zy-wcs.git - Gitblit

			@@ -9,15 +9,13 @@
			import com.core.exception.CoolException;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.BasCrnErrorMapper;
			import com.zy.asrs.mapper.TestMastMapper;
			import com.zy.asrs.mapper.WaitPakinMapper;
			import com.zy.asrs.mapper.WrkMastMapper;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.VersionUtils;
			import com.zy.common.model.LocTypeDto;
			import com.zy.common.model.MatDto;
			import com.zy.common.model.SearchLocParam;
			import com.zy.common.model.StartupDto;
			import com.zy.common.model.*;
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.CollectionUtils;
			import com.zy.common.utils.HttpHandler;
			@@ -37,8 +35,10 @@
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.BarcodeThread;
			import com.zy.core.thread.LedThread;
			import com.zy.core.thread.SiemensCrnThread;
			import com.zy.core.thread.SiemensDevpThread;
			import lombok.extern.slf4j.Slf4j;
			import org.apache.poi.ss.formula.functions.T;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.beans.factory.annotation.Value;
			import org.springframework.scheduling.annotation.Async;
			@@ -51,6 +51,7 @@
			import java.util.List;
			import java.util.Set;
			import java.util.stream.Collectors;


			/**
			* 立体仓库WCS系统主流程业务
			@@ -87,8 +88,16 @@
			private BasErrLogService basErrLogService;
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			@Autowired
			private TestMastService testMastService;

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

			@Value("${test.url}")
			private String testUrl;
			@Autowired
			private WrkMastService wrkMastService;

			/**
			* 组托
			@@ -105,6 +114,7 @@
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			// barcode="ILY0127 0001";
			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)) {
			@@ -122,10 +132,9 @@
			} else {
			staProtocol = staProtocol.clone();
			}

			//staProtocol.setPakMk(true);
			// // 入出库模式判断
			// if ( inSta.getStaNo()==180 && devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			@@ -146,7 +155,7 @@
			// }

			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode.substring(0,6));
			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;
			@@ -159,14 +168,28 @@
			// }

			try {

			String pack =null;//pack码
			if(barcode.length()>6){
			pack=barcode.substring(6);
			if(pack.equals("00000000000000000000")){
			log.error("没有获得Pack码",pack);
			continue;
			}
			}
			//String pack="MJY0136 0400";
			barcode=barcode.substring(0,6);//托盘码
			if(barcode.equals("000000")){
			log.error("没有获得条码",barcode);
			continue;
			}
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			locTypeDto.setLocType1((short)1);
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			param.setPackNo(pack);
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			@@ -176,7 +199,6 @@
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			@@ -185,7 +207,21 @@
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			} else if (jsonObject.getInteger("code").equals(700) && (!barcodeThread.getBarcode().equals("NG"))){
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo((short)9999);
			staProtocol.setStaNo((short)201);
			devpThread.setPakMk(staProtocol.getSiteId(), true);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}else {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo((short)9999);
			staProtocol.setStaNo((short)201);
			devpThread.setPakMk(staProtocol.getSiteId(), true);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}

			@@ -404,19 +440,23 @@
			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(new Date());
			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");
			@@ -462,7 +502,7 @@
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			if (staProtocol.isAutoing() && (staProtocol.isLoading()\|\|staProtocol.getSiteId()==1000) && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
			if (wrkMast == null) {
			@@ -524,8 +564,58 @@
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}

			// //堆垛机回原点任务中
			// if(crnThread.isBackHpFlag()){
			// continue;
			// }
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
			&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
			// 库位移转
			this.stnToStn(crn, crnProtocol);
			}else {
			continue;
			}

			try{
			Thread.sleep(1000);
			}catch (Exception e){
			continue;
			}
			crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
			&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
			// 库位移转
			this.locToLoc(crn, crnProtocol);
			}else {
			continue;
			}

			try{
			Thread.sleep(1000);
			}catch (Exception e){
			continue;
			}
			crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
			&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			@@ -548,46 +638,52 @@
			}
			}
			// 库位移转
			this.locToLoc(crn, crnProtocol);
			// this.crnRebackHp(crnProtocol, crnThread);

