#改造

cpT

2025-06-30 3c9e4d85af794e00e94de44d934f806da40f5db2

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

@@ -31,7 +31,6 @@
import com.zy.core.thread.RgvThread;
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.stereotype.Service;
@@ -55,8 +54,6 @@

    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private WrkMastMapper wrkMastMapper;
    @Autowired
    private LocMastService locMastService;
    @Autowired
@@ -105,6 +102,10 @@

    @Value("${constant-parameters.avoidDistance}")
    private Long avoidDistance;
    @Autowired
    private TaskWrkLogServiceImpl taskWrkLogService;
    @Autowired
    private BasPlcerrorLogServiceImpl basPlcerrorLogService;

    public void generateStoreWrkFile() {
        try {
@@ -128,9 +129,9 @@

                    // 尺寸检测异常
                    boolean back = false;
                    String errMsg = "";
                    String errMsg = "-";
                    if (staProtocol.getGrossWt()>=600){
                        errMsg = "超重";
                        errMsg = "超重："+staProtocol.getGrossWt()+"kg";
                        back = true;
                    }
                    if (staProtocol.isFrontErr()) {
@@ -153,10 +154,10 @@
                        errMsg = "右超限";
                        back = true;
                    }
                    if (!back && staProtocol.isWeightErr()) {
                        errMsg = "超重";
                        back = true;
                    }
//                    if (!back && staProtocol.isWeightErr()) {
//                        errMsg = "超重";
//                        back = true;
//                    }
                    if (!back && staProtocol.isBarcodeErr()) {
                        errMsg = "扫码失败";
                        back = true;
@@ -177,6 +178,7 @@
                        staProtocol.setWorkNo(9999);
                        staProtocol.setStaNo(inSta.getBackSta());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
                        if (taskWrk != null) {
@@ -199,6 +201,25 @@
                            continue;
                        }
                        String barcode = barcodeThread.getBarcode();
                        int signI = 0;
                        while (signI<6){
                            Thread.sleep(200);
                            signI = signI +1;
                            // 获取条码扫描仪信息
                            if (Cools.isEmpty(barcode) || barcode.equals("000000")) {
                                devpThread.setErrorDev(staProtocol.getSiteId(), "循环次数："+signI+"；扫码值："+barcode);

                                BarcodeThread barcodeThreadO = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                                if (barcodeThreadO == null) {
                                    continue;
                                }
                                barcode = barcodeThreadO.getBarcode();
                            } else {
                                break;
                            }
                        }


                        if (!Cools.isEmpty(barcode) && !barcode.equals("99999999") && !barcode.equals("000000")) {
                            // 请求wms接口，获取工作号和目标库位
                            ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, workNo == 9998? 0 : 1);
@@ -206,7 +227,7 @@
                            TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
                            if (!Cools.isEmpty(taskWrk1)) {
                                log.info("托盘码：" + barcode + "任务档存在");
                                if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
                                if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && (taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString()) || taskWrk1.getStartPoint().equals(String.valueOf((staProtocol.getSiteId()+1))))) {
                                    StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                            .eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));

@@ -217,6 +238,7 @@
                                        staProtocol.setWorkNo(taskWrk1.getWrkNo());
                                        staProtocol.setStaNo(staProtocol.getSiteId());
                                        devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
                                        devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    }
                                }
@@ -252,6 +274,7 @@
                                staProtocol.setStaNo(inSta.getBackSta());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
                                devpThread.setErrorDev(staProtocol.getSiteId(), e.getMessage());
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                continue;
                            }
@@ -270,6 +293,8 @@
                            if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
                                try {
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    devpThread.setErrorDev(staProtocol.getSiteId(), "上报成功等待任务");

                                } catch (Exception e) {
                                    // 退回
                                    log.error("扫码检测程序异常" + inSta.getStaNo() + errMsg);
@@ -278,9 +303,18 @@
                                    staProtocol.setWorkNo(9999);
                                    staProtocol.setStaNo(inSta.getBackSta());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    devpThread.setErrorDev(staProtocol.getSiteId(), "上报成功锁定失败");

                                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                }

                            } else {
                                // 退回
                                staProtocol.setWorkNo(9999);
                                staProtocol.setStaNo(inSta.getBackSta());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                devpThread.setErrorDev(staProtocol.getSiteId(), jsonObject.getString("message"));
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            }
                        } else {
                            // 退回
@@ -289,6 +323,7 @@
                            staProtocol.setWorkNo(9999);
                            staProtocol.setStaNo(inSta.getBackSta());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            devpThread.setErrorDev(staProtocol.getSiteId(), "扫码入库扫码失败！！！扫码值："+barcode);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
                            if (taskWrk != null) {
@@ -351,10 +386,10 @@
                        errMsg = "右超限";
                        back = true;
                    }
                    if (!back && staProtocol.isWeightErr()) {
                        errMsg = "超重";
                        back = true;
                    }
//                    if (!back && staProtocol.isWeightErr()) {
//                        errMsg = "超重";
//                        back = true;
//                    }
                    // 退回
                    if (back) {
                        if (stano == inSta.getBackSta().shortValue()) {
@@ -558,6 +593,7 @@
                                        staProtocol.setWorkNo(taskWrk1.getWrkNo());
                                        staProtocol.setStaNo(BarcodeUtils.getStaNo(staProtocol.getSiteId()));
                                        devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
                                        devpThread.setErrorDev(staProtocol.getSiteId(), "-");
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                                        Date now = new Date();
@@ -669,6 +705,51 @@
    }

