#

tqs

2022-12-03 3f02e208daff9a760d3a0ea5680a0138e0a23e03

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

@@ -9,6 +9,7 @@
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.mapper.BasRgvErrMapper;
import com.zy.asrs.mapper.WaitPakinMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;
@@ -26,30 +27,26 @@
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.LedSlave;
import com.zy.core.model.Task;
import com.zy.core.model.*;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.LedThread;
import com.zy.core.thread.RgvThread;
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.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Set;
import java.util.*;
import java.util.stream.Collectors;

/**
@@ -72,13 +69,13 @@
    @Autowired
    private WrkDetlService wrkDetlService;
    @Autowired
    private WaitPakinMapper waitPakinMapper;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private StaDescService staDescService;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private BasRgvService basRgvService;
    @Autowired
    private BasDevpService basDevpService;
    @Autowired
@@ -87,6 +84,10 @@
    private BasErrLogService basErrLogService;
    @Autowired
    private BasCrnErrorMapper basCrnErrorMapper;
    @Autowired
    private BasRgvErrMapper basRgvErrMapper;
    @Autowired
    private BasRgvErrLogService basRgvErrLogService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -106,6 +107,7 @@
                    continue;
                }
                String barcode = barcodeThread.getBarcode();

                if (!Cools.isEmpty(barcode)) {
                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
@@ -116,6 +118,7 @@
                }

                // 获取入库站信息
//                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) {
@@ -126,14 +129,16 @@

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

                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading()
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
                        && !staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
                        && staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {

//                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
@@ -192,64 +197,6 @@
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }


//                        // 检索库位
//                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
//                        List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
//                        StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos, locTypeDto, 0);
//                        // 工作号
//                        int workNo = startupDto.getWorkNo();
//                        // 插入工作明细档
//                        wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);
//
//                        // 插入工作主档
//                        wrkMast = new WrkMast();
//                        wrkMast.setWrkNo(workNo);
//                        wrkMast.setIoTime(new Date());
//                        wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
//                        wrkMast.setIoType(1); // 入出库状态：1.入库
//                        wrkMast.setIoPri(10D); // 优先级：10
//                        wrkMast.setCrnNo(startupDto.getCrnNo());
//                        wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
//                        wrkMast.setStaNo(startupDto.getStaNo());
//                        wrkMast.setLocNo(startupDto.getLocNo());
//                        wrkMast.setBarcode(barcode); // 托盘码
//                        wrkMast.setFullPlt("Y"); // 满板：Y
//                        wrkMast.setPicking("N"); // 拣料
//                        wrkMast.setExitMk("N"); // 退出
//                        wrkMast.setEmptyMk("N"); // 空板
//                        wrkMast.setLinkMis("N");
//                        // 操作人员数据
//                        wrkMast.setAppeTime(new Date());
//                        wrkMast.setModiTime(new Date());
//                        Integer insert = wrkMastMapper.insert(wrkMast);
//                        if (insert == 0) {
//                            throw new CoolException("保存工作档失败");
//                        }
//                        // 更新目标库位状态
//                        LocMast locMast = locMastService.selectById(startupDto.getLocNo());
//                        locMast.setLocSts("S"); // S.入库预约
//                        locMast.setModiTime(new Date());
//                        if (!locMastService.updateById(locMast)){
//                            throw new CoolException("改变库位状态失败");
//                        }
//                        // 将入库通知档修改为已启动
//                        if (wrkMastMapper.updateWaitPakInStep1(barcode) == 0) {
//                            throw new CoolException("修改入库通知档状态为已启动失败");
//                        }
//
//                        // 命令下发区 --------------------------------------------------------------------------
//
//                        // 更新站点信息 且 下发plc命令
//                        barcodeThread.setBarcode("");
//                        staProtocol.setWorkNo((short) workNo);
//                        staProtocol.setStaNo(startupDto.getStaNo().shortValue());
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }

                    } catch (Exception e) {
                        e.printStackTrace();
@@ -448,7 +395,6 @@
    /**
     * 堆垛机站出库到出库站
     */
    @Async
    public synchronized void crnStnToOutStn() {
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            // 遍历堆垛机出库站
@@ -526,14 +472,12 @@
                continue;
            }

//            //堆垛机回原点任务中
//            if(crnThread.isBackHpFlag()){
//                continue;
//            }

            // 只有当堆垛机空闲 并且 无任务时才继续执行
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE
                    && crnProtocol.getTaskNo() == 0
                    && crnProtocol.getModeType() == CrnModeType.AUTO
                    && crnProtocol.getLoaded() == 0
                    && crnProtocol.getForkPos() == 0) {
                // 如果最近一次是入库模式
                if (crnProtocol.getLastIo().equals("I")) {
                    if (basCrnp.getInEnable().equals("Y")) {
@@ -559,6 +503,53 @@
            this.locToLoc(crn, crnProtocol);
//            this.crnRebackHp(crnProtocol, crnThread);

        }
    }

    /**
     * 入出库  ===>>  RGV入出库作业下发
     */
    public synchronized void rgvIoExecute() {
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }
            BasRgv basRgv = basRgvService.selectById(rgv.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！", rgv.getId());
                continue;
            }

            // 只有当RGV空闲、自动, 并且无任务、无物时才继续执行
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
                    && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getLoaded2() == 0
                    ) {
                // 如果最近一次是入库模式
                if (rgvProtocol.getLastIo().equals("I")) {
                    if (basRgv.getInEnable().equals("Y")) {
                        this.rgvInStn(rgv, rgvProtocol); //  入库
                        rgvProtocol.setLastIo("O");
                    } else if (basRgv.getOutEnable().equals("Y")) {
                        this.rgvOutStn(rgv, rgvProtocol); //  出库
                        rgvProtocol.setLastIo("I");
                    }
                }
                // 如果最近一次是出库模式
                else if (rgvProtocol.getLastIo().equals("O")) {
                    if (basRgv.getOutEnable().equals("Y")) {
                        this.rgvOutStn(rgv, rgvProtocol); //  出库
                        rgvProtocol.setLastIo("I");
                    } else if (basRgv.getInEnable().equals("Y")) {
                        this.rgvInStn(rgv, rgvProtocol); //  入库
                        rgvProtocol.setLastIo("O");
                    }
                }
            }
        }
    }

@@ -1006,6 +997,637 @@
//    }

    /**
     * 查找工作状态为2（设备上走）,且RGV入库接驳站符合的的入库工作档，提取出最多2笔
     * @param slave
     * @return
     */
    public synchronized List<WrkMast> getRgvInTask(RgvSlave slave){
        List<WrkMast> wrkMastTask = new ArrayList<>();
        List<Integer> staNos = new ArrayList<>();
        for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) {
            staNos.add(rgvStn.getStaNo());
        }
        if(staNos.size() < 1){
            return null;
        }
        List<WrkMast> wrkMasts = wrkMastMapper.selectRgvInStep1(slave.getId(), staNos);
        for(WrkMast wrkMast : wrkMasts){
            Integer plcId = 0;
            for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) {
                if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
                    plcId = rgvStn.getDevpPlcId();
                    break;
                }
            }

            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, plcId);
            //判断RGV入库源站点，自动、有物，有任务号，可出
            boolean flag1 = false;
            StaProtocol staProtocol1 = devpThread.getStation().get(wrkMast.getRgvSstaNo());
            if (staProtocol1 == null) {
                continue;
            } else {
                staProtocol1 = staProtocol1.clone();
            }
            // 查询站点详细信息
            BasDevp staDetl1 = basDevpService.selectById(wrkMast.getRgvSstaNo());
            if (staDetl1 == null) {
                log.error("RGV入库 ===>> 输送机源站点在数据库不存在, 站点编号={}", wrkMast.getRgvSstaNo());
                continue;
            }
            if (staProtocol1.isAutoing() && staProtocol1.isLoading() && staProtocol1.getWorkNo().intValue() == wrkMast.getWrkNo()
                    && staProtocol1.isOutEnable() && staDetl1.getOutEnable() != null && staDetl1.getOutEnable().equals("Y")) {
                flag1 = true;
            }

            //判断RGV入库目标站点，自动、无物，没有任务号，可入
            boolean flag2 = false;
            StaProtocol staProtocol2 = devpThread.getStation().get(wrkMast.getRgvDstaNo());
            if (staProtocol2 == null) {
                continue;
            } else {
                staProtocol2 = staProtocol2.clone();
            }
            // 查询站点详细信息
            BasDevp staDetl2 = basDevpService.selectById(wrkMast.getRgvSstaNo());
            if (staDetl2 == null) {
                log.error("RGV入库 ===>> 输送机源站点在数据库不存在, 站点编号={}", wrkMast.getRgvSstaNo());
                continue;
            }
            if (staProtocol2.isAutoing() && staProtocol2.isLoading() && staProtocol2.getWorkNo().intValue() == wrkMast.getWrkNo()
                    && staProtocol2.isInEnable() && staDetl2.getCanining() != null && staDetl2.getCanining().equals("Y")) {
                flag2 = true;
            }

            if(flag1 && flag2){
                wrkMastTask.add(wrkMast);
                if(wrkMastTask.size() >= 2) break;
            }
        }
        return wrkMastTask;
    }

    /**
     * 入库  ===>>  RGV入库站到站
     */
    public synchronized void rgvInStn(RgvSlave slave, RgvProtocol rgvProtocol) {
        //查找工作状态为2（设备上走）,且RGV入库接驳站符合的的入库工作档，提取出最多2笔
        List<WrkMast> wrkMastTask = getRgvInTask(slave);
        if(wrkMastTask.size() <= 0){
            return;
        }

        // RGV控制过滤， 必须满足自动、空闲，没有任务号
        if (!rgvProtocol.getStatusType().equals(CrnStatusType.IDLE)
                || rgvProtocol.getModeType() != RgvModeType.AUTO
                || rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getTaskNo2() != 0) {
            return;
        }

        // 已经存在RGV执行任务时，则过滤
        if(wrkMastMapper.selectRgvInWorking(slave.getId()).size() > 0){
            return;
        }

        if(wrkMastTask.size() == 2){
            //有2笔RGV待入库任务，2个工位，取货、放货任务同时下发
            WrkMast wrkMast1 = wrkMastTask.get(0);
            WrkMast wrkMast2 = wrkMastTask.get(1);
            if(Cools.isEmpty(wrkMast1) || Cools.isEmpty(wrkMast2)){
                log.error("工作档RGV入库数据为空");
                return;
            }
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(slave.getId()); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
            rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue());   //工位1源站点
            rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue());   //工位1目标站点
            rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
            rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
            rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 工位2任务模式:  取放货
            rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue());   //工位2源站点
            rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue());   //工位2目标站点
            rgvCommand.setCommand((short) 0);   //工位1、2任务确认
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand));
            } else {
                // 修改工作档状态 2.设备上走 => 6.RGV入库取货中
                Date now = new Date();
                wrkMast1.setWrkSts(6L);
                wrkMast1.setCrnStrTime(now);
                wrkMast1.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast1) == 0) {
                    log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中 失败！！，工作号={}", wrkMast1.getWrkNo());
                }

                wrkMast2.setWrkSts(6L);
                wrkMast2.setCrnStrTime(now);
                wrkMast2.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast2) == 0) {
                    log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中 失败！！，工作号={}", wrkMast2.getWrkNo());
                }
            }
        } else if(wrkMastTask.size() == 1){
            //只有1笔RGV待入库任务，先下发取货任务，取货后再判断是否有下一笔待入库任务
            WrkMast wrkMast1 = wrkMastTask.get(0);
            if(Cools.isEmpty(wrkMast1)){
                log.error("工作档RGV入库数据为空");
                return;
            }
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(slave.getId()); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式:  取货
            rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue());   //工位1源站点
            rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue());   //工位1目标站点
            rgvCommand.setCommand((short) 0);   //工位1、2任务确认
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
                //step=2,工位1、2任务确认；   step=4，工位1确认；     step=5，工位2任务确认
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand));
            } else {
                // 修改工作档状态 2.设备上走 => 6.RGV入库取货中
                Date now = new Date();
                wrkMast1.setWrkSts(6L);
                wrkMast1.setCrnStrTime(now);
                wrkMast1.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast1) == 0) {
                    log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中 失败！！，工作号={}", wrkMast1.getWrkNo());
                }
            }
        }
    }

    /**
     * 出库  ===>>  RGV出库站到站
     */
    public synchronized void rgvOutStn(RgvSlave slave, RgvProtocol rgvProtocol) {
        //查找工作状态为14（出库完成）,且RGV出库接驳站符合的的出库工作档，提取出最多2笔
        List<WrkMast> wrkMastTask = getRgvOutTask(slave);
        if(wrkMastTask.size() <= 0){
            return;
        }

        // RGV控制过滤， 必须满足自动、空闲，没有任务号
        if (!rgvProtocol.getStatusType().equals(CrnStatusType.IDLE)
                || rgvProtocol.getModeType() != RgvModeType.AUTO
                || rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getTaskNo2() != 0) {
            return;
        }

        // 已经存在RGV执行任务时，则过滤
        if(wrkMastMapper.selectRgvOutWorking(slave.getId()).size() > 0){
            return;
        }

        if(wrkMastTask.size() == 2){
            //有2笔RGV待入库任务，2个工位，取货、放货任务同时下发
            WrkMast wrkMast1 = wrkMastTask.get(0);
            WrkMast wrkMast2 = wrkMastTask.get(1);
            if(Cools.isEmpty(wrkMast1) || Cools.isEmpty(wrkMast2)){
                log.error("工作档RGV入库数据为空");
                return;
            }
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(slave.getId()); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
            rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue());   //工位1源站点
            rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue());   //工位1目标站点
            rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
            rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
            rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 工位2任务模式:  取放货
            rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue());   //工位2源站点
            rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue());   //工位2目标站点
            rgvCommand.setCommand((short) 0);   //工位1、2任务确认
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand));
            } else {
                // 修改工作档状态 14.出库完成 => 16.RGV出库取货中
                Date now = new Date();
                wrkMast1.setWrkSts(16L);
                wrkMast1.setCrnStrTime(now);
                wrkMast1.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast1) == 0) {
                    log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中 失败！！，工作号={}", wrkMast1.getWrkNo());
                }

                wrkMast2.setWrkSts(16L);
                wrkMast2.setCrnStrTime(now);
                wrkMast2.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast2) == 0) {
                    log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中 失败！！，工作号={}", wrkMast2.getWrkNo());
                }
            }
        } else if(wrkMastTask.size() == 1){
            //只有1笔RGV待入库任务，先下发取货任务，取货后再判断是否有下一笔待入库任务
            WrkMast wrkMast1 = wrkMastTask.get(0);
            if(Cools.isEmpty(wrkMast1)){
                log.error("工作档RGV入库数据为空");
                return;
            }
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(slave.getId()); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式:  取货
            rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue());   //工位1源站点
            rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue());   //工位1目标站点
            rgvCommand.setCommand((short) 0);   //工位1、2任务确认
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
                //step=2,工位1、2任务确认；   step=4，工位1确认；     step=5，工位2任务确认
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand));
            } else {
                // 修改工作档状态 14.出库完成 => 16.RGV出库取货中
                Date now = new Date();
                wrkMast1.setWrkSts(16L);
                wrkMast1.setCrnStrTime(now);
                wrkMast1.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast1) == 0) {
                    log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中 失败！！，工作号={}", wrkMast1.getWrkNo());
                }
            }
        }
    }

    /**
     * 查找工作状态为14（出库完成）,且RGV出库接驳站符合的的出库工作档，提取出最多2笔
     * @param slave
     * @return
     */
    public synchronized List<WrkMast> getRgvOutTask(RgvSlave slave){
        List<WrkMast> wrkMastTask = new ArrayList<>();
        List<Integer> staNos = new ArrayList<>();
        for (RgvSlave.RgvStn rgvStn : slave.getRgvOutSStn()) {
            staNos.add(rgvStn.getStaNo());
        }
        if(staNos.size() < 1){
            return null;
        }
        List<WrkMast> wrkMasts = wrkMastMapper.selectRgvOutStep1(slave.getId(), staNos);
        for(WrkMast wrkMast : wrkMasts){
            Integer plcId = 0;
            for (RgvSlave.RgvStn rgvStn : slave.getRgvOutSStn()) {
                if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
                    plcId = rgvStn.getDevpPlcId();
                    break;
                }
            }