			}
			}

			/**
			* 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
			*/
			public void crnRebackHp(){
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}
			public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread){
			// for (CrnSlave crn : slaveProperties.getCrn()) {
			// // 获取堆垛机信息
			// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			// if (crnProtocol == null) {
			// continue;
			// }
			// BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			// if (basCrnp == null) {
			// log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			// continue;
			// }
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(crn.getId()) != null) {
			continue;
			if(crnProtocol.getBay() ==1 && crnProtocol.getLevel()==1){
			return;
			}

			//堆垛机有执行中任务，过滤
			if (wrkMastMapper.selectCrnWorking(crn.getId()) != null) {
			continue;
			// 已经存在吊车执行任务时，则过滤3,12
			if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
			return;
			}

			//输送线没有入库任务，过滤
			if (wrkMastMapper.selectDevWorking(crn.getId()) == null) {
			continue;
			//堆垛机有执行中任务，过滤3,4,11,12
			if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) {
			return;
			}

			//输送线没有入库任务，过滤2
			if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
			return;
			}

			log.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
			crnCommand.setTaskNo((short) 1); // 工作号
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9999); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 回原点
			crnCommand.setSourcePosX((short) 0); // 源库位排
			@@ -596,11 +692,12 @@
			crnCommand.setDestinationPosX((short) 0); // 目标库位排
			crnCommand.setDestinationPosY((short) 0); // 目标库位列
			crnCommand.setDestinationPosZ((short) 0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
			log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crn.getId(), JSON.toJSON(crnCommand));
			if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
			}
			crnThread.setBackHpFlag(true);
			}
			}
			// }
			}

			/**
			@@ -654,7 +751,7 @@

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

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			@@ -672,16 +769,19 @@
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			}
			continue;

			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			}
			continue;
			} else if (shallowLoc.getLocSts().equals("Q")){
			@@ -703,7 +803,8 @@
			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
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层\
			crnCommand.setBarcode(wrkMast.getBarcode());//托盘码
			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 {
			@@ -734,120 +835,269 @@

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
			*/
			public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			if (wrkMast == null) {
			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;
			}
			// 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) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
			for (WrkMast wrkMast : wrkMasts){
			if (wrkMast == null) {
			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;
			}
			// 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; }


			// 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());
			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) {
			// 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;
			}
			//查询在库信息
			LocMast locMast =locMastService.selectOne(new EntityWrapper<LocMast>()
			.eq("loc_sts","R")
			.eq("loc_no",wrkMast.getSourceLocNo()));
			if(Cools.isEmpty(locMast)){
			log.error("出库 ===>> 库位中没有这笔资料",wrkMast.getSourceLocNo());
			continue;
			}

			// 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")) {
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			moveLocForDeepLoc(slave, shallowLoc);
			}
			log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
			// 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()) {
			//测试库位出库必须要按启动按钮才能出库
			if((wrkMast.getStaNo()==206 \|\| wrkMast.getStaNo()==1000)&& locMast.getCtnKind()==0){
			log.error("出库 ===>> 等待启动出库按钮",wrkMast);
			continue;
			}
			}
			// 命令下发区 --------------------------------------------------------------------------

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			return;
			}
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}

			// 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());
			// 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);
			// 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)) {
			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！", wrkMast.getWrkNo());
			continue;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")){
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(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
			crnCommand.setBarcode(wrkMast.getBarcode());
			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
			// */
			// public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
			// for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// // 获取工作状态为11（生成出库ID）的出库工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			// if (wrkMast == null) {
			// 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;
			// }
			// // 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) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			//
			//// // 入出库模式判断
			//// if (devpThread.ioMode != 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());
			// 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;
			// }
			//
			// // 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")) {
			// // 此标记避免多次执行移库任务
			// if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			// wrkMast.setUpdMk("Y");
			// wrkMastMapper.updateById(wrkMast);
			// // 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			// moveLocForDeepLoc(slave, shallowLoc);
			// }
			// log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
			// continue;
			// }
			// }
			//
			// // 已经存在吊车执行任务时，则过滤
			// if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			// 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());
			// }
			// }
			// }
			// }
			// }

			/**
			* 库位移转
			@@ -890,6 +1140,12 @@
			return;
			}

			//测试库位出库必须要按启动按钮才能出库
			if(sourceSta.getLocType1()==1 && sourceSta.getCtnKind()==0){
			log.error("出库 ===>> 等待启动按钮",wrkMast);
			return;
			}