    /**
     * 堆垛机5分钟无任务则回到源点
     */
    public void crnStnToOutStnSou() {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            try{
                // 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.getLaneNo()!=0 && (crnProtocol.getBay()!=1 || crnProtocol.getLevel()!=1)){
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.statusType == CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0) {
                        //获取工作档
                        List<TaskWrk> taskWrks = taskWrkMapper.selectByLaneNo(crnProtocol.getLaneNo());
                        if (!taskWrks.isEmpty()) {
                            continue;
                        }
                        List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<TaskWrkLog>().eq("CRN_NO",crnProtocol.getLaneNo()).orderBy("COMPLETE_TIME",true));
                        if (taskWrkLogs.isEmpty()) {
                            CrnCommand command = new CrnCommand();
                            if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(4, command))) {
                                log.error("堆垛机自动回源点失败，堆垛机号={}", crnProtocol.getCrnNo());
                            }
                        }
//                        long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(taskWrkLogs.get(0).getCompleteTime(), new Date());
//                        if (differenceInSeconds <= 1000) {
//                            return;
//                        }

                    }
                }
            } catch (Exception e){
                log.error("堆垛机5分钟无任务则回到源点失败");
            }
        }
    }

    /**
     * 入出库  ===>>  堆垛机入出库作业下发
     */
    public synchronized void crnIoExecute() throws IOException {
@@ -695,8 +776,12 @@
                }
            }

            // 库位移转
            this.locToLoc(crn, crnProtocol);
            try{
                // 库位移转
                this.locToLoc(crn, crnProtocol);
            } catch (Exception e) {
                log.error("库位移转失败");
            }

            // 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
@@ -721,8 +806,19 @@
                        crnProtocol.setLastIo("O");
                    }
                }
            }  else {
                if (crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getStatusType() == CrnStatusType.IDLE){
                    if (crnProtocol.getTaskNo() != 0){
                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");
                    }
                    if (crnProtocol.getLoaded() != 0){
                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "载货台有物");
                    }
                    if (crnProtocol.getForkPos() != 0){
                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "货叉位置不在中位");
                    }
                }
            }

        }
    }

@@ -749,7 +845,8 @@
                    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()
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
//                        && staProtocol.isInEnable()
                        && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                    flag = true;
                }
@@ -764,12 +861,20 @@
                }

                // 堆垛机控制过滤
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE)) {
                    devpThread.setErrorDev(staProtocol.getSiteId(), "堆垛机非空闲");
                    continue;
                }
                if (crnProtocol.getTaskNo() != 0) {
                    devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机工作号不为0");
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");
                    continue;
                }

                // 已经存在吊车执行任务时，则过滤
                if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
                    devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机存在吊车任务");
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
                    continue;
                }

@@ -822,18 +927,25 @@
                crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位列
                crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位层
                crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位排
                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(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位列
                crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位层
                int bay1 = Utils.getBayShort(taskWrk.getTargetPoint()) + 1;
                crnCommand.setDestinationPosY((short)bay1);     // 目标库位层
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位排
//                crnCommand.setCommand((short) 1);
                if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                    devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");

                    throw new CoolException("堆垛机命令生成失败");
                } else {
                    try {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "-");
                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");

                        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());
@@ -917,17 +1029,29 @@
                    }

                    // 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()) {
                    if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {

//                    // 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) {
                            break;
                        if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE)) {
                            devpThread.setErrorDev(staProtocol.getSiteId(), "堆垛机非空闲");
                            continue;
                        }
                        if (crnProtocol.getTaskNo() != 0) {
                            devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机工作号不为0");
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");

                            continue;
                        }

                        // 已经存在吊车执行任务时，则过滤
                        if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
                            devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机存在吊车任务");
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
                            break;
                        }

@@ -938,14 +1062,17 @@
                        command.setAckFinish((short) 0);  // 任务完成确认位
                        command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
                        command.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位排
                        command.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位列
                        int bayS = Utils.getBayShort(taskWrk.getStartPoint()) + 1;
                        command.setSourcePosY((short)bayS);     // 源库位列
                        command.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位层
                        command.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                        command.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                        command.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                        command.setCommand((short) 1);
//                        command.setCommand((short) 1);
                        if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command))) {
                            log.error("堆垛机命令生成失败，堆垛机号={}，巷道={}，任务数据={}", slave.getId(), taskWrk.getCrnNo(), JSON.toJSON(command));
                            devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");
                            throw new CoolException("堆垛机命令生成失败");
                        } else {
                            try {
@@ -955,6 +1082,9 @@
                                taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);
                                taskWrk.setModiTime(now);
                                taskWrk.setExecuteTime(now);
                                devpThread.setErrorDev(staProtocol.getSiteId(), "-");
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");

