侧面出库完成上报执行状态替代plc码盘完成信号交互

pang.jiabao

4 天以前 3b17ccf3fd001cbec7a8bac368f07cd9237faae8

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

@@ -7,12 +7,17 @@
import com.core.exception.CoolException;
import com.zy.asrs.controller.CrnController;
import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.domain.enums.WorkNoType;
import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.wms.StorageEscalationParam;
import com.zy.asrs.mapper.*;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.mapper.StaDescMapper;
import com.zy.asrs.mapper.TaskWrkMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
import com.zy.common.service.CommonService;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
@@ -29,6 +34,7 @@
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
@@ -36,6 +42,7 @@
import java.io.IOException;
import java.util.Date;
import java.util.List;
import java.util.Random;

/**
 * 立体仓库WCS系统主流程业务
@@ -55,6 +62,8 @@
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private LocDetlService locDetlService;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private BasDevpService basDevpService;
@@ -66,10 +75,9 @@
    private TaskWrkMapper taskWrkMapper;

    @Autowired
    private DevpTaskMapper devpTaskMapper;
    @Autowired
    private TaskWrkService taskWrkService;

    @Autowired
    private CommonService commonService;
    @Autowired
    private StaDescMapper staDescMapper;

@@ -88,7 +96,20 @@
    @Autowired
    private TransferTaskService transferTaskService;

    public void generateStoreWrkFile() throws IOException, InterruptedException {
    @Autowired
    private WrkMastService wrkMastService;

    @Autowired
    private WrkDetlService wrkDetlService;

    @Value("${loc-move.enable}")
    private boolean enable;

    @Value("${config.outloading}")
    private boolean outloading;


    public synchronized void generateStoreWrkFile() {
        try {
            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
@@ -137,57 +158,58 @@
                        back = true;
                    }
                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && !staProtocol.isEmptyMk() && workNo >= 9790
                            && staProtocol.isPakMk()) {
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                            && !staProtocol.isEmptyMk() && workNo >= 9000 && staProtocol.isPakMk()) {
                        // 获取条码扫描仪信息
                        BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                        if (barcodeThread == null) {
                            continue;
                        }
                        String BoxNo = barcodeThread.getBarcode();
                        if (Cools.isEmpty(BoxNo)) {
                            log.error("{}号条码扫描失败，值：{}", inSta.getBarcode(), BoxNo);
                            continue;
                        }
                        TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", BoxNo));
                        if (!Cools.isEmpty(taskWrk1)) {
                            log.info("托盘码：" + BoxNo + "任务档存在");
                            if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
                                StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                        .eq("crn_no", taskWrk1.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
                                if (Cools.isEmpty(staDesc)) {
                                    return;
                                } else {
                                    continue;
                                }
                            }
                            continue;
                        }
                        if (back) {
                            storageEscalationParam.setWCSStatus(1);
                            storageEscalationParam.setWCSErrorMessage(storageEscalationParam.getWCSErrorMessage() + errMsg);
                        }
                        storageEscalationParam.setBarcode(BoxNo);
                        storageEscalationParam.setMatIdList(staProtocol.getMatIdList());
                        storageEscalationParam.setFullPlt(staProtocol.isFullPlt() ? 1 : 0);
                        storageEscalationParam.setMpHigh((short) (staProtocol.getSiteId() < 200 ? 1 :staProtocol.isHigh() ? 2 : staProtocol.isLow() ? 1 : 0));    // 高度，侧面码盘的高度 低1，高2
                        log.info("组托入库={}", storageEscalationParam);
                        TaskWrk taskWrk = toWmsService.getLocNoFromWms(storageEscalationParam);
                        if (taskWrk == null) {
                            log.error("入库请求wms创建任务工作档为空：{}", storageEscalationParam);
                            continue;
                        } else {
                            if (-1 == taskWrk.getWrkNo()) {
                                back = true;
                            }
                        }
                        if (back) {
                            log.info("托盘退回==>{}，{}", BoxNo, errMsg);
                            staProtocol.setWorkNo((short) 9991);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.info("组托入库托盘退回命令推送输送线队列成功==>{}，{}，{}", BoxNo, errMsg, taskWrk.getWrkNo());
                        } else {
                            if (!Cools.isEmpty(taskWrk)) {
                                StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                        .eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
                                staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                                staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                //添加上报日志
                                toWmsService.addReportLog(taskWrk);
                            } else {
                                log.info("创建工作档失败==>{}", taskWrk.getTaskNo());
                                staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                    .eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
                            if (staDesc == null) {
                                log.error("组托入库路径不存在，wrkNo={},crn={},stn_no={}", taskWrk.getWrkNo(), taskWrk.getCrnNo(), staProtocol.getSiteId());
                                continue;
                            }