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			@@ -902,6 +1158,11 @@
			crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 目标库位层
			if(!sta.getLocNo().equals("0102501")){
			crnCommand.setBarcode(wrkMast.getBarcode());//托盘码
			}else {
			crnCommand.setFireStaut((short) 1);
			}
			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 {
			@@ -929,25 +1190,30 @@
			if (crnProtocol == null) { continue; }
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			// 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;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)){
			wrkMast.setWrkSts(4L);
			} else {
			continue;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			if(crnProtocol.getTaskNo()==9999){
			// 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());
			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;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			wrkMast.setWrkSts(4L);
			} else {
			continue;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			}
			}

			}
			@@ -1249,7 +1515,7 @@
			ledCommand.setStaNo(wrkMast.getStaNo());
			if (wrkMast.getIoType() != 110) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatNo(), wrkDetl.getMatName(), wrkDetl.getQty())));
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())));
			}
			commands.add(ledCommand);
			}
			@@ -1340,7 +1606,7 @@
			}
			}
			// 获取led线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// led显示默认内容
			if (reset && !ledThread.isLedMk()) {
			ledThread.setLedMk(true);
			@@ -1363,10 +1629,11 @@

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			Date now = new Date();
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setIoTime(now);
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(15D);
			@@ -1380,8 +1647,8 @@
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setCtnNo("Y"); // 入库阻塞库位移转标记
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			wrkMast.setAppeTime(now);
			wrkMast.setModiTime(now);
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			@@ -1392,11 +1659,11 @@
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setQty(locDetl.getQty());
			wrkDetl.setIoTime(now);
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			wrkDetl.setAppeTime(now);
			wrkDetl.setModiTime(now);
			if (!wrkDetlService.insert(wrkDetl)) {
			throw new CoolException("保存工作档明细失败");
			}
			@@ -1405,7 +1672,7 @@
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("S"); // S.入库预约，入库阻塞库位移转
			shallowLoc.setModiTime(new Date());
			shallowLoc.setModiTime(now);
			if (!locMastService.updateById(shallowLoc)){
			throw new CoolException("更新源库位状态失败");
			}
			@@ -1433,147 +1700,177 @@
			* tip：同步
			*/
			private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){
			List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
			LocMast loc = null;
			for (Integer row : rows) {
			if (Utils.isDeepLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
			try {
			List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
			LocMast loc = null;
			for (Integer row : rows) {
			if (Utils.isDeepLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

			if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())){
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
			LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
			if(!shallowLoc1.getLocSts().equals("O")){
			loc = null;
			if (loc != null) {
			if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
			LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
			if (!shallowLoc1.getLocSts().equals("O")) {
			loc = null;
			}
			}
			}
			if (null != loc) {
			break;
			}
			}

			if (null != loc) { break; }
			}
			}
			if (null == loc) {
			for (Integer row : rows) {
			if (Utils.isShallowLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
			if (null != loc) { break; }
			if (null == loc) {
			for (Integer row : rows) {
			if (Utils.isShallowLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

			if (null != loc) {//对应深库位非在库状态,不能移库
			String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
			LocMast deepLoc1 = locMastService.selectById(deepLoc);
			if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) {
			loc = null;
			}
			}

			if (null != loc) {
			break;
			}
			}
			}
			}
			}
			if (null == loc) {
			throw new CoolException("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			}

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D")?"Y":"N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setQty(locDetl.getQty());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			throw new CoolException("保存工作档明细失败");
			if (null == loc) {
			log.error("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			throw new CoolException("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			}

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			throw new CoolException("保存工作档明细失败");
			}
			}
			}
			}
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)){
			throw new CoolException("更新源库位状态失败");
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)) {
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			throw new CoolException("移转失败");
			}
			} else {
			throw new CoolException("移转失败");
			} catch (Exception e) {
			log.error("双深库位阻塞，对浅库位进行移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			}

			/**
			* 堆垛机演示 ===>> 库位移转
			*/
			public synchronized void crnDemoOfLocMove1(){
			for (CrnSlave crn : slaveProperties.getCrn()) {
			if (!crn.getDemo()) { continue; } // 必须为演示状态
			try {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			if (!crn.getDemo()) {
			continue;
			} // 必须为演示状态