                                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());
                                }
@@ -992,6 +1122,21 @@
                                log.error("wcs派发出库任务上报wms失败", JSON.toJSONString(taskWrk));
//                                throw new CoolException("wcs派发入库任务上报wms失败");
                            }
                        }
                    } else {
                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");
                        if (staProtocol.isAutoing()){
                            if (staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "能出：未打开");
                            }
                            if (staProtocol.getWorkNo() == 0){
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");
                            }
                            if (staProtocol.isOutEnable()){
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "没有可出");
                            }
                        } else {
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "出库站点：非自动");
                        }
                    }
                }
@@ -1051,10 +1196,12 @@
                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(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位排
                crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位列
                int bayS = Utils.getBayShort(taskWrk.getStartPoint()) + 1;
                crnCommand.setSourcePosY((short)bayS);     // 源库位列
                crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位层
                crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位列
                int bayE = Utils.getBayShort(taskWrk.getTargetPoint()) + 1;
                crnCommand.setDestinationPosY((short)bayE);     // 目标库位列
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位层
//                crnCommand.setCommand((short) 1);
                if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
@@ -1112,80 +1259,81 @@
     */
    public void storeFinished() throws InterruptedException {
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }

            CrnSlave crn = new CrnSlave(crnSlave);

            if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
                for (CrnSlave crnOther : slaveProperties.getCrn()) {
                    if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
                        crn.updateCrnInStn(crnOther);
                    }
                }
            }

            //  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
                TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crnProtocol.getLaneNo(), crnProtocol.getTaskNo().intValue());
                if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
                    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={}，巷道号={}，工作号={}", crn.getId(), crnProtocol.getLaneNo(), crnProtocol.getTaskNo());
            try{
                // 获取堆垛机信息
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    continue;
                }
//                Thread.sleep(300);
                //确认完成信号
                CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
                crnOperatorParam.setCrnNo(crn.getId());
                Date now = new Date();

                crnController.crnTaskComplete(crnOperatorParam);
                if (!Cools.isEmpty(taskWrk)) {
                    if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
                        taskWrk.setWrkSts(4);//入库完成
                        taskWrk.setStatus(TaskStatusType.OVER.id);//完结
                        //更新库位状态
                        LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
                        locMast.setLocSts("F");//F.在库
                        locMast.setBarcode(taskWrk.getBarcode());//托盘码
                        locMast.setModiTime(now);
                        locMast.setModiUser(9999L);
                        locMastService.updateById(locMast);
                    } else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
                        taskWrk.setWrkSts(13);//出库完成
                        taskWrk.setStatus(TaskStatusType.OVER.id);//完结
                        //更新库位状态
                        LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
                        locMast.setLocSts("O");//O.空库位
                        locMast.setBarcode("");//托盘码
                        locMast.setModiTime(now);
                        locMast.setModiUser(9999L);
                        locMastService.updateById(locMast);
                    } else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
                        taskWrk.setWrkSts(4);//入库完成
                        taskWrk.setStatus(TaskStatusType.OVER.id);//完结
                        //更新库位状态
                        LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
                        locMast.setLocSts("F");//F.在库
                        locMast.setBarcode(taskWrk.getBarcode());//托盘码
                        locMast.setModiTime(now);
                        locMast.setModiUser(9999L);
                        locMastService.updateById(locMast);
                CrnSlave crn = new CrnSlave(crnSlave);

                        LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
                        locMast1.setLocSts("O");//O.空库位
                        locMast1.setBarcode("");//托盘码
                        locMast1.setModiTime(now);
                        locMast1.setModiUser(9999L);
                        locMastService.updateById(locMast1);
                if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
                    for (CrnSlave crnOther : slaveProperties.getCrn()) {
                        if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
                            crn.updateCrnInStn(crnOther);
                        }
                    }
                    taskWrk.setModiTime(now);
                    taskWrk.setCompleteTime(now);
                    taskWrkService.updateById(taskWrk);
                }

                //  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
                    TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crnProtocol.getLaneNo(), crnProtocol.getTaskNo().intValue());
                    if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
                        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={}，巷道号={}，工作号={}", crn.getId(), crnProtocol.getLaneNo(), crnProtocol.getTaskNo());
                        continue;
                    }
//                Thread.sleep(300);
                    //确认完成信号
                    CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
                    crnOperatorParam.setCrnNo(crn.getId());
                    Date now = new Date();

                    crnController.crnTaskComplete(crnOperatorParam);
                    if (!Cools.isEmpty(taskWrk)) {
                        if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
                            taskWrk.setWrkSts(4);//入库完成
                            taskWrk.setStatus(TaskStatusType.OVER.id);//完结
                            //更新库位状态
                            LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
                            locMast.setLocSts("F");//F.在库
                            locMast.setBarcode(taskWrk.getBarcode());//托盘码
                            locMast.setModiTime(now);
                            locMast.setModiUser(9999L);
                            locMastService.updateById(locMast);
                        } else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
                            taskWrk.setWrkSts(13);//出库完成
                            taskWrk.setStatus(TaskStatusType.OVER.id);//完结
                            //更新库位状态
                            LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
                            locMast.setLocSts("O");//O.空库位
                            locMast.setBarcode("");//托盘码
                            locMast.setModiTime(now);
                            locMast.setModiUser(9999L);
                            locMastService.updateById(locMast);
                        } else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
                            taskWrk.setWrkSts(4);//入库完成
                            taskWrk.setStatus(TaskStatusType.OVER.id);//完结
                            //更新库位状态
                            LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
                            locMast.setLocSts("F");//F.在库
                            locMast.setBarcode(taskWrk.getBarcode());//托盘码
                            locMast.setModiTime(now);
                            locMast.setModiUser(9999L);
                            locMastService.updateById(locMast);