                            staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                            staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.info("组托入库命令推送输送线队列成功:{}", staProtocol);
                        }

                    }
@@ -207,26 +229,63 @@
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            // 遍历堆垛机出库站
            for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
                List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo()));
                for (StaDesc staDesc : staDescs) {
                    try {
                        // 获取堆垛机出库站信息
                        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                        StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
                        if (staProtocol == null) {
                            continue;
                        } else {
                            staProtocol = staProtocol.clone();
                        }
                        if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
                try {
                    // 获取堆垛机出库站信息
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                    StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
                        if (crnStn.getStaNo() >= 200) {
                            // 查询工作档
                            TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
                            TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), String.valueOf(crnStn.getStaNo() + 2));
                            if (taskWrk == null) {
                                continue;
                            }
                            log.info("下发输送线任务：taskWrk:" + JSON.toJSONString(taskWrk));
                            staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                            staProtocol.setStaNo(staDesc.getStnNo().shortValue());
                            staProtocol.setStaNo(Short.valueOf(taskWrk.getTargetPoint()));
                            staProtocol.setBarcode(taskWrk.getBarcode());
                            if (!Cools.isEmpty(taskWrk.getType())) {
                                staProtocol.setHeight(taskWrk.getType());
                            }
                            boolean offer = false;
                            try {
                                offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
//                                staProtocol.setMp(taskWrk.getMp());
//                                staProtocol.setLx(taskWrk.getLx());
//                                staProtocol.setLev(taskWrk.getLev());
//                                MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol));
                            } catch (Exception e) {
                                log.error("下发输送线任务失败：异常:" + e);
                                log.error("下发输送线任务失败：异常:offer:" + offer);
                            }
                            if (offer) {
                                log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk));
                                taskWrk.setStatus(5);
                                taskWrk.setWrkSts(14);
                                taskWrk.setCompleteTime(new Date());
                                taskWrkService.updateById(taskWrk);
                                // 侧面出库完成 上报执行状态
                                toWmsService.executionStatusReport(taskWrk.getTaskNo(), taskWrk.getWrkSts());
                            } else {
                                log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(taskWrk));
                            }
                        } else {
                            // 查询工作档
                            TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), String.valueOf(crnStn.getStaNo() - 1));
                            if (taskWrk == null) {
                                continue;
                            }
                            log.info("下发输送线任务：taskWrk:" + JSON.toJSONString(taskWrk));
                            staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                            staProtocol.setStaNo(Short.valueOf(taskWrk.getTargetPoint()));
                            if (!Cools.isEmpty(taskWrk.getType())) {
                                staProtocol.setHeight(taskWrk.getType());
                            }
                            boolean offer = false;
                            try {
                                offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
@@ -238,16 +297,20 @@
                                log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk));
                                taskWrk.setStatus(5);
                                taskWrk.setWrkSts(14);
                                taskWrk.setCompleteTime(new Date());
                                taskWrkService.updateById(taskWrk);

                            } else {
                                log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(taskWrk));
                            }
                        }
                    } catch (Exception e) {
                        log.error("出库到出库站异常:异常信息：" + e);

//                            }
                    }
                } catch (Exception e) {
                    log.error("出库到出库站异常:异常信息：" + e);
                }
//                }

            }
        }
@@ -336,6 +399,17 @@
                    continue;
                }

                LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
                if (!locMast.getLocSts().equals("O")) {
                    if (taskWrk.getWrkSts() == 2) {
                        log.error("入库WMS分配库位{}有误，库位状态为{}", locMast.getLocNo(), locMast.getLocSts());
                        taskWrk.setWrkSts(5);
                        taskWrk.setMemo("WMS分配库位有误");
                        taskWrkService.updateById(taskWrk);
                    }
                    continue;
                }

                // 堆垛机控制过滤
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                    continue;
@@ -349,11 +423,12 @@
//                int workNo = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号
//                taskWrk.setWrkNo(workNo);//工作号
                taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
                taskWrk.setAssignTime(new Date());//派发时间
                taskWrk.setExecuteTime(new Date());
//                taskWrk.setAssignTime(new Date());//派发时间
                taskWrk.setWrkSts(3);//工作状态 3.吊车入库
                taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号
                taskWrk.setModiTime(new Date());
                taskWrk.setModiUser(9988L);
//                taskWrk.setModiTime(new Date());
//                taskWrk.setModiUser(9988L);