			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }

			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 获取移库工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
			if (null != wrkMast) { continue; }

			LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
			LocMast loc = locMastService.queryDemoLoc(crn.getId());
			if (null == sourceLoc \|\| null == loc) { continue; }

			String sourceLocNo = sourceLoc.getLocNo();
			String locNo = loc.getLocNo();

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(sourceLocNo); // 源库位
			wrkMast.setLocNo(locNo); // 目标库位
			wrkMast.setFullPlt("N"); // 满板：Y
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D")?"Y":"N"); // 空板
			wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			// 工作档明细保存

			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 获取移库工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
			if (null != wrkMast) {
			continue;
			}

			LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
			LocMast loc = locMastService.queryDemoLoc(crn.getId());
			if (null == sourceLoc \|\| null == loc) {
			continue;
			}

			String sourceLocNo = sourceLoc.getLocNo();
			String locNo = loc.getLocNo();

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(sourceLocNo); // 源库位
			wrkMast.setLocNo(locNo); // 目标库位
			wrkMast.setFullPlt("N"); // 满板：Y
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
			// for (LocDetl locDetl : locDetls) {
			// WrkDetl wrkDetl = new WrkDetl();
			@@ -1587,29 +1884,33 @@
			// throw new CoolException("保存工作档明细失败");
			// }
			// }
			// 修改源库位状态
			if (sourceLoc.getLocSts().equals("D")) {
			sourceLoc.setLocSts("R"); // R.出库预约
			sourceLoc.setModiTime(new Date());
			if (!locMastService.updateById(sourceLoc)){
			throw new CoolException("更新源库位状态失败");
			// 修改源库位状态
			if (sourceLoc.getLocSts().equals("D")) {
			sourceLoc.setLocSts("R"); // R.出库预约
			sourceLoc.setModiTime(new Date());
			if (!locMastService.updateById(sourceLoc)) {
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			throw new CoolException("移转失败");
			}
			} else {
			throw new CoolException("移转失败");
			}

			}
			}

			} catch (Exception e) {
			log.error("堆垛机演示 ===>> 库位移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			@@ -1691,9 +1992,532 @@
			} catch (Exception e) {
			e.printStackTrace();
			}


			}

			public void outOfDevp() {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
			for (WrkMast wrkMast : wrkMasts) {
			if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
			wrkMast.setCtnNo("Y");
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
			}
			}

			}
			}

			/**
			* 站到站 ===>> 堆垛机109站到108站
			* 109防爆沙箱站点出库到 108站点
			*/
			public void stnToStn(CrnSlave slave, CrnProtocol crnProtocol){
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			if(crnStn.getStaNo()!=109){ continue; }

			boolean flag = 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();
			}
			// 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;
			}

			StaProtocol staProtocol1 = devpThread.getStation().get(108);
			if (staProtocol1 == null) {
			continue;
			} else {
			staProtocol1 = staProtocol1.clone();
			}
			if (!staProtocol1.isAutoing() \|\| staProtocol1.isLoading() \|\| staProtocol1.getWorkNo() != 0 \|\| !staProtocol1.isOutEnable()) {
			flag = false;
			}

			if (!flag) {
			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((short)9999); // 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((short)2); // 目标库位排
			crnCommand.setDestinationPosY((short)19); // 目标库位列
			crnCommand.setDestinationPosZ((short)1); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, 1, new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", 1, JSON.toJSON(crnCommand));
			} else {
			}
			}
			}