                            LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
                            locMast1.setLocSts("O");//O.空库位
                            locMast1.setBarcode("");//托盘码
                            locMast1.setModiTime(now);
                            locMast1.setModiUser(9999L);
                            locMastService.updateById(locMast1);
                        }
                        taskWrk.setModiTime(now);
                        taskWrk.setCompleteTime(now);
                        taskWrkService.updateById(taskWrk);


//                    try {
@@ -1225,8 +1373,11 @@
//                        log.error("wcs完结任务上报wms失败,报错信息：", e);
////                        throw new CoolException("wcs派发入库任务上报wms失败");
//                    }
                }
                    }

                }
            } catch (Exception e){
                log.error("堆垛机执行对工作档的完成操作失败 ===>> [id:{}] [error:{}]", crnSlave.getId(), e.getMessage());
            }
        }
    }
@@ -1237,115 +1388,243 @@
    public void recCrnErr() {
        Date now = new Date();
        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;
            }
            if (false) {
//            if (crnProtocol.getModeType() != CrnModeType.STOP) {
                // 有任务
                if (crnProtocol.getTaskNo() != 0) {
                    BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
                    // 有异常
                    if (latest == null) {
            try{
                // 获取堆垛机信息
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    continue;
                }
                if (crnProtocol.getModeType() != CrnModeType.STOP) {
                    // 有任务
                    if (crnProtocol.getTaskNo() != 0) {
                        BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
                        // 有异常
                        if (latest == null) {
                            if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
                                TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(crnProtocol.getTaskNo()));
                                if (taskWrk == null) {
                                    continue;
                                }
                                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm().intValue());
                                String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
                                BasErrLog basErrLog = new BasErrLog(
                                        null,    // 编号
                                        taskWrk.getWrkNo(),    // 工作号
                                        now,    // 发生时间
                                        null,    // 结束时间
                                        taskWrk.getWrkSts().longValue(),    // 工作状态
                                        taskWrk.getIoType(),    // 入出库类型
                                        crn.getId(),    // 堆垛机
                                        null,    // plc
                                        taskWrk.getTargetPoint(),    // 目标库位
                                        0,    // 目标站
                                        0,    // 源站
                                        taskWrk.getStartPoint(),    // 源库位
                                        taskWrk.getBarcode(),    // 条码
                                        (int) crnProtocol.getAlarm(),    // 异常码
                                        errName,    // 异常
                                        1,    // 异常情况
                                        taskWrk.getCreateTime(),    // 任务时间(接收时间)
                                        null,    // 添加人员
                                        now,    // 修改时间
                                        null,    // 修改人员
                                        "任务中异常"    // 备注
                                );
                                if (!basErrLogService.insert(basErrLog)) {
                                    log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                                }
                            }
                        } else {
                            // 异常修复
                            if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
                                latest.setEndTime(now);
                                latest.setUpdateTime(now);
                                latest.setStatus(2);
                                if (!basErrLogService.updateById(latest)) {
                                    log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                                }
                            }
                        }
                        // 无任务
                    } else {
                        BasErrLog latest = basErrLogService.findLatest(crn.getId());
                        // 有异常
                        if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
                            WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
                            if (wrkMast == null) {
                                continue;
                            // 记录新异常
                            if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
                                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                                String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
                                BasErrLog basErrLog = new BasErrLog(
                                        null,    // 编号
                                        null,    // 工作号
                                        now,    // 发生时间
                                        null,    // 结束时间
                                        null,    // 工作状态
                                        null,    // 入出库类型
                                        crn.getId(),    // 堆垛机
                                        null,    // plc
                                        null,    // 目标库位
                                        null,    // 目标站
                                        null,    // 源站
                                        null,    // 源库位
                                        null,    // 条码
                                        (int) crnProtocol.getAlarm(),    // 异常码
                                        errName,    // 异常
                                        1,    // 异常情况
                                        now,    // 添加时间
                                        null,    // 添加人员
                                        now,    // 修改时间
                                        null,    // 修改人员
                                        "无任务异常"    // 备注
                                );
                                if (!basErrLogService.insert(basErrLog)) {
                                    log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                                }
                            }
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                            String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    wrkMast.getWrkNo(),    // 工作号
                                    now,    // 发生时间
                                    null,    // 结束时间
                                    wrkMast.getWrkSts(),    // 工作状态
                                    wrkMast.getIoType(),    // 入出库类型
                                    crn.getId(),    // 堆垛机
                                    null,    // plc
                                    wrkMast.getLocNo(),    // 目标库位
                                    wrkMast.getStaNo(),    // 目标站
                                    wrkMast.getSourceStaNo(),    // 源站
                                    wrkMast.getSourceLocNo(),    // 源库位
                                    wrkMast.getBarcode(),    // 条码
                                    (int) crnProtocol.getAlarm(),    // 异常码
                                    errName,    // 异常
                                    1,    // 异常情况
                                    now,    // 添加时间
                                    null,    // 添加人员
                                    now,    // 修改时间
                                    null,    // 修改人员
                                    "任务中异常"    // 备注
                            );
                            if (!basErrLogService.insert(basErrLog)) {
                                log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                            }
                        }
                    } else {
                        // 异常修复
                        if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
                            latest.setEndTime(now);
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
                            if (!basErrLogService.updateById(latest)) {
                                log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                            }
                        }
                    }
                    // 无任务
                } else {
                    BasErrLog latest = basErrLogService.findLatest(crn.getId());
                    // 有异常
                    if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
                        // 记录新异常
                        if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                            String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    null,    // 工作号
                                    now,    // 发生时间
                                    null,    // 结束时间
                                    null,    // 工作状态
                                    null,    // 入出库类型
                                    crn.getId(),    // 堆垛机
                                    null,    // plc
                                    null,    // 目标库位
                                    null,    // 目标站
                                    null,    // 源站
                                    null,    // 源库位
                                    null,    // 条码
                                    (int) crnProtocol.getAlarm(),    // 异常码
                                    errName,    // 异常
                                    1,    // 异常情况
                                    now,    // 添加时间
                                    null,    // 添加人员
                                    now,    // 修改时间
                                    null,    // 修改人员
                                    "无任务异常"    // 备注
                            );
                            if (!basErrLogService.insert(basErrLog)) {
                                log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                            }
                        }
                        // 无异常
                    } else {
                        // 异常修复
                        if (latest != null && latest.getStatus() == 1) {
                            latest.setEndTime(now);
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
                            if (!basErrLogService.updateById(latest)) {
                                log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                            // 无异常
                        } else {
                            // 异常修复
                            if (latest != null && latest.getStatus() == 1) {
                                latest.setEndTime(now);
                                latest.setUpdateTime(now);
                                latest.setStatus(2);
                                if (!basErrLogService.updateById(latest)) {
                                    log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                                }
                            }
                        }
                    }
                }
            } catch (Exception e){
                log.error("堆垛机异常信息记录失败 ===>> [id:{}] [error:{}]", crn.getId(), e.getMessage());
            }
        }
    }

    /**
     * 堆垛机异常信息记录
     */
    public void recDevErr() {
        Date now = new Date();
        for (DevpSlave devpSlave : slaveProperties.getDevp()) {
            try{
                // 获取堆垛机信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
                Map<Integer, StaProtocol> station = devpThread.getStation();
                for (StaProtocol staProtocol : station.values()){
                    try{
                        if (staProtocol == null) {
                            continue;
                        }
//                        if (staProtocol.isAutoing() != CrnModeType.STOP) {
//                            // 有任务
//                            if (crnProtocol.getTaskNo() != 0) {
//                                BasErrLog latest = basPlcerrorLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
//                                // 有异常
//                                if (latest == null) {
//                                    if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
//                                        TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(crnProtocol.getTaskNo()));
//                                        if (taskWrk == null) {
//                                            continue;
//                                        }
//                                        BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm().intValue());
//                                        String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
//                                        BasErrLog basErrLog = new BasErrLog(
//                                                null,    // 编号
//                                                taskWrk.getWrkNo(),    // 工作号
//                                                now,    // 发生时间
//                                                null,    // 结束时间
//                                                taskWrk.getWrkSts().longValue(),    // 工作状态
//                                                taskWrk.getIoType(),    // 入出库类型
//                                                crn.getId(),    // 堆垛机
//                                                null,    // plc
//                                                taskWrk.getTargetPoint(),    // 目标库位
//                                                0,    // 目标站
//                                                0,    // 源站
//                                                taskWrk.getStartPoint(),    // 源库位
//                                                taskWrk.getBarcode(),    // 条码
//                                                (int) crnProtocol.getAlarm(),    // 异常码
//                                                errName,    // 异常
//                                                1,    // 异常情况
//                                                taskWrk.getCreateTime(),    // 任务时间(接收时间)
//                                                null,    // 添加人员
//                                                now,    // 修改时间
//                                                null,    // 修改人员
//                                                "任务中异常"    // 备注
//                                        );
//                                        if (!basErrLogService.insert(basErrLog)) {
//                                            log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
//                                        }
//                                    }
//                                } else {
//                                    // 异常修复
//                                    if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
//                                        latest.setEndTime(now);
//                                        latest.setUpdateTime(now);
//                                        latest.setStatus(2);
//                                        if (!basErrLogService.updateById(latest)) {
//                                            log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
//                                        }
//                                    }
//                                }
//                                // 无任务
//                            } else {
//                                BasErrLog latest = basErrLogService.findLatest(crn.getId());
//                                // 有异常
//                                if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
//                                    // 记录新异常
//                                    if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
//                                        BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
//                                        String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
//                                        BasErrLog basErrLog = new BasErrLog(
//                                                null,    // 编号
//                                                null,    // 工作号
//                                                now,    // 发生时间
//                                                null,    // 结束时间
//                                                null,    // 工作状态
//                                                null,    // 入出库类型
//                                                crn.getId(),    // 堆垛机
//                                                null,    // plc
//                                                null,    // 目标库位
//                                                null,    // 目标站
//                                                null,    // 源站
//                                                null,    // 源库位
//                                                null,    // 条码
//                                                (int) crnProtocol.getAlarm(),    // 异常码
//                                                errName,    // 异常
//                                                1,    // 异常情况
//                                                now,    // 添加时间
//                                                null,    // 添加人员
//                                                now,    // 修改时间
//                                                null,    // 修改人员
//                                                "无任务异常"    // 备注
//                                        );
//                                        if (!basErrLogService.insert(basErrLog)) {
//                                            log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
//                                        }
//                                    }
//                                    // 无异常
//                                } else {
//                                    // 异常修复
//                                    if (latest != null && latest.getStatus() == 1) {
//                                        latest.setEndTime(now);
//                                        latest.setUpdateTime(now);
//                                        latest.setStatus(2);
//                                        if (!basErrLogService.updateById(latest)) {
//                                            log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
//                                        }
//                                    }
//                                }
//                            }
//                        }
                    } catch (Exception devErr){
                        log.error("输送线站点异常信息记录失败 ===>> [id:{}] [error:{}]", staProtocol.getStaNo(), devErr.getMessage());
                    }
                }
            } catch (Exception e){
                log.error("输送线异常信息记录失败 ===>> [id:{}] [error:{}]", devpSlave.getId(), e.getMessage());
            }
        }
    }

@@ -1440,6 +1719,24 @@
        }
        return true;
    }
    public boolean rgvOtherIDLEOther2(RgvSlave slave) {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());

        if (rgvProtocol == null || rgvTaskProtocol == null) {
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO)
                || rgvProtocol.getRgvPos().equals(0L)
                || rgvTaskProtocol.getAvoid() == -1) {
            return false;
        }

        if (rgvProtocol.getLoaded()!=0) {
            return false;
        }
        return true;
    }
    public boolean rgvOtherIDLE(RgvSlave slave,Integer staNo) {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
@@ -1458,6 +1755,44 @@
        }
        if (rgvProtocolOther.statusEnable) {
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
            long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
                    -
                    Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos()));
            if (abs<100){
                return true;
            }
            if (Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
                    >=
                    Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos())){
                return false;
            }
        }
        return true;
    }
    public boolean rgvOtherIDLE2(RgvSlave slave,Integer staNo) {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

        if (rgvProtocol == null || rgvTaskProtocol == null) {
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
                || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());

        if (rgvProtocolOther == null) {
            return true;
        }
        if (rgvProtocolOther.statusEnable) {
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
            long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
                    -
                    Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos()));
            if (abs<100){
                return true;
            }
            if (Math.abs(basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos())
                    >=
                    Math.abs(basDevpPosition.getPlcPosition()-rgvProtocolOther.getRgvPos())){
@@ -1477,14 +1812,141 @@
        // 判断是否满足取货条件
        if (staProtocol.isAutoing()
//                && staProtocol.isLoading()
                && staProtocol.isStaOk()
//                && staProtocol.isStaOk()
                && staProtocol.getWorkNo() != 0) {
            TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo());
            if (taskWrk != null) {
                Integer stano = staProtocol.getStaNo();
                if (staProtocol.getSiteId() == 1004 || staProtocol.getSiteId()==1020){
                    // 判断是否满足取货条件
                    if (!staProtocol.isLoading()) {
                        return null;
                    }
                    // 尺寸检测异常
                    boolean back = false;
                    String errMsg = "-";
                    if (staProtocol.getGrossWt()>=600){
                        errMsg = "超重："+staProtocol.getGrossWt()+"kg";
                        back = true;
                    }
                    if (staProtocol.isFrontErr()) {
                        errMsg = "前超限";
                        back = true;
                    }
                    if (!back && staProtocol.isBackErr()) {
                        errMsg = "后超限";
                        back = true;
                    }
                    if (!back && staProtocol.isHighErr()) {
                        errMsg = "高超限";
                        back = true;
                    }
                    if (!back && staProtocol.isLeftErr()) {
                        errMsg = "左超限";
                        back = true;
                    }
                    if (!back && staProtocol.isRightErr()) {
                        errMsg = "右超限";
                        back = true;
                    }
//                    if (!back && staProtocol.isWeightErr()) {
//                        errMsg = "超重";
//                        back = true;
//                    }
                    if (!back && staProtocol.isBarcodeErr()) {
                        errMsg = "扫码失败";
                        back = true;
                    }
                    // 退回
                    if (back) {
                        if (stano.equals(staProtocol.getStaNo() + 1)) {
                            return null;
                        }
                        if (!staProtocol.isPakMk()) {
                            return null;
                        }
                        System.out.println("扫码入库失败，{"+inSta.getStaNo()+"}入库站因{"+errMsg+"}异常，托盘已被退回");
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                        staProtocol.setWorkNo(9999);
                        staProtocol.setStaNo(staProtocol.getStaNo()+1);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
                        MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
                        try{
                            taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
                            taskWrk.setModiTime(new Date());
                            taskWrkMapper.updateById(taskWrk);
                        } catch (Exception e){
                            devpThread.setErrorDev(staProtocol.getSiteId(), errMsg+"异常信息保存工作档案失败！");
                        }
                        return null;
                    }
                }
                return taskWrk;
            }
        } else if (staProtocol.isAutoing() && staProtocol.getWorkNo() == 0 && !staProtocol.isLoading()){
            if (inSta.isDirectionOther()){
                StaProtocol staProtocolOther = devpThread.getStation().get(inSta.getStaNoOther());
                if (staProtocolOther == null) {
                    return null;
                }
                // 判断是否满足取货条件
                if (staProtocolOther.isAutoing()
                        && staProtocolOther.getWorkNo() != 0) {
                    TaskWrk taskWrkOther = taskWrkService.selectByWrkNo(staProtocolOther.getWorkNo());
                    if (taskWrkOther != null) {
                        return taskWrkOther;
                    }
                }
            }
        }
        return null;
    }
    public boolean deviceDetection(RgvSlave.RgvStn inSta,Integer rgvNo) {
        ArrayList<Integer> arrayList = new ArrayList<Integer>() {{
            add(1009);
            add(1011);
            add(1012);
            add(1014);
            add(1016);
        }};
        try{