                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
@@ -374,6 +449,8 @@
                    throw new CoolException("堆垛机命令生成失败");
                } else {
                    try {
                        // 上报执行状态
                        toWmsService.executionStatusReport(taskWrk.getTaskNo(), taskWrk.getWrkSts());
                        taskWrkService.updateById(taskWrk);
                    } catch (Exception e) {
                        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={}", taskWrk.getWrkNo());
@@ -410,24 +487,24 @@

                    LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
                    //判断其库位是否为深库位，如果为深库位找其浅库位是都有货
                    boolean flag = false;
                    int flag = 0;
                    if (locMast.getRow1() == 1 || locMast.getRow1() == 5 || locMast.getRow1() == 9) {
                        flag = true;
                        flag = 1;
                    } else if (locMast.getRow1() == 4 || locMast.getRow1() == 8 || locMast.getRow1() == 12) {
                        flag = true;
                        flag = 2;
                    }
                    if (flag) {
                    if (flag == 1) {
                        LocMast locMast1 = locMastService.selectOne(new EntityWrapper<LocMast>()
                                .eq("row1", (locMast.getRow1() - 1))
                                .eq("row1", (locMast.getRow1() + 1))
                                .eq("bay1", locMast.getBay1())
                                .eq("lev1", locMast.getLev1()).eq("loc_sts", "F"));
                        if (!Cools.isEmpty(locMast1)) {
                            log.info(locMast.getLocNo() + "出深库位，浅库位有货");
                            continue;
                        }
                    } else {
                    } else if (flag == 2) {
                        LocMast locMast1 = locMastService.selectOne(new EntityWrapper<LocMast>()
                                .eq("row1", (locMast.getRow1() + 1))
                                .eq("row1", (locMast.getRow1() - 1))
                                .eq("bay1", locMast.getBay1())
                                .eq("lev1", locMast.getLev1()).eq("loc_sts", "F"));
                        if (!Cools.isEmpty(locMast1)) {
@@ -454,7 +531,7 @@
                    }

                    // 判断堆垛机出库站状态
                    if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                    if (staProtocol.isAutoing() && (outloading || !staProtocol.isLoading()) && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                            && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                        // 命令下发区 --------------------------------------------------------------------------

@@ -494,10 +571,12 @@
                                Date now = new Date();
                                taskWrk.setWrkSts(12);
                                taskWrk.setStatus(2);
                                taskWrk.setModiTime(now);
                                taskWrk.setExecuteTime(now);
                                if (taskWrkMapper.updateById(taskWrk) == 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={}", taskWrk.getWrkNo());
                                }
                                // 上报执行状态
                                toWmsService.executionStatusReport(taskWrk.getTaskNo(), taskWrk.getWrkSts());
                            } catch (Exception e) {
                                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={}", taskWrk.getWrkNo());
                                log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，异常：" + e);
@@ -565,6 +644,7 @@
                    Date now = new Date();
                    taskWrk.setWrkSts(12);
                    taskWrk.setStatus(2);
                    taskWrk.setExecuteTime(now);
                    taskWrk.setModiTime(now);
                    if (taskWrkMapper.updateById(taskWrk) == 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={}", taskWrk.getWrkNo());
@@ -645,6 +725,7 @@
                        locMast1.setModiUser(9999L);
                        locMastService.updateById(locMast1);
                    }
                    taskWrk.setCompleteTime(new Date());
                    taskWrkService.updateById(taskWrk);
                }