			/**
			* 根据PLC按钮测试、完成、暂停信号，更新testMast表中status值，交由WMS系统处理
			*/
			@Transactional
			public void packTest() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			if(null != devpThread){
			for (int i = 0; i < 48; i++){
			int olsStatus = 0;//testMast表原来status数据状态
			int newStatus = 0;//testMast表待修改的status数据状态
			short newSingle = 0; //PLC地址待修改的新值
			switch (devpThread.startSignal[i][0]){//根据信号查找testMast表中对应状态条件,olsStatus，newStatus根据实际流程调整
			case 0://初始状态，入库
			olsStatus = 1;//待测
			newStatus = 1;//待测
			newSingle = 1;//库存有资料，寄存器地址，0===>>1
			break;
			case 2://启动复核信号
			olsStatus = 1;//待测
			newStatus = 2;//复核中
			newSingle = 3;//测试复核，寄存器地址，2===>>3
			break;
			case 3://测试完成
			olsStatus = 4;//测试完成
			newStatus = 4;//测试完成
			newSingle = 4;//（NG:4\OK:41）测试完成，寄存器地址，3===>>4\41
			break;
			case 5://NG测试信号
			case 6://完成测试信号
			case 22://完成测试信号
			olsStatus = 4;//测试完成
			newStatus = 5;//已移库
			newSingle = 0;//启动移库，寄存器地址清零，5/6===>>0
			break;
			case 7://暂停信号
			olsStatus = 99;//plc给出暂停信号
			newStatus = 0;//WCS收到暂停信号后，更新testMast
			newSingle = 8;//暂停测试，寄存器地址，7===>>8
			break;
			case 9://紧急出库确认充电线已经拔出
			olsStatus = 99;//plc给出暂停信号
			newStatus = 0;//WCS收到暂停信号后，更新testMast
			newSingle = 8;//暂停测试，寄存器地址，9===>>8
			break;
			case 10://解除暂停信号
			olsStatus = 0;//plc给出暂停信号
			newStatus = 1;//WCS收到暂停信号后，更新testMast
			newSingle = 0;//暂停测试，寄存器地址，10===>>0/11
			break;
			case 12://紧急出库确认充电线已经拔出
			newSingle = 11;//暂停测试，寄存器地址，12===>>11
			break;
			case 13://入库前判断充电线是否放好
			newSingle = 14;//禁用库位，寄存器地址，13===>>14
			break;
			case 15://充电线放好
			newSingle = 0;//复位，寄存器地址，12===>>0
			break;
			default:
			log.info("读取通道"+(i+1)+"测试库位按钮信号:为"+devpThread.startSignal[i][0]);
			continue;
			}

			TestMast testMast = testMastService.selectOne(new EntityWrapper<TestMast>()
			.eq("channel",(i+1)).eq("status",olsStatus));//查找原来的状态
			LocMast locMast=null;
			boolean sign=false;
			switch (devpThread.startSignal[i][0]){
			case 0:
			if (!Cools.isEmpty(testMast)){
			locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("channel",(i+1)));
			if (!Cools.isEmpty(locMast) && locMast.getLocSts().equals("F")){
			sign=true;
			}
			}
			break;
			case 3:
			if (!Cools.isEmpty(testMast)){
			locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("channel",(i+1)));
			if (!Cools.isEmpty(locMast) && locMast.getLocSts().equals("F")){
			sign=true;
			if (locMast.getPackStatus()==3){//测试完成
			newSingle=41;
			}else if (locMast.getPackStatus()==4){//测试失败
			newSingle=4;
			}else {
			log.info("读取通道"+(i+1)+"测试库位按钮信号:为"+devpThread.startSignal[i][0]+"通道库位pack状态信息异常"+locMast.getPackStatus());
			sign=false;
			}
			}
			}
			break;
			case 5:
			case 6:
			if (!Cools.isEmpty(testMast)){
			locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("channel",(i+1)));
			if (!Cools.isEmpty(locMast) && locMast.getLocSts().equals("F")){
			if (devpThread.startSignal[i][0]==5 && locMast.getPackStatus()==4){
			sign=true;
			}else if (devpThread.startSignal[i][0]==6 && locMast.getPackStatus()==3){
			sign=true;
			}else {
			log.error("测试完成移库时按下完成按钮与测试结果不一致===>>[channel:{}", i+1);
			}
			}else {
			log.error("测试完成移库时未查询到测试档案===>>[channel:{}", i+1);
			}
			}
			break;
			case 2:
			if (!Cools.isEmpty(testMast)){
			testMast.setStatus(newStatus);
			testMast.setModiTime(new Date());
			if(!testMastService.update(testMast,new EntityWrapper<TestMast>().eq("channel",(i+1)).eq("barcode",testMast.getBarcode()))){
			throw new CoolException("更新产品测试状态失败");
			}else {
			sign=true;
			}
			}else {
			log.error("启动测试时未查询到测试档案===>>[channel:{}", i+1);
			}
			break;
			case 7:
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(i+1+"");
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/mobile/test/suspend/auth")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			testMast = testMastService.selectOne(new EntityWrapper<TestMast>().eq("channel",(i+1)));
			testMast.setStatus(newStatus);
			testMast.setModiTime(new Date());
			if(!testMastService.update(testMast,new EntityWrapper<TestMast>().eq("channel",(i+1)).eq("barcode",testMast.getBarcode()))){
			log.error("更新产品测试状态失败");
			}
			sign=true;
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/mobile/test/suspend/auth", JSON.toJSONString(param), response);
			}
			break;
			case 9:
			case 12:
			locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("channel",(i+1)));
			if (!Cools.isEmpty(locMast) && locMast.getLocSts().equals("F") \|\| locMast.getLocSts().equals("D")){
			locMast.setPackStatus(8); //8.紧急出库
			if (locMastService.update(locMast,new EntityWrapper<LocMast>().eq("channel",(i+1)))){
			log.info("库位：{}，紧急出库！",locMast.getLocNo());
			}
			}else {
			log.error("库位不是在库状态，无需紧急出库！");
			}
			sign=true;
			break;
			case 10:
			if (!Cools.isEmpty(testMast)){
			locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("channel",(i+1)));
			if (!Cools.isEmpty(locMast) && locMast.getLocSts().equals("F") ){
			if ( locMast.getFireStatus().equals(1)){
			newSingle=11;
			}else {
			testMast.setStatus(newStatus);
			testMast.setModiTime(new Date());
			if(!testMastService.update(testMast,new EntityWrapper<TestMast>().eq("channel",(i+1)).eq("barcode",testMast.getBarcode()))){
			throw new CoolException("更新产品测试状态失败");
			}else {
			sign=true;
			}
			}
			}
			}
			sign=true;
			break;
			case 13:
			locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("channel",(i+1)));
			if (locMast.getLocSts().equals("O")){
			locMast.setLocSts("X");
			locMastService.update(locMast,new EntityWrapper<LocMast>().eq("channel",(i+1)));
			}
			sign=true;
			break;
			case 15:
			locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("channel",(i+1)));
			if (locMast.getLocSts().equals("X")){
			locMast.setLocSts("O");
			locMastService.update(locMast,new EntityWrapper<LocMast>().eq("channel",(i+1)));
			}
			sign=true;
			break;
			default:
			log.info("读取通道"+(i+1)+"测试库位按钮信号:为"+devpThread.startSignal[i][0]);
			continue;
			}
			if (sign){
			boolean result = messageQueueOffer(i,newSingle,SlaveType.Devp, devp.getId());
			if(!result){
			log.error("更新测试信号失败===>>[channel:{},locNo:{},barcode:{}]", i+1, testMast.getLocNo(), testMast.getBarcode());
			} else {
			devpThread.startSignal[i][0] = newSingle;
			}
			}
			try{
			locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("channel",(i+1)));
			if(devpThread.startSignal[i][1]!=locMast.getFireStatus()){
			messageQueueOffer2(i+1,(short)((int)locMast.getFireStatus()),SlaveType.Devp, devp.getId());
			}
			}catch (Exception e){
			log.error("火警 ===>> 给输送线发送警报失败,通道号：", i+1);
			}
			}

			}

			}
			} catch (Exception e) {
			log.error("启动测试 ===>> 启动测试失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			public boolean messageQueueOffer(int i ,short newSingle,SlaveType devp,Integer id){
			//复位PLC信号，借用输送站点实体类
			StaProtocol staProtocol = new StaProtocol();
			staProtocol.setSiteId(i*2);//寄存器地址
			staProtocol.setStaNo(newSingle);//修改PLC寄存器地址值,8==>0
			return MessageQueue.offer(devp, id, new Task(3, staProtocol));
			}

			public boolean messageQueueOffer2(int i ,short newSingle,SlaveType devp,Integer id){
			//复位PLC信号，借用输送站点实体类
			StaProtocol staProtocol = new StaProtocol();
			staProtocol.setSiteId(i);//寄存器地址
			staProtocol.setStaNo(newSingle);//修改PLC寄存器地址值,8==>0
			return MessageQueue.offer(devp, id, new Task(5, staProtocol));
			}