            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
            ArrayList<Integer> listW = new ArrayList<Integer>();
            ArrayList<Integer> listL = new ArrayList<Integer>();
            for (Integer staNo : arrayList){
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (staProtocol == null) {
                    RgvErrCache.updateRgvErr(rgvNo,staNo+"站点数据丢失");
                    return false;
                }
                // 判断是否满足取货条件
                if (staProtocol.getWorkNo() != 0) {
                    if (!listW.contains(staProtocol.getWorkNo())) {
                        listW.add(staProtocol.getWorkNo());
                    }
                }
                // 判断是否满足取货条件
                if (staProtocol.isLoading()) {
                    if (!listL.contains(staProtocol.getStaNo())) {
                        listL.add(staProtocol.getStaNo());
                    }
                }
            }
            if (listW.size()>=3){
                RgvErrCache.updateRgvErr(rgvNo,"等待1012拣选，防止堵塞");
                return false;
            }
            if (listL.size()>=3){
                RgvErrCache.updateRgvErr(rgvNo,"等待1012拣选，防止堵塞");
                return false;
            }
        } catch (Exception e){
            RgvErrCache.updateRgvErr(rgvNo,"1012检测异常："+e.getMessage());
            return false;
        }
        return true;
    }

    public boolean rgvOtherStatusEnable(RgvSlave slave) {
@@ -1547,6 +2009,9 @@
                        if (!sign && staList.size()==1){
                            if (rgvOtherIDLEOther(rgvSlave)){
                                if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
                                    System.out.println("空闲就近跳过==="+rgvSlave.getId()+"===");
                                    RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"空闲就近跳过");

                                    sign=true;
                                }
                            }
@@ -1558,6 +2023,8 @@
                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
                                            for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
                                                if (rgvSuper.getStaNo().equals(outStaNo)){
                                                    System.out.println("空闲就近跳过后因最远再次执行==="+rgvSlave.getId()+"===");

                                                    sign=false;
                                                    break;
                                                }
@@ -1579,6 +2046,9 @@
                                        if (taskWrk != null) {
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                                System.out.println("全范围执行==="+rgvSlave.getId()+"==="+taskWrk);
                                                System.out.println("全范围执行==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));

                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
                                            }
                                        }
@@ -1600,6 +2070,9 @@
                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
                                            for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
                                                if (rgvStnOut.getStaNo().equals(outStaNo)) {
                                                    System.out.println("筛选范围内取货任务==="+rgvSlave.getId()+"==="+taskWrk);
                                                    System.out.println("筛选范围内取货任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));

                                                    sign = taskGenerate(rgvSlave, rgvStn, 0);
                                                    break;
                                                }
@@ -1614,7 +2087,41 @@
                            }
                        }

                        if (!sign) {
                        if (!sign && staList.size()==1){
                            if (rgvOtherIDLEOther2(rgvSlave)){
                                if (!rgvOtherIDLE2(rgvSlave,staList.get(0))){
                                    System.out.println("运行就近跳过==="+rgvSlave.getId()+"===");
                                    RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"运行就近跳过");

                                    sign=true;
                                }
                            }
                            if (sign){
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
                                    if (rgvStn.getStaNo().equals(staList.get(0))) {
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk != null) {
                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
                                            for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
                                                if (rgvSuper.getStaNo().equals(outStaNo)){
                                                    System.out.println("运行就近跳过后因最远再次执行==="+rgvSlave.getId()+"===");

                                                    sign=false;
                                                    break;
                                                }
                                            }
                                        } else {
                                            return;
                                        }
                                        break;
                                    }
                                }
                            }
                        }



                        if (!sign && staList.size()>1) {
                            for (Integer staNoNow : rangeList) {
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
                                    if (rgvStn.getStaNo().equals(staNoNow)) {
@@ -1622,6 +2129,9 @@
                                        if (taskWrk != null) {
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                                System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk);
                                                System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));