@@ -838,16 +919,19 @@
        try {
            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
                if (devp.getId() == 2) {
                    continue;
                }
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                for (DevpSlave.Sta inSta : devp.getInSta()) {
                    WrkMast pakout = wrkMastMapper.selectWorkingPakout(inSta.getBackSta());
                    TaskWrk taskWrk = taskWrkService.selectByTargetPoint(inSta.getBackSta() + "");
                    switch (inSta.getBackSta()) {
                        case 116:
                            if (pakout != null) {
                        case 101:
                            if (taskWrk != null) {
                                if (devpThread.ioModeOf1F1 != IoModeType.PAKOUT_MODE) {
                                    // 出库切换中
                                    devpThread.ioModeOf1F1 = IoModeType.PAKOUT_BOOTING;
                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
                                    TaskWrk pakin = taskWrkService.selectByStartPoint(inSta.getStaNo() + "");
                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
                                            && !devpThread.getStation().get(inSta.getBackSta()).isLoading()
                                            && devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
@@ -860,12 +944,12 @@
                                devpThread.ioModeOf1F1 = IoModeType.PAKIN_MODE;
                            }
                            break;
                        case 117:
                            if (pakout != null) {
                        case 104:
                            if (taskWrk != null) {
                                if (devpThread.ioModeOf1F2 != IoModeType.PAKOUT_MODE) {
                                    // 出库切换中
                                    devpThread.ioModeOf1F2 = IoModeType.PAKOUT_BOOTING;
                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
                                    TaskWrk pakin = taskWrkService.selectByStartPoint(inSta.getStaNo() + "");
                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
                                            && !devpThread.getStation().get(inSta.getBackSta()).isLoading()
                                            && devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
@@ -878,12 +962,12 @@
                                devpThread.ioModeOf1F2 = IoModeType.PAKIN_MODE;
                            }
                            break;
                        case 118:
                            if (pakout != null) {
                        case 107:
                            if (taskWrk != null) {
                                if (devpThread.ioModeOf1F3 != IoModeType.PAKOUT_MODE) {
                                    // 出库切换中
                                    devpThread.ioModeOf1F3 = IoModeType.PAKOUT_BOOTING;
                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
                                    TaskWrk pakin = taskWrkService.selectByStartPoint(inSta.getStaNo() + "");
                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
                                            && !devpThread.getStation().get(inSta.getBackSta()).isLoading()
                                            && devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
@@ -896,12 +980,12 @@
                                devpThread.ioModeOf1F3 = IoModeType.PAKIN_MODE;
                            }
                            break;
                        case 119:
                            if (pakout != null) {
                        case 110:
                            if (taskWrk != null) {
                                if (devpThread.ioModeOf1F4 != IoModeType.PAKOUT_MODE) {
                                    // 出库切换中
                                    devpThread.ioModeOf1F4 = IoModeType.PAKOUT_BOOTING;
                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
                                    TaskWrk pakin = taskWrkService.selectByStartPoint(inSta.getStaNo() + "");
                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
                                            && !devpThread.getStation().get(inSta.getBackSta()).isLoading()
                                            && devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
@@ -914,12 +998,12 @@
                                devpThread.ioModeOf1F4 = IoModeType.PAKIN_MODE;
                            }
                            break;
                        case 120:
                            if (pakout != null) {
                        case 113:
                            if (taskWrk != null) {
                                if (devpThread.ioModeOf1F5 != IoModeType.PAKOUT_MODE) {
                                    // 出库切换中
                                    devpThread.ioModeOf1F5 = IoModeType.PAKOUT_BOOTING;
                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
                                    TaskWrk pakin = taskWrkService.selectByStartPoint(inSta.getStaNo() + "");
                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
                                            && !devpThread.getStation().get(inSta.getBackSta()).isLoading()
                                            && devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
@@ -933,11 +1017,11 @@
                            }
                            break;
                        case 203:
                            if (pakout != null) {
                            if (taskWrk != null) {
                                if (devpThread.ioModeOf2F1 != IoModeType.PAKOUT_MODE) {
                                    // 出库切换中
                                    devpThread.ioModeOf2F1 = IoModeType.PAKOUT_BOOTING;
                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
                                    TaskWrk pakin = taskWrkService.selectByStartPoint(inSta.getStaNo() + "");
                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
                                            && !devpThread.getStation().get(inSta.getBackSta()).isLoading()
                                            && devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
@@ -952,11 +1036,11 @@
                            break;

                        case 207:
                            if (pakout != null) {
                            if (taskWrk != null) {
                                if (devpThread.ioModeOf2F2 != IoModeType.PAKOUT_MODE) {
                                    // 出库切换中
                                    devpThread.ioModeOf2F2 = IoModeType.PAKOUT_BOOTING;
                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
                                    TaskWrk pakin = taskWrkService.selectByStartPoint(inSta.getStaNo() + "");
                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
                                            && !devpThread.getStation().get(inSta.getBackSta()).isLoading()
                                            && devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
@@ -971,11 +1055,11 @@
                            break;

                        case 212:
                            if (pakout != null) {
                            if (taskWrk != null) {
                                if (devpThread.ioModeOf2F3 != IoModeType.PAKOUT_MODE) {
                                    // 出库切换中
                                    devpThread.ioModeOf2F3 = IoModeType.PAKOUT_BOOTING;
                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
                                    TaskWrk pakin = taskWrkService.selectByStartPoint(inSta.getStaNo() + "");
                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
                                            && !devpThread.getStation().get(inSta.getBackSta()).isLoading()
                                            && devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
@@ -1000,23 +1084,117 @@
    /**
     * 跑库程序
     */
    public void debug() {
        //首先库位有一个在库的库位
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_sts", "F"));
        if (locMast != null) {
            // 再生成一个移库任务
            LocMast mk = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_sts", "O").ne("mk", 1));

    public void debug(String sts, Long modiUser, Integer loc_type1) {
        if (!enable) {
            return;
        }