			/**
			* 将火警报警信号写入到堆垛机PLC中
			*/
			@Transactional
			public void fierCrn() {
			try {
			for (CrnSlave crn :slaveProperties.getCrn()) {
			if(crn.getId()!=1){
			continue;
			}
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("fire_status", 1));
			if (!Cools.isEmpty(locMast)){
			//报警信号写入1
			if (!MessageQueue.offer(SlaveType.Crn, 1, new Task(4, 1))) {
			log.error("火警 ===>> 给堆垛机发送报警信号失败");
			}
			} else {
			//报警信号没有后，复位地址
			if (!MessageQueue.offer(SlaveType.Crn, 1, new Task(4, 0))) {
			log.error("火警 ===>> 给堆垛机清零复位报警信号失败");
			}
			}
			}
			} catch (Exception e) {
			log.error("火警 ===>> 给堆垛机发送警报失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			/**
			* 103站点有物下发pack码
			*/
			@Transactional
			public void packDevp() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			BasDevp basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no",103));
			if (Cools.isEmpty(basDevp)){
			log.error("103站点查询失败-MainServiceImpl.java-2255行");
			}
			if (basDevp.getAutoing().equals("Y") && basDevp.getWrkNo()>0 && basDevp.getLoading().equals("Y") ){
			WrkDetl wrkDetl = wrkDetlService.devpPackNo(basDevp.getWrkNo());
			if (Cools.isEmpty(wrkDetl)){
			log.error("103站点查询失败-MainServiceImpl.java-2255行");
			}
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4,wrkDetl.getMatnr()));
			}
			}
			} catch (Exception e) {
			log.error("103 ===>> 给输送线发送Pack码失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			/**
			* 根据PLC按钮测试、完成、暂停信号，更新testMast表中status值，交由WMS系统处理
			*/
			@Transactional
			public void packTest1() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			if(null != devpThread){
			for (int i = 0; i < 48; i++){
			boolean fig=false;
			//查询在库和预约出库
			LocMast locMast=locMastService.selectztgx("F","R",i);
			if(!Cools.isEmpty(locMast)){
			TestMast testMast=testMastService.selectOne(new EntityWrapper<TestMast>()
			.eq("loc_no",locMast.getLocNo())
			.eq("user_id",locMast.getBarcode()));
			if(Cools.isEmpty(testMast)){
			continue;
			}
			//devpThread.startSignal[i][0]
			//0:空,1:启动中,2:工作中,3:自动暂停,4:正常完成(OK),5:异常停止(NG),6:在线,7:离线,8:空闲

			//locMast.setPackStatus
			// "产品状态{0:无,1:待测,2:测试中;3.测试完成;4.测试失败;5.静置中;6:静置完成;7:暂停测试;8:紧急出库;9:在线;10:离线;11:空闲;}"