                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
                                            }
                                        }
@@ -1632,8 +2142,35 @@
                                    break;
                                }
                            }
                        }else if (!sign && staList.size()==1){
                            BasDevpPosition basDevpPosition1 = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staList.get(0)));
                            if (Math.abs(basDevpPosition1.getPlcPosition()- rgvProtocol.getRgvPos())<rgvProtocol.getCarBodyJiaoMing()+rgvProtocol.getCarBodyKunPeng() + avoidDistance*2){
                                for (Integer staNoNow : rangeList) {
                                    for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
                                        if (rgvStn.getStaNo().equals(staNoNow)) {
                                            TaskWrk taskWrk = deviceDetection(rgvStn);
                                            if (taskWrk != null) {
                                                BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                                if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                                    System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk);
                                                    System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));

                                                    sign = taskGenerate(rgvSlave, rgvStn, 0);
                                                }
                                            }
                                            break;
                                        }
                                    }
                                    if (sign) {
                                        break;
                                    }
                                }
                            }
                        }
                        if (!sign) {



                        if (!sign && staList.size()>1) {
                            //  半边区域内取货任务
                            for (Integer staNoNow : rangeList) {
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
@@ -1643,6 +2180,9 @@
                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
                                            for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
                                                if (rgvStnOut.getStaNo().equals(outStaNo)) {
                                                    System.out.println("筛选半边范围取货任务==="+rgvSlave.getId()+"==="+taskWrk);
                                                    System.out.println("筛选半边范围取货任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));

                                                    sign = taskGenerate(rgvSlave, rgvStn, 0);
                                                    break;
                                                }
@@ -1656,18 +2196,27 @@
                                }
                            }
                        }
                        if (!sign) {
                            //  半边区域内放货任务
                        if (!sign && staList.size()>1) {
                            for (Integer staNoNow : rangeListOther) {
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
                                    if (rgvStn.getStaNo().equals(staNoNow)) {
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk != null) {
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
                                            for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
                                                if (rgvSuper.getStaNo().equals(outStaNo)){
                                                    System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"===");
                                                    BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                                    if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                                        sign = taskGenerate(rgvSlave, rgvStn, 0);
                                                    }
                                                    break;
                                                }
                                            }
                                        }
                                        break;
                                    }
                                    if (sign) {
                                        break;
                                    }
                                }
@@ -1675,7 +2224,39 @@
                                    break;
                                }
                            }

                        }else if (!sign && staList.size()==1){
                            for (Integer staNoNow : rangeList) {
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
                                    if (rgvStn.getStaNo().equals(staNoNow)) {
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk != null) {
                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
                                            for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
                                                if (rgvSuper.getStaNo().equals(outStaNo)){
                                                    System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"===");
                                                    BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                                    if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                                        sign = taskGenerate(rgvSlave, rgvStn, 0);
                                                    }
                                                    break;
                                                }
                                            }
                                        }
                                        break;
                                    }
                                    if (sign) {
                                        break;
                                    }
                                }
                                if (sign) {
                                    break;
                                }
                            }

                        }
                        RgvErrCache.updateRgvErr(rgvSlave.getId(),"未查询到可执行任务");

                    } else {
                        //可用区域就近取货
                        //就近排序
@@ -1762,6 +2343,11 @@
                if (targetPointConvert == null) {
                    return false;
                }
                if (targetPointConvert == 1009){
                    if (!deviceDetection(rgvStn, rgvSlave.getId())){
                        return false;
                    }
                }

                BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
                BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
@@ -1798,6 +2384,8 @@
                }
            } catch (Exception e) {
                log.error("任务生成失败issued1===》异常信息：{}", e.getMessage());
                RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued1");

                return false;
            }

@@ -1815,6 +2403,7 @@
            }
        } catch (Exception e) {
            log.error("任务生成失败issued2===》异常信息：{}", e.getMessage());
            RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued2");
        }
        return true;
    }
@@ -1830,7 +2419,7 @@
            // 命令集合
            List<LedCommand> commands = new ArrayList<>();
            // 工作档集合
            List<WrkMast> wrkMasts = new ArrayList<>();
            List<TaskWrk> taskWrks = new ArrayList<>();
            for (Integer staNo : led.getStaArr()) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -1854,7 +2443,7 @@
                ledCommand.getMatDtos().add(matDto);
                commands.add(ledCommand);
            }
            Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
            Set<Integer> workNos = taskWrks.stream().map(TaskWrk::getWrkNo).collect(Collectors.toSet());
            // 获取LED线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
            // 相同工作号集合则过滤
@@ -1873,10 +2462,10 @@

            try {
                // 修改主档led标记
                for (WrkMast wrkMast : wrkMasts) {
                    wrkMast.setOveMk("Y");
                    wrkMast.setModiTime(new Date());
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                for (TaskWrk taskWrk : taskWrks) {
//                    taskWrk.setOveMk("Y");
                    taskWrk.setModiTime(new Date());
                    if (taskWrkMapper.updateById(taskWrk) == 0) {
//                        News.errorNoLog(""+mark+" - 4"+" - 更新工作档失败");
                        throw new CoolException("更新工作档失败");
                    }