zy-wcs.git - Gitblit

			@@ -1,25 +1,18 @@
			package com.zy.asrs.service.impl;

			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.core.common.Cools;
			import com.core.common.R;
			import com.core.common.SpringUtils;
			import com.core.exception.CoolException;
			import com.fasterxml.jackson.databind.ObjectMapper;
			import com.zy.asrs.controller.CrnController;
			import com.zy.asrs.domain.enums.TaskStatusType;
			import com.zy.asrs.domain.param.CrnOperatorParam;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.entity.param.TaskOverToWms;
			import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
			import com.zy.asrs.entity.param.taskCreateParam;
			import com.zy.asrs.entity.wms.StorageEscalationParam;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.CommandUtils;
			import com.zy.asrs.utils.PostMesDataUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.HttpHandler;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			import com.zy.core.cache.MessageQueue;
			@@ -28,25 +21,21 @@
			import com.zy.core.model.CrnSlave;
			import com.zy.core.model.DevpSlave;
			import com.zy.core.model.Task;
			import com.zy.core.model.command.CommandPackage;
			import com.zy.core.model.command.CrnCommand;
			import com.zy.core.model.protocol.CrnProtocol;
			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.SiemensDevpThread;
			import com.zy.system.entity.Config;
			import com.zy.system.service.ConfigService;
			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.io.IOException;
			import java.util.*;
			import java.util.Date;
			import java.util.List;

			/**
			* 立体仓库WCS系统主流程业务
			@@ -75,47 +64,47 @@
			private BasCrnErrorMapper basCrnErrorMapper;
			@Autowired
			private TaskWrkMapper taskWrkMapper;
			@Autowired
			private TaskWrkService taskWrkService;
			@Autowired
			private ConfigService configService;
			@Autowired
			private StaDescMapper staDescMapper;
			@Autowired
			private CommandInfoService commandInfoService;

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

			@Autowired
			private StaDescMapper staDescMapper;


			@Autowired
			private StaDescService staDescService;


			@Autowired
			private ApiLogService apiLogService;

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


			public void generateStoreWrkFile() throws IOException, InterruptedException {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Short workNo = staProtocol.getWorkNo();
			Short stano = staProtocol.getStaNo();
			@Autowired
			private CrnController crnController;

			@Autowired
			private TransferTaskService transferTaskService;


			public void generateStoreWrkFile1() throws IOException, InterruptedException {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			StorageEscalationParam storageEscalationParam = new StorageEscalationParam();
			storageEscalationParam.setStationCode(inSta.getStaNo());
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Short workNo = staProtocol.getWorkNo();
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			@@ -147,117 +136,66 @@
			errMsg = "扫码失败";
			back = true;
			}
			// 退回
			if (back) {
			if (stano == inSta.getBackSta().shortValue()){
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && workNo >= 9790
			&& staProtocol.isPakMk()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			if (workNo == 0 && stano == 0){
			continue;
			}
			// 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(workNo);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));

			TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
			if (taskWrk != null) {
			taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
			taskWrkMapper.updateById(taskWrk);
			}
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (workNo >= 0)
			&& staProtocol.isPakMk()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			StaDescService staDescService = SpringUtils.getBean(StaDescService.class);

			ToWmsDTO toWmsDTO = new ToWmsDTO();
			Map<String, Object> map = new HashMap<>();
			map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
			List<Integer> list = openServiceImpl.getInEnableRoadway();
			TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));