            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, plcId);
            //判断RGV出库源站点，自动、有物，有任务号，可出
            boolean flag1 = false;
            StaProtocol staProtocol1 = devpThread.getStation().get(wrkMast.getRgvSstaNo());
            if (staProtocol1 == null) {
                continue;
            } else {
                staProtocol1 = staProtocol1.clone();
            }
            // 查询站点详细信息
            BasDevp staDetl1 = basDevpService.selectById(wrkMast.getRgvSstaNo());
            if (staDetl1 == null) {
                log.error("RGV出库 ===>> 输送机源站点在数据库不存在, 站点编号={}", wrkMast.getRgvSstaNo());
                continue;
            }
            if (staProtocol1.isAutoing() && staProtocol1.isLoading() && staProtocol1.getWorkNo().intValue() == wrkMast.getWrkNo()
                    && staProtocol1.isOutEnable() && staDetl1.getOutEnable() != null && staDetl1.getOutEnable().equals("Y")) {
                flag1 = true;
            }

            //判断RGV出库目标站点，自动、无物，没有任务号，可入
            boolean flag2 = false;
            StaProtocol staProtocol2 = devpThread.getStation().get(wrkMast.getRgvDstaNo());
            if (staProtocol2 == null) {
                continue;
            } else {
                staProtocol2 = staProtocol2.clone();
            }
            // 查询站点详细信息
            BasDevp staDetl2 = basDevpService.selectById(wrkMast.getRgvSstaNo());
            if (staDetl2 == null) {
                log.error("RGV出库 ===>> 输送机源站点在数据库不存在, 站点编号={}", wrkMast.getRgvSstaNo());
                continue;
            }
            if (staProtocol2.isAutoing() && staProtocol2.isLoading() && staProtocol2.getWorkNo().intValue() == wrkMast.getWrkNo()
                    && staProtocol2.isInEnable() && staDetl2.getCanining() != null && staDetl2.getCanining().equals("Y")) {
                flag2 = true;
            }

            if(flag1 && flag2){
                wrkMastTask.add(wrkMast);
                if(wrkMastTask.size() >= 2) break;
            }
        }
        return wrkMastTask;
    }

    /**
     * 根据RGV完成信号，执行对工作档的完成操作，和RGV的任务下发
     */
    public synchronized void rgvFinished() {
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }
            //  工位1状态：取货完成等待确认91 并且  任务完成位 = 1
            if (rgvProtocol.statusType1 == RgvStatusType.FETCHWAITING && rgvProtocol.getTaskNo1() != 0) {
                //工位1取货完成后，工位2是无货空闲状态时，准备给工位2发任务，确认是否有待执行RGV任务
                if (rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() == 0
                        && rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() == 0
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                ) {
                    WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
                    if (wrkMast1 == null) {
                        log.error("RGV工位1处于等待确认且取货任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgv.getId(), rgvProtocol.getTaskNo1());
                        continue;
                    }
                    List<WrkMast> wrkMastTask = new ArrayList<>();
                    List<WrkMast> list = new ArrayList<>();
                    Integer type = 0;//1入库，2出库
                    if(wrkMast1.getWrkSts()==6L){
                        wrkMastTask = getRgvInTask(rgv);
                        list = wrkMastMapper.selectRgvInWorking(rgv.getId());
                        type = 1;
                    } else if(wrkMast1.getWrkSts()==16L){
                        wrkMastTask = getRgvOutTask(rgv);
                        list = wrkMastMapper.selectRgvOutWorking(rgv.getId());
                        type = 2;
                    }
                    if(wrkMastTask.size() > 0){//有继续执行任务，下发取货任务给工位2
                        // 已经存在RGV执行任务时，则过滤
                        if (list.size() > 1) {
                            continue;
                        }
                        WrkMast wrkMast2 = wrkMastTask.get(0);
                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(rgv.getId()); // RGV编号
                        rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                        rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
                        rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式:  取货
                        rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue());   //工位2源站点
                        rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue());   //工位2目标站点
                        rgvCommand.setCommand((short) 0);   //工位1、2任务确认
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast2.getRgvNo(), new Task(5, rgvCommand))) {
                            //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 2.设备上走 => 6.RGV入库取货中
                            Date now = new Date();
                            wrkMast2.setWrkSts(type==1 ? 6L : 16L);
                            wrkMast2.setCrnStrTime(now);
                            wrkMast2.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast2) == 0) {
                                log.error("工位2修改工作档状态 2/14.设备上走 => 6/16.RGV入库取货中 失败！！，工作号={}", wrkMast2.getWrkNo());
                            }
                        }
                    } else {//没有继续执行任务，下发放货任务给工位1
                        if(type == 1 && wrkMast1.getWrkSts() != 6L){//RGV入库取货中
                            continue;
                        }
                        if(type == 2 && wrkMast1.getWrkSts() != 16L){//RGV出库取货中
                            continue;
                        }

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(rgv.getId()); // RGV编号
                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                        rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
                        rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
                        rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue());   //工位1源站点
                        rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue());   //工位1目标站点
                        rgvCommand.setCommand((short) 0);   //工位1、2任务确认
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
                            //step=2,工位1、2任务确认；   step=4，工位1确认；     step=5，工位2任务确认
                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 6.RGV入库取货中 => 7.RGV入库放货中
                            Date now = new Date();
                            wrkMast1.setWrkSts(type==1 ? 7L : 17L);
                            wrkMast1.setCrnEndTime(now);
                            wrkMast1.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast1) == 0) {
                                log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中 失败！！，工作号={}", wrkMast1.getWrkNo());
                            }
                            log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
                        }
                    }
                } else if (rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() > 0
                        && rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() > 0
                        && rgvProtocol.statusType2 == RgvStatusType.FETCHWAITING){
                    //  工位2状态：也是取货完成等待确认91 并且  任务完成位 = 1,  工位1、2同时下发放货任务
                    WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
                    WrkMast wrkMast2 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo2().intValue());
                    //  命令下发区 --------------------------------------------------------------------------
                    RgvCommand rgvCommand = new RgvCommand();
                    rgvCommand.setRgvNo(rgv.getId()); // RGV编号
                    rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
                    rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
                    rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue());   //工位1源站点
                    rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue());   //工位1目标站点
                    rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                    rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
                    rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式:  放货
                    rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue());   //工位2源站点
                    rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue());   //工位2目标站点
                    rgvCommand.setCommand((short) 0);   //工位1、2任务确认
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) {
                        //step=2,工位1、2任务确认；   step=4，工位1确认；     step=5，工位2任务确认
                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
                    } else {
                        // 修改工作档状态 2.设备上走 => 6.RGV入库取货中
                        Date now = new Date();
                        wrkMast1.setWrkSts(wrkMast1.getWrkSts()==6L ? 7L : 17L);
                        wrkMast1.setCrnStrTime(now);
                        wrkMast1.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast1) == 0) {
                            log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中 失败！！，工作号={}", wrkMast1.getWrkNo());
                        }

                        wrkMast2.setWrkSts(wrkMast2.getWrkSts()==6L ? 7L : 17L);
                        wrkMast2.setCrnStrTime(now);
                        wrkMast2.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast2) == 0) {
                            log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中 失败！！，工作号={}", wrkMast2.getWrkNo());
                        }
                    }
                }
            }

        }
    }

    /**
     * 入出库  ===>>  RGV出库站到堆垛机入库站/系统入库站
     * rgvInDStnToCrnStn
     */
    public synchronized void rgvDestStnToCrnStn() {
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            // 遍历入库任务的RGV出库站
            for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvDestStn()) {
                // 获取RGV出库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
                StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
                    // 查询工作档List
//                    List<WrkMast> wrkMasts = wrkMastMapper.selectRgvInStep2(staProtocol.getSiteId());
                    List<WrkMast> wrkMasts = wrkMastMapper.selectRgvDestStep2(staProtocol.getSiteId());
                    for(WrkMast wrkMast : wrkMasts){
                        // 判断工作档条件
                        if (wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null
                            || wrkMast.getRgvSstaNo() == null || wrkMast.getRgvDstaNo() == null) {
                            continue;
                        }

                        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, wrkMast.getRgvNo());
                        RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                        //  判断RGV状态等待确认,工位1
                        if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())
                                && rgvProtocol.statusType1 == RgvStatusType.WAITING) {
                            // 命令下发区 --------------------------------------------------------------------------
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                            if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                continue;
                            }
                            // 更新工作档状态为2,14
                            wrkMast.setWrkSts(wrkMast.getWrkSts()==7L ? 2L : 14L);
                            wrkMast.setOnlineYn("Y");
                            wrkMast.setCrnEndTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast) != 0) {
                                // 复位RGV工位1
                                rgvThread.setResetFlag1(true);
                            } else {
                                log.error("RGV工位1接驳，更新工作档的工作状态为{}失败！！！ [工作号:{}]", wrkMast.getWrkSts()==7L ? 2L : 14L, wrkMast.getWrkNo());
                            }
                        }
                        //  判断RGV状态等待确认,工位2
                        if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo2().equals(wrkMast.getWrkNo().shortValue())
                                && rgvProtocol.statusType2 == RgvStatusType.WAITING) {
                            // 命令下发区 --------------------------------------------------------------------------
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                            if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                continue;
                            }
                            // 更新工作档状态为2,14
                            wrkMast.setWrkSts(wrkMast.getWrkSts()==7L ? 2L : 14L);
                            wrkMast.setOnlineYn("Y");
                            wrkMast.setCrnEndTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast) != 0) {
                                // 复位RGV工位2
                                rgvThread.setResetFlag2(true);
                            } else {
                                log.error("RGV工位2接驳，更新工作档的工作状态为{}失败！！！ [工作号:{}]", wrkMast.getWrkSts()==7L ? 2L : 14L, wrkMast.getWrkNo());
                            }
                        }
                    }

                }
            }
        }
    }

    /**
     * 出库  ===>>  RGV出库站到系统出库站
     */
    public synchronized void rgvOutDStnToOutStn() {
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            // 遍历出库任务的RGV出库站
            for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvDestStn()) {
                // 获取RGV出库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
                StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
                    // 查询工作档List
                    List<WrkMast> wrkMasts = wrkMastMapper.selectRgvOutStep2(staProtocol.getSiteId());
                    for(WrkMast wrkMast : wrkMasts){
                        // 判断工作档条件
                        if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null
                                || wrkMast.getRgvSstaNo() == null || wrkMast.getRgvDstaNo() == null) {
                            continue;
                        }

                        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, wrkMast.getRgvNo());
                        RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                        //  判断RGV状态等待确认,工位1
                        if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())
                                && rgvProtocol.statusType1 == RgvStatusType.WAITING) {
                            // 命令下发区 --------------------------------------------------------------------------
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                            if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                continue;
                            }
                            // 更新工作档状态为14
                            wrkMast.setWrkSts(14L);
                            wrkMast.setOnlineYn("Y");   //控制WMS将工作状态14转15的时机，只有RGV运搬完成后才可以转
                            wrkMast.setCrnEndTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast) != 0) {
                                // 复位RGV工位1
                                rgvThread.setResetFlag1(true);
                            } else {
                                log.error("RGV工位1接驳，更新工作档的工作状态为2失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                            }
                        }
                        //  判断RGV状态等待确认,工位2
                        if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo2().equals(wrkMast.getWrkNo().shortValue())
                                && rgvProtocol.statusType2 == RgvStatusType.WAITING) {
                            // 命令下发区 --------------------------------------------------------------------------
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                            if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                continue;
                            }
                            // 更新工作档状态为14
                            wrkMast.setWrkSts(14L);
                            wrkMast.setOnlineYn("Y");   //控制WMS将工作状态14转15的时机，只有RGV运搬完成后才可以转
                            wrkMast.setCrnEndTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast) != 0) {
                                // 复位RGV工位2
                                rgvThread.setResetFlag2(true);
                            } else {
                                log.error("RGV工位2接驳，更新工作档的工作状态为2失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                            }
                        }
                    }

                }
            }
        }
    }

    /**
     * 库位移转
     */
    public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
@@ -1076,8 +1698,7 @@
    /**
     * 执行对工作档的完成操作
     */
    @Async
    public void storeFinished() {
    public synchronized void storeFinished() {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -1118,10 +1739,141 @@
    }

    /**
     * 异常信息记录
     */
    public synchronized void recErr() {
        try {
            this.recCrnErr();
            this.recRgvErr();
        } catch (Exception e) {
            log.error("recErr fail", e);
        }
    }

    /**
     * RGV异常信息记录
     */
    public synchronized void recRgvErr() {
        Date now = new Date();
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }
            if (true) {
                // 有任务
                if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getTaskNo2() != 0) {
                    Integer taskNo = rgvProtocol.getTaskNo1() > 0 ? rgvProtocol.getTaskNo1().intValue() : rgvProtocol.getTaskNo2().intValue();
                    BasRgvErrLog latest = basRgvErrLogService.findLatestByTaskNo(rgv.getId(), taskNo);
                    // 有异常
                    if (latest == null) {
                        if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {
                            WrkMast wrkMast = wrkMastMapper.selectById(taskNo);
                            if (wrkMast == null) {
                                continue;
                            }
                            BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
                            String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName();
                            BasRgvErrLog basRgvErrLog = new BasRgvErrLog(
                                    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
                                    rgv.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) rgvProtocol.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 (!basRgvErrLogService.insert(basRgvErrLog)) {
                                log.error("RGV异常记录失败 ===>> [id:{}] [error:{}]", rgv.getId(), errName);
                            }
                        }
                    } else {
                        // 异常修复
                        if (rgvProtocol.getAlarm() == null || rgvProtocol.getAlarm() == 0) {
                            latest.setEndTime(now);
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
                            if (!basRgvErrLogService.updateById(latest)) {
                                log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", rgv.getId(), latest.getId());
                            }
                        }
                    }
                    // 无任务
                } else {
                    BasRgvErrLog latest = basRgvErrLogService.findLatest(rgv.getId());
                    // 有异常
                    if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {
                        // 记录新异常
                        if (latest == null || (latest.getErrCode() != rgvProtocol.getAlarm().intValue())) {
                            BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
                            String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName();
                            BasRgvErrLog basRgvErrLog = new BasRgvErrLog(
                                    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
                                    rgv.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) rgvProtocol.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 (!basRgvErrLogService.insert(basRgvErrLog)) {
                                log.error("RGV异常记录失败 ===>> [id:{}] [error:{}]", rgv.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 (!basRgvErrLogService.updateById(latest)) {
                                log.error("RGV异常记录修复失败 ===>> [id:{}] [errLogId:{}]", rgv.getId(), latest.getId());
                            }
                        }
                    }
                }
            }

        }
    }

    /**
     * 堆垛机异常信息记录
     */
    @Async
    public void recCrnErr() {
    public synchronized void recCrnErr() {
        Date now = new Date();
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
@@ -1236,14 +1988,12 @@
        }
    }


    // -------------------------------------------------------------------------------

    /**
     * 空栈板初始化入库,叉车入库站放货
     */
    @Async
    public void storeEmptyPlt() {
    public synchronized void storeEmptyPlt() {
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历空板入库口
            for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
@@ -1357,8 +2107,7 @@
    /**
     * 出库  ===>> 工作档信息写入led显示器
     */
    @Async
    public void ledExecute() {
    public synchronized void ledExecute() {
        for (LedSlave led : slaveProperties.getLed()) {
            // 获取输送线plc线程
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
@@ -1474,35 +2223,7 @@
    /**
     * 其他  ===>> LED显示器复位，显示默认信息
     */
    @Async
    public void ledReset() {
//        for (LedSlave led : slaveProperties.getLed()) {
//            // 获取输送线plc线程
//            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
//            // 命令集合
//            boolean reset = true;
//            for (Integer staNo : led.getStaArr()) {
//                // 获取叉车站点
//                StaProtocol staProtocol = devpThread.getStation().get(staNo);
//                if (staProtocol == null) {
//                    continue;
//                } else {
//                    staProtocol = staProtocol.clone();
//                }
//                if (staProtocol.getWorkNo() != 0) {
//                    reset = false;
//                    break;
//                }
//            }
//            // 获取led线程
//            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
//            // led显示默认内容
//            if (reset) {
//                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
//                    log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
//                }
//            }
//        }
    public synchronized void ledReset() {
        for (LedSlave led : slaveProperties.getLed()) {
            // 获取输送线plc线程
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());