
     */
    public synchronized void storeEmptyPltSingle() {
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历空板入库口
            for (DevpSlave.Sta emptyInSta : devp.getEmptyInSingleSta()) {
                // 获取空板入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0)  && staProtocol.isPakMk()) {

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setIoType(10);
                        param.setSourceStaNo(emptyInSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/pair/station/single/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());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/pair/station/single/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }
                }
            }
        }
    }

    /**
     * 入库  ===>> 空栈板初始化入库,1楼叠盘机叠盘
     */
    public synchronized void storeEmptyPlt2() {
@@ -2169,6 +2863,10 @@
     */
    public synchronized void storeEmptyPlt3() {
        try{
            RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
            if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
                return;
            }
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
@@ -2187,7 +2885,8 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        &&  (rgvProtocol.getLoaded2()==2  || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物  ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
//                        &&  (rgvProtocol.getLoaded2()==2  || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物  ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
                        &&  rgvProtocol.getLoaded2()==3 ////0 无物；1 一层无物二层有物  ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
                ) {
                    try {
                        WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122);
@@ -2900,10 +3599,10 @@
     */
    public synchronized void stackingCompletionDriveTray() {
        try {
            int[] staNos=new int[]{216,220,123};//(3个入库站点，1楼1个退货码垛站，2楼两个入库码垛站)
            int[] staNos=new int[]{215,219};//(2楼两个入库码垛站)
            for (int staNo : staNos){
                BasDevp basDevp = basDevpService.selectById(staNo);
                if (basDevp.getWrkNo()!=9992 || Cools.isEmpty(basDevp.getBarcode())){
                if ((basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 || basDevp.getWrkNo()>9999)) || Cools.isEmpty(basDevp.getBarcode())){
                    continue;
                }
                Integer zpallet = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet", basDevp.getBarcode()).eq("status","N"));
@@ -2934,11 +3633,11 @@
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && staProtocol.getWorkNo() == 9992
                        && (basDevp.getWrkNo()==0 || (basDevp.getWrkNo()>=9900 && basDevp.getWrkNo()<=9999))
                ) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {

                    staProtocol.setWorkNo(9999);
                    staProtocol.setStaNo(staNo + 1);
                    int workNo = commonService.getWorkNo(5);
                    staProtocol.setWorkNo(workNo);
                    staProtocol.setStaNo(staNo + 2);
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
                    if (!result) {
@@ -3049,7 +3748,7 @@
                        // 无拣料数据
                        continue;
                    }
                    if (!wrkMast.getSheetNo().equals("2") || wrkMast.getIoType()<100 || wrkMast.getWrkSts()!=14){
                    if (Cools.isEmpty(wrkMast.getSheetNo()) || !wrkMast.getSheetNo().equals("2") || wrkMast.getIoType()<100 || wrkMast.getWrkSts()!=14){
                        continue;
                    }
                    if (wrkMast.getIoType()==101){
@@ -3165,8 +3864,20 @@
                    staProtocol = staProtocol.clone();
                }

                StaProtocol staProtocol147 = devpThread.getStation().get(147);
                if (staProtocol147 == null) {
                    continue;
                } else {
                    staProtocol147 = staProtocol147.clone();
                }

                if (!staProtocol.isLoading()){
                    log.info("{}站点无物，异常！",staNo);
                    continue;
                }

                if (staProtocol147.isLoading()){
                    log.info("{}站点有物！",staProtocol147.getSiteId());
                    continue;
                }
                // 判断是否满足入库条件
@@ -3174,6 +3885,9 @@
                        && staProtocol.isLoading()
                        && !staProtocol.isEmptyMk()
                ) {

                    boolean result3 = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol147));

                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                    staProtocol.setStaNo(wrkMast.getStaNo());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -3181,8 +3895,12 @@
                    if (!result) {
                        throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
                    }

                    wrkMast.setSheetNo("5");
                    wrkMastMapper.updateById(wrkMast);

                    boolean result4 = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol147));

                }
            }
        }catch (Exception e){
@@ -3252,7 +3970,8 @@
                    }catch (Exception e){ }
                    basDevp135.setReportSign(2);
                    basDevpService.updateById(basDevp135);
                    staProtocol135.setWorkNo(32222);
                    int workNo = commonService.getWorkNo(5);
                    staProtocol135.setWorkNo(workNo);
                    staProtocol135.setStaNo(144);
                    devpThread.setPakMk(staProtocol135.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol135));
@@ -3311,10 +4030,15 @@
                            continue;
                        }
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast)){
                        if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
                            Thread.sleep(200);
                            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
                            if (staProtocol == null) {
                                continue;
                            } else {
                                staProtocol = staProtocol.clone();
                            }
                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                                continue;
                            }
@@ -3369,7 +4093,7 @@
                            continue;
                        }
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast)){
                        if (!Cools.isEmpty(wrkMast)  && wrkMastSta.getWrkType()!=5){
                            Thread.sleep(200);
                            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
@@ -3422,7 +4146,8 @@
    /**
     * 入出库  ===>>  小车作业下发
     */
    public synchronized void rgvIoExecute(Integer sign) {
    public synchronized boolean rgvIoExecute(Integer sign) {
        boolean rgvIoExecuteSign = false;
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                // 获取小车信息
@@ -3449,20 +4174,20 @@
                    switch (sign){
                        //执行小车货物搬运任务
                        case 1:
                            signWork = rgvRunWrkMastFullSta();
                            signWork = rgvRunWrkMastFullSta(rgvSlave);
                            break;
                        //执行小车空板搬运任务
                        case 2://放//拆盘
                            signWork = rgvRunWrkMastEmptyStaPut();
                            signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
                            break;
                        case 3://满放
                            signWork = rgvRunWrkMastEmptyStaPutFull();
                            signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
                            break;
                        case 4://取叠盘
                            signWork = rgvRunWrkMastEmptyStaTake();
                            signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
                            break;
                        case 5:////满取
                            signWork = rgvRunWrkMastEmptyStaTakeFull();
                            signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
                            break;
                        case 6:////提升
//                            signWork = qwe();
@@ -3470,56 +4195,62 @@
                        default:
                            break;
                    }
                }
                for (int signCount = 1;!signWork && signCount<8;signCount++){
                    switch (signCount){
                        case 1://执行小车货物搬运任务
                            signWork = rgvRunWrkMastFullSta();
                            break;
                        case 2://放//拆盘
                            signWork = rgvRunWrkMastEmptyStaPut();
                            break;
                        case 3://满放
                            signWork = rgvRunWrkMastEmptyStaPutFull();
                            break;
                        case 4://取叠盘
                            signWork = rgvRunWrkMastEmptyStaTake();
                            break;
                        case 5:////满取
                            signWork = rgvRunWrkMastEmptyStaTakeFull();
                            break;
                        case 6:////提升
                    for (int signCount = 1;!signWork && signCount<7;signCount++){
                        switch (signCount){
                            case 1://执行小车货物搬运任务
                                signWork = rgvRunWrkMastFullSta(rgvSlave);
                                break;
                            case 2://放//拆盘
                                signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
                                break;
                            case 3://满放
                                signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
                                break;
                            case 4://取叠盘
                                signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
                                break;
                            case 5:////满取
                                signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
                                break;
                            case 6:////提升
//                            signWork = rgvRunWrkMastEmptyStaPut();
                            break;
                        default:
                            if (sign>6){
                                rgvRunWrkMastEmptyStaAvoidance();//避让
                                signWork = true;
                            }
                            break;
                                break;
                            default:
                                break;
                        }
                    }
                }else {
                    continue;
                }

                if (!rgvIoExecuteSign){
                    rgvIoExecuteSign = signWork;
                }
            }
//            if (!rgvIoExecuteSign){
//                if (sign>6){
//
//                }
//            }
        }catch (Exception e){
            log.error("RGV小车任务下发报错"+e);
        }
        return rgvIoExecuteSign;
    }
    /**
     * 执行小车搬运任务
     */
    public synchronized boolean rgvRunWrkMastFullSta() {
    public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) {
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                    return false;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                    return false;
                }

                // 只有当RGV空闲、自动,工位一无物//rgv可用
@@ -3533,7 +4264,7 @@
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        continue;
                        return false;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
@@ -3566,7 +4297,7 @@
                        break;
                    }
                }
            }
//            }
        }catch (Exception e){
            log.error("3875行执行小车搬运任务下发失败");
            log.error("3875行"+e);
@@ -3576,18 +4307,18 @@
    /**
     * 执行小车搬运任务//拆盘
     */
    public synchronized boolean rgvRunWrkMastEmptyStaPut() {//拆盘
    public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//拆盘
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                    return false;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                    return false;
                }

                // 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘
@@ -3601,7 +4332,7 @@
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        continue;
                        return false;
                    }
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
@@ -3639,7 +4370,7 @@
                        break;
                    }
                }
            }
//            }
        }catch (Exception e){
            log.error("3933行执行小车放空板任务下发失败");
            log.error("3933行"+e);
@@ -3650,18 +4381,18 @@
    /**
     * 执行小车搬运任务
     */
    public synchronized boolean rgvRunWrkMastEmptyStaPutFull() {//满放
    public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//满放
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                    return false;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                    return false;
                }

                // 只有当RGV空闲、自动,工位二有物//rgv可用
@@ -3675,7 +4406,7 @@
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        continue;
                        return false;
                    }
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
@@ -3713,7 +4444,7 @@
                        break;
                    }
                }
            }
//            }
        }catch (Exception e){
            log.error("3933行执行小车放空板任务下发失败");
            log.error("3933行"+e);
@@ -3721,18 +4452,18 @@
        return false;
    }

    public synchronized boolean rgvRunWrkMastEmptyStaTake() {//叠盘
    public synchronized boolean rgvRunWrkMastEmptyStaTake(RgvSlave rgvSlave) {//叠盘
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                    return false;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                    return false;
                }

                // 只有当RGV空闲、自动,工位二无物//rgv可用
@@ -3746,7 +4477,7 @@
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        continue;
                        return false;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
@@ -3784,7 +4515,7 @@
                        break;
                    }
                }
            }
//            }
        }catch (Exception e){
            log.error("3989行执行小车取空板任务下发失败");
            log.error("3989行"+e);
@@ -3792,18 +4523,18 @@
        return false;
    }

    public synchronized boolean rgvRunWrkMastEmptyStaTakeFull() {//满取
    public synchronized boolean rgvRunWrkMastEmptyStaTakeFull(RgvSlave rgvSlave) {//满取
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                    return false;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                    return false;
                }

                // 只有当RGV空闲、自动,工位二无物//rgv可用
@@ -3817,7 +4548,7 @@
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        continue;
                        return false;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
@@ -3855,7 +4586,7 @@
                        break;
                    }
                }
            }
//            }
        }catch (Exception e){
            log.error("3989行执行小车取空板任务下发失败");
            log.error("3989行"+e);