			//testMast.setStatus
			//"状态 0: 待申请 1: 申请中 2: 已复核 3:测试中 4:完成 5:移库 6:火警"
			if(devpThread.startSignal[i][0]==8){
			testMast.setStatus(1);
			locMast.setPackStatus(1);
			testMast.setModiTime(new Date());
			}else if(devpThread.startSignal[i][0]==2 && locMast.getPackStatus()!=2){
			testMast.setStatus(3);
			locMast.setPackStatus(2);
			testMast.setModiTime(new Date());
			//NG转OK需要还原源库位和目标库位状态，OK转NG 删除任务档
			WrkMast wrkMast=wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_loc_no",locMast.getLocNo()));
			if(!Cools.isEmpty(wrkMast)){
			if(wrkMast.getWrkSts()==11){
			if(wrkMast.getIoType()==11){
			LocMast locMast1=locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no",wrkMast.getLocNo()));
			locMast1.setLocSts("O");
			locMastService.update(locMast1,new EntityWrapper<LocMast>().eq("loc_no",wrkMast.getLocNo()));
			}
			wrkMastMapper.delete(new EntityWrapper<WrkMast>().eq("source_loc_no",locMast.getLocNo()));
			locMast.setLocSts("F");
			wrkDetlService.delete(new EntityWrapper<WrkDetl>().eq("zpallet",locMast.getBarcode()));
			if(!locMastService.update(locMast,new EntityWrapper<LocMast>()
			.eq("channel",i+1))){
			log.error("修改测试库位状态失败"+locMast.getLocNo(),locMast);
			}else{
			fig=true;
			}
			}}
			}else if(devpThread.startSignal[i][0]==3){
			locMast.setPackStatus(7);
			testMast.setModiTime(new Date());
			}else if(devpThread.startSignal[i][0]==4 && testMast.getStatus()!=4&&locMast.getFireStatus()!=1&&testMast.getStatus()!=6){
			locMast.setPackStatus(3);
			testMast.setStatus(4);
			testMast.setModiTime(new Date());
			testMastService.insertPackQualified(true,new Date(),testMast.getBarcode());
			}else if(devpThread.startSignal[i][0]==5 && testMast.getStatus()!=4&&locMast.getFireStatus()!=1&&testMast.getStatus()!=6){
			locMast.setPackStatus(4);
			testMast.setStatus(4);
			testMast.setModiTime(new Date());
			testMastService.insertPackQualified(false,new Date(),testMast.getBarcode());
			}
			// else if(devpThread.startSignal[i][0]==6\|\|devpThread.startSignal[i][0]==7\|\|devpThread.startSignal[i][0]==8){
			// locMast.setPackStatus(devpThread.startSignal[i][0]+3);
			// }
			//通道启动按钮状态，1:可以启动出库或者移库，0:不能启动出库或者移库
			locMast.setCtnKind(devpThread.startSignal[i][2]);
			if(devpThread.startSignal[i][2]==1){
			if(!locMastService.update(locMast,new EntityWrapper<LocMast>()
			.eq("loc_sts","R")
			.eq("channel",i+1))){
			log.error("修改启动按钮状态，测试库位状态失败"+locMast.getLocNo(),locMast);
			}
			}else if(!locMast.getLocSts().equals("R")){
			if(!fig){
			if(!locMastService.update(locMast,new EntityWrapper<LocMast>()
			.eq("loc_sts","F")
			.eq("channel",i+1))){
			log.error("修改测试库位状态失败"+locMast.getLocNo(),locMast);
			}
			}
			if(!testMastService.update(testMast,new EntityWrapper<TestMast>()
			.eq("loc_no",locMast.getLocNo())
			.eq("user_id",locMast.getBarcode()))) {
			log.error("修改测试档状态失败" + locMast.getLocNo(), locMast);
			}
			}
			}
			}
			//当充放电库位为O空库位时
			//库位状态改为8空闲
			//给PLC写消防信号
			for (int i=0;i<48;i++){
			LocMast locMast=locMastService.selectOne(new EntityWrapper<LocMast>().eq("channel",i+1));
			TestMast testMast=testMastService.selectOne(new EntityWrapper<TestMast>()
			.eq("loc_no",locMast.getLocNo())
			.eq("user_id",locMast.getBarcode()));
			if((locMast.getLocSts().equals("O")\|\|locMast.getLocSts().equals("S"))&&devpThread.startSignal[i][0]!=8){
			Thread.sleep(1000);
			MessageQueue.offer(SlaveType.Devp, 1, new Task(6,locMast.getChannel()-1));
			}
			try{
			if(locMast.getFireStatus()!=devpThread.startSignal[i][1]){
			messageQueueOffer2(i,(short)((int)locMast.getFireStatus()),SlaveType.Devp, devp.getId());
			if(Cools.isEmpty(testMast)){
			continue;
			}
			if(locMast.getFireStatus()==1){
			testMast.setStatus(6);//火警
			if(!testMastService.update(testMast,new EntityWrapper<TestMast>()
			.eq("loc_no",locMast.getLocNo())
			.eq("user_id",locMast.getBarcode()))) {
			log.error("修改测试档状态失败" + locMast.getLocNo(), locMast);
			}
			}
			}
			}catch (Exception e){
			log.error("火警 ===>> 给输送线发送警报失败,通道号：", i+1);
			}
			}



			}

			}
			} catch (Exception e) {
			log.error("获得测试库位状态失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}