        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>());
        if (basCrnps.isEmpty()) {
            return;
        }
        for (BasCrnp basCrnp : basCrnps) {
            if (!basCrnp.getInEnable().equals("N") || !basCrnp.getOutEnable().equals("Y")) {
                continue;
            }
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("crn_no", basCrnp.getCrnNo()).eq("io_type", 11));
            if (Cools.isEmpty(wrkMasts) || wrkMasts.isEmpty()) {
                int i = locMastService.selectCount(new EntityWrapper<LocMast>().eq("loc_sts", sts).eq("loc_type1", loc_type1).ne("modi_user", modiUser));
                LocMast locMastStart = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_sts", sts).eq("loc_type1", loc_type1).ne("modi_user", modiUser));
                if (locMastStart == null || i > 1) {
                    continue;
                }
                List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>()
                        .eq("loc_sts", "O")
                        .eq("crn_no", basCrnp.getCrnNo())
                        .eq("loc_type1", locMastStart.getLocType1())
                        .ne("modi_user", 77));
                if (Cools.isEmpty(locMasts)) {
                    continue;
                }
                Random random = new Random();
                LocMast locMastEnd = locMasts.get(random.nextInt(locMasts.size()));
                locMove(locMastStart, locMastEnd, Long.parseLong(basCrnp.getCrnNo().toString()));
            }
        }
    }


    public void locMove(LocMast sourceLoc, LocMast locNo, Long userId) {
        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLoc.getLocNo()));
        LocMast loc = locMastService.selectById(locNo);
        if (!sourceLoc.getCrnNo().equals(loc.getCrnNo())) {
            throw new CoolException("移转库位属于不同堆垛机");
        }
        Date now = new Date();
        // 获取工作号
        int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
        // 保存工作档
        WrkMast wrkMast = new WrkMast();
        wrkMast.setWrkNo(workNo);
        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(10D);
        wrkMast.setCrnNo(sourceLoc.getCrnNo());
        wrkMast.setSourceLocNo(sourceLoc.getLocNo()); // 源库位
        wrkMast.setLocNo(locNo.getLocNo()); // 目标库位
        wrkMast.setFullPlt(Cools.isEmpty(locDetls) ? "N" : "Y"); // 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.setAppeUser(userId);
        wrkMast.setAppeTime(now);
        wrkMast.setModiUser(userId);
        wrkMast.setModiTime(now);
        boolean res = wrkMastService.insert(wrkMast);
        if (!res) {
            throw new CoolException("保存工作档失败");
        }
        // 工作档明细保存
        for (LocDetl locDetl : locDetls) {
            WrkDetl wrkDetl = new WrkDetl();
            wrkDetl.sync(locDetl);
            wrkDetl.setWrkNo(workNo);
            wrkDetl.setIoTime(now);
            wrkDetl.setAnfme(locDetl.getAnfme());
            wrkDetl.setAppeTime(now);
            wrkDetl.setAppeUser(userId);
            wrkDetl.setModiTime(now);
            wrkDetl.setModiUser(userId);
            if (!wrkDetlService.insert(wrkDetl)) {
                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.getLocSts().equals("F")) {
            sourceLoc.setLocSts("R"); // R.出库预约
            sourceLoc.setModiUser(userId);
            sourceLoc.setModiTime(now);
            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，状态：" + sourceLoc.getLocSts$());
        }
        // 修改目标库位状态
        if (loc.getLocSts().equals("O")) {
            loc.setLocSts("S"); // S.入库预约
            loc.setModiTime(now);
            loc.setModiUser(userId);
            if (!locMastService.updateById(loc)) {
                throw new CoolException("更新目标库位状态失败");
            }
        } else {
            throw new CoolException("移转失败，目标库位状态：" + loc.getLocSts$());
        }
    }

    /**
     * 转移任务下发
     */
    public void transferTaskStart() {

        for (DevpSlave.Sta sta : slaveProperties.getDevp().get(1).getInSta()) {
            try {
                // 获取入库站信息
@@ -1079,7 +1257,7 @@
                        continue;
                    }
                    log.info("转移任务完成：transferTask:" + JSON.toJSONString(transferTask));
                    transferTask.setStatus(5);
                    transferTask.setStatus(3);
                    transferTaskService.updateById(transferTask);
                }
            } catch (Exception e) {