			if (Cools.isEmpty(taskWrk)){
			continue;
			}
			//StaDesc staDesc1 = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_no",inSta.getBackSta()));
			if (taskWrk.getTargetPoint() != null && taskWrk.getStartPoint() != null){
			if ( taskWrk.getWrkNo() != null && taskWrk.getWrkNo().shortValue() == workNo ){
			continue;
			}
			//获取堆垛机站点
			StaDesc staDesc = new StaDesc();
			if (devp.getId() <= 1){
			staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).lt("stn_no", 200));
			}else {
			staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).lt("stn_no", 400).ge("stn_no", 250));
			}
			staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
			staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
			Thread.sleep(200);
			}else {
			//TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
			toWmsDTO.setWarehouseId("1688469798893297665");
			toWmsDTO.setContainerCode(barcode);
			toWmsDTO.setApplyType("TUNNEL_LOCATION");
			toWmsDTO.setTaskTunnel(taskWrk.getCrnNo());
			toWmsDTO.setCanInboundTunnels(list);
			String response = null;
			try {
			response = new HttpHandler.Builder()
			.setHeaders(map)
			.setUri(wmsUrl)
			.setPath("wcsManager/wcsInterface/inboundTaskApply")
			.setJson(JSON.toJSONString(toWmsDTO))
			.build()
			.doPost();
			}catch (Exception e){
			log.error("wms通讯失败,"+e.getMessage());
			continue;
			}
			apiLogService.save("wms请求入库货位接口"
			,wmsUrl+"wcsManager/wcsInterface/inboundTaskApply"
			,null
			,"127.0.0.1"
			,JSON.toJSONString(toWmsDTO)
			,response
			,true
			);
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
			taskWrk.setOriginTargetPoint(getWmsDto.getTargetLocationCode());
			taskWrk.setTargetPoint(Utils.getWcsLocNo(getWmsDto.getTargetLocationCode()));
			taskWrk.setStartPoint(String.valueOf(inSta.getBackSta()));
			if (!taskWrkService.updateById(taskWrk)){
			log.error("保存wms库位号失败");
			String BoxNo = barcodeThread.getBarcode();
			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", BoxNo));
			if (!Cools.isEmpty(taskWrk1)) {
			log.info("托盘码：" + BoxNo + "任务档存在");
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("crn_no", taskWrk1.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
			if (Cools.isEmpty(staDesc)) {
			return;
			} else {
			continue;
			}

			}else {
			log.error("wms通讯失败,"+jsonObject.get("msg"));

			}
			}
			if (back) {
			storageEscalationParam.setWCSStatus(1);
			storageEscalationParam.setWCSErrorMessage(storageEscalationParam.getWCSErrorMessage() + errMsg);
			}
			storageEscalationParam.setBarcode(BoxNo);
			log.info("组托入库={}", storageEscalationParam);
			TaskWrk taskWrk = toWmsService.getLocNoFromWms(storageEscalationParam);
			if (back) {
			log.info("托盘退回==>{}，{}", BoxNo, errMsg);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			} else {
			if (!Cools.isEmpty(taskWrk)) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
			staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
			staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//添加上报日志
			toWmsService.addReportLog(taskWrk);
			} else {
			log.info("创建工作档失败==>{}", taskWrk.getTaskNo());
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}

			}

			}
			}


			}
			} catch (Exception e) {
			log.error("generateStoreWrkFile e", e);
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			@@ -265,65 +203,49 @@
			/**
			* 堆垛机站出库到出库站
			*/
			@Async
			public void crnStnToOutStn() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo()));
			for (StaDesc staDesc : staDescs){
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == 0)) {
			// 查询工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
			if (taskWrk == null) {
			for (StaDesc staDesc : staDescs) {
			try {
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 判断工作档条件
			if (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 2) {
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, taskWrk.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == 0)) {
			// 查询工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
			if (taskWrk == null) {
			continue;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(taskWrk.getWrkNo().shortValue())
			&& crnProtocol.getTaskFinish() == 0
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
			// 命令下发区 --------------------------------------------------------------------------
			log.info("下发输送线任务：taskWrk:" + JSON.toJSONString(taskWrk));
			staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
			staProtocol.setStaNo(staDesc.getStnNo().shortValue());
			boolean offer = false;
			try {
			offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			} catch (Exception e) {
			log.error("下发输送线任务失败：异常:" + e);
			log.error("下发输送线任务失败：异常:offer:" + offer);
			}
			if (offer) {
			log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk));
			taskWrk.setStatus(5);
			taskWrk.setWrkSts(14);
			taskWrkService.updateById(taskWrk);

			//取出输送线命令
			List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
			if (commandInfos.isEmpty()) {
			continue;//命令空
			}

			// CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
			// CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
			Integer commandStep = taskWrk.getCommandStep();
			CommandInfo commandInfo = commandInfos.get(commandStep);
			CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
			//StaProtocol staProtocol1 = JSON.parseObject(commandInfo.getCommand(), StaProtocol.class);
			StaProtocol staProtocol1 = JSON.parseObject(commandPackage.getCommand().toString(), StaProtocol.class);
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol1))) {
			log.error("输送线命令下方失败！！！ [工作号:{}]", taskWrk.getWrkNo());
			continue;//命令下发失败
			}

			// 复位堆垛机
			crnThread.setResetFlag(true);

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

			@@ -339,7 +261,9 @@
			// 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 == 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());
			@@ -369,9 +293,9 @@
			crnProtocol.setLastIo("O");
			}
			}
			// 库位移转
			this.locToLoc(crn, crnProtocol);
			}
			// 库位移转
			this.locToLoc(crn, crnProtocol);

			}
			}
			@@ -399,15 +323,16 @@
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			&& staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			continue;
			}

			// 获取工作状态为2（设备上走）的入库工作档
			TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
			if(null == taskWrk) {
			if (null == taskWrk) {
			continue;
			}

			@@ -421,64 +346,41 @@
			continue;
			}

			//取出命令
			List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
			Integer commandStep = taskWrk.getCommandStep();
			if (commandInfos.isEmpty()) {
			continue;//命令空
			}
			CommandInfo commandInfo = commandInfos.get(commandStep);
			CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
			CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
			// int workNo = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号
			// taskWrk.setWrkNo(workNo);//工作号
			taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
			taskWrk.setAssignTime(new Date());//派发时间
			taskWrk.setWrkSts(3);//工作状态 3.吊车入库
			taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号
			taskWrk.setModiTime(new Date());
			taskWrk.setModiUser(9988L);

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(staDesc.getCrnNo()); // 堆垛机编号
			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.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位列
			crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位层
			crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排
			crnCommand.setCommand((short) 1);
			log.info("堆垛机入库任务下发={}", crnCommand);
			if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(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));
			throw new CoolException("堆垛机命令生成失败");
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			taskWrk.setWrkSts(3);
			taskWrk.setModiTime(now);
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			try {
			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());
			}
			//开始运行
			String response = CrnStartRunning(taskWrk);
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {

			}else {
			log.error("入库开始运行通讯失败,"+jsonObject.get("msg"));

			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，异常：" + e);
			}
			}

			// // 命令下发区 --------------------------------------------------------------------------
			// CrnCommand crnCommand = new CrnCommand();
			// crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			// 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.getBay().shortValue()); // 源库位列
			// crnCommand.setSourcePosY(crnStn.getLev().shortValue()); // 源库位层
			// crnCommand.setSourcePosZ(crnStn.getRow().shortValue()); // 源库位排
			// crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列
			// crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层
			// crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排
			// crnCommand.setCommand((short)1);
			// if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
			// log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			// } else {
			// // 修改工作档状态 2.设备上走 => 3.吊车入库中
			// Date now = new Date();
			// taskWrk.setWrkSts(3);
			// taskWrk.setModiTime(now);
			// if (taskWrkMapper.updateById(taskWrk) == 0) {
			// log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", taskWrk.getWrkNo());
			// }
			// }
			}

			// return;
			}
			}

			@@ -486,17 +388,17 @@
			* 出库 ===>> 库位到堆垛机站
			* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
			*/
			public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
			public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
			List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null);
			if (taskWrksInitial.size()==0){
			if (taskWrksInitial.size() == 0) {
			return;
			}
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
			for (StaDesc staDesc : staDescs){
			for (StaDesc staDesc : staDescs) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(),staDesc.getStnNo().toString());
			for (TaskWrk taskWrk : taskWrks){
			List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(), staDesc.getStnNo().toString());
			for (TaskWrk taskWrk : taskWrks) {
			if (taskWrk == null) {
			continue;
			}
			@@ -505,6 +407,36 @@
			log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getStartPoint(), taskWrk.getIoType());
			continue;
			}

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


			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			@@ -522,7 +454,7 @@
			}

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

			@@ -535,73 +467,42 @@
			if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
			break;
			}
			CrnCommand command = new CrnCommand();
			command.setCrnNo(taskWrk.getCrnNo()); // 堆垛机编号
			command.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
			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
			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);

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {

			taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());

			List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
			if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
			continue;
			}
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
			TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
			if (!Cools.isEmpty(hallowLocNoTask)){
			// if (!Cools.isEmpty(hallowLocNoTask.getTargetPoint())){
			// continue;
			// }
			//// new PostMesDataUtils().postMesData("移库任务分配库位",wmsUrl,movePath,hallowLocNoTask);
			// try {
			// String response = new HttpHandler.Builder()
			// .setUri(wmsUrl)
			// .setPath(movePath)
			// .setJson(JSON.toJSONString(hallowLocNoTask))
			// .build()
			// .doPost();
			// System.out.println("response:"+response);
			// JSONObject jsonObject = JSON.parseObject(response);
			// if (jsonObject.getInteger("code").equals(200)) {
			// //解析
			// }
			// }catch (Exception e){
			// log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/"+movePath, JSON.toJSONString(hallowLocNoTask), "请求移库任务分配库位");
			// }
			continue;
			}
			if (Cools.isEmpty(taskWrk.getMarkStart()) \|\| taskWrk.getMarkStart() == 0) {
			toWmsService.addReportLog(taskWrk);
			taskWrk.setMarkStart(1);
			}

			//取出命令
			List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
			Integer commandStep = taskWrk.getCommandStep();
			if (commandInfos.isEmpty()) {
			continue;//命令空
			}
			CommandInfo commandInfo = commandInfos.get(commandStep);
			CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
			CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);

			if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command))) {
			log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(command));
			throw new CoolException("堆垛机命令生成失败");
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			taskWrk.setWrkSts(12);
			taskWrk.setModiTime(now);
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			try {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			taskWrk.setWrkSts(12);
			taskWrk.setStatus(2);
			taskWrk.setModiTime(now);
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			}
			} catch (Exception e) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			}
			//开始运行
			String response = CrnStartRunning(taskWrk);
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {

			}else {
			log.error("出库开始运行通讯失败,"+jsonObject.get("msg"));

			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，异常：" + e);
			}
			}

			}
			}
			}
			@@ -611,62 +512,16 @@
			/**
			* 库位移转
			*/
			public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
			public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的移库工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>()
			.eq("crn_no",slave.getId())
			.eq("wrk_sts",11)
			.eq("io_type",3));
			for (TaskWrk taskWrk : taskWrks){
			if (Cools.isEmpty(taskWrk.getTargetPoint())){
			List<Integer> list = openServiceImpl.getInEnableRoadway();
			Map<String, Object> map = new HashMap<>();
			map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
			ToWmsDTO toWmsDTO = new ToWmsDTO();
			toWmsDTO.setWarehouseId("1688469798893297665");
			toWmsDTO.setContainerCode(taskWrk.getBarcode());
			toWmsDTO.setApplyType("TUNNEL_LOCATION");
			toWmsDTO.setTaskTunnel(taskWrk.getCrnNo());
			toWmsDTO.setCanInboundTunnels(list);
			String response = null;
			try {
			response = new HttpHandler.Builder()
			.setHeaders(map)
			.setUri(wmsUrl)
			.setPath("wcsManager/wcsInterface/inboundTaskApply")
			.setJson(JSON.toJSONString(toWmsDTO))
			.build()
			.doPost();
			}catch (Exception e){
			log.error("wms通讯失败,"+e.getMessage());
			continue;
			}
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
			taskWrk.setOriginTargetPoint(getWmsDto.getTargetLocationCode());
			taskWrk.setTargetPoint(Utils.getWcsLocNo(getWmsDto.getTargetLocationCode()));
			if (!taskWrkService.updateById(taskWrk)){
			log.error("保存wms库位号失败");
			}
			continue;
			}else {
			log.error("wms通讯失败,"+jsonObject.get("msg"));
			continue;
			}
			.eq("crn_no", slave.getId())
			.eq("wrk_sts", 11)
			.eq("io_type", 3)
			.orderBy("io_pri", false));
			for (TaskWrk taskWrk : taskWrks) {

			}
			if (taskWrk == null \|\| Cools.isEmpty(taskWrk.getTargetPoint()) \|\| taskWrk.getTargetPoint().equals("") \|\| taskWrk.getWrkNo() == null) {
			continue;
			}
			// 工作档状态判断
			if (taskWrk.getIoType() != 3 \|\| taskWrk.getTargetPoint() == null) {
			log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
			continue;
			}

			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			@@ -678,6 +533,17 @@
			continue;
			}

			if (taskWrk == null \|\| Cools.isEmpty(taskWrk.getTargetPoint()) \|\| taskWrk.getTargetPoint().equals("") \|\| taskWrk.getWrkNo() == null) {
			continue;
			}
			// 工作档状态判断
			if (taskWrk.getIoType() != 3 \|\| taskWrk.getTargetPoint() == null) {
			log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
			continue;
			}

			// 命令下发区 --------------------------------------------------------------------------


			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			@@ -685,33 +551,25 @@
			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.setSourcePosZ(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排
			crnCommand.setSourcePosX(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列
			crnCommand.setSourcePosY(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层
			crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排
			crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列
			crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层
			crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排
			crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 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
			crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层
			crnCommand.setCommand((short) 1);
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) {
			if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			taskWrk.setWrkSts(12);
			taskWrk.setStatus(2);
			taskWrk.setModiTime(now);
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			}
			//开始运行
			String response = CrnStartRunning(taskWrk);
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {

			}else {
			log.error("移库任务开始运行通讯失败,"+jsonObject.get("msg"));
			continue;
			}
			break;
			toWmsService.addReportLog(taskWrk);
			}
			return;
			}
			@@ -719,97 +577,85 @@

			}


			/**
			* 执行对工作档的完成操作
			*/
			@Async
			public void storeFinished() {
			public void storeFinished() throws InterruptedException {
			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 (crnProtocol == null) {
			continue;
			}

			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {

			//获取指令ID
			Integer commandId = crnProtocol.getCommandId();
			CommandInfo commandInfo = new CommandInfo();
			if (Cools.isEmpty(commandId)){
			commandInfo = commandInfoService.selectOne(new EntityWrapper<CommandInfo>()
			.eq("wrk_no",crnProtocol.getTaskNo())
			.eq("device","Crn"));
			}else {
			commandInfo = commandInfoService.selectById(commandId);
			}


			if (commandInfo == null) {
			//指令不存在
			//获取入库待确认工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(), 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={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			continue;
			}
			if (commandInfo.getCommandStatus() == 3){
			continue;
			//确认完成信号
			CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
			crnOperatorParam.setCrnNo(crn.getId());
			R r = crnController.crnTaskComplete(crnOperatorParam);
			Thread.sleep(1000);
			if (!r.get("code").equals(200)) {
			return;
			}
			commandInfo.setCommandStatus(CommandStatusType.COMPLETE.id);//指令完成
			commandInfo.setCompleteTime(new Date());//指令完成时间
			if (commandInfoService.updateById(commandInfo)) {//修改成功后复位堆垛机
			// 堆垛机复位
			crnThread.setResetFlag(true);
			if (!Cools.isEmpty(taskWrk)) {
			if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(5);//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(new Date());
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(13);//出库完成
			taskWrk.setStatus(5);//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(new Date());
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(5);//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(new Date());
			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(new Date());
			locMast1.setModiUser(9999L);
			locMastService.updateById(locMast1);
			}
			taskWrkService.updateById(taskWrk);
			}

			}
			}
			}

			// /**
			// * 执行对工作档的完成操作
			// */
			// @Async
			// public void storeFinished() {
			// 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; }
			// // 状态：等待确认并且任务完成位 = 1
			// if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
			// // 获取入库待确认工作档
			// TaskWrk taskWrk = taskWrkMapper.selectCrnNoWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
			// if (Cools.isEmpty(taskWrk)) {
			// log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			// continue;
			// }
			// // 入库 + 库位转移 ==> 4.入库完成
			// if ((taskWrk.getWrkSts() == 3 && taskWrk.getIoType() == 1) \|\| (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 3)) {
			// taskWrk.setWrkSts(4);
			// } else {
			// continue;
			// }
			// Date now = new Date();
			// taskWrk.setModiTime(now);
			// Integer integerTaskWrk = taskWrkMapper.updateById(taskWrk);
			// // 修改成功后复位堆垛机
			// if (integerTaskWrk > 0) {
			// // 堆垛机复位
			// crnThread.setResetFlag(true);
			//
			// //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);
			// }
			// }
			// }
			// }

			/**
			* 堆垛机异常信息记录
			*/
			@Async
			public void recCrnErr(){
			public void recCrnErr() {
			Date now = new Date();
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			@@ -818,20 +664,20 @@
			if (crnProtocol == null) {
			continue;
			}
			if (true) {
			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) {
			if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
			String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):crnError.getErrName();
			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
			@@ -870,15 +716,15 @@
			}
			}
			}
			// 无任务
			// 无任务
			} else {
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
			if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm() > 0) {
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm1().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
			String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):crnError.getErrName();
			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
			@@ -893,7 +739,7 @@
			null, // 源站
			null, // 源库位
			null, // 条码
			(int)crnProtocol.getAlarm1(), // 异常码
			(int) crnProtocol.getAlarm1(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			@@ -906,7 +752,7 @@
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			// 无异常
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			@@ -924,140 +770,323 @@
			}
			}

			//自动派发任务
			public void autoDistribute() {
			Config config = configService.selectByCode("autoDistribute");
			if (config == null) {
			return;
			}

			if (config.getValue().equals("false")) {//判断是否开启自动派发任务
			return;
			}

			for (TaskWrk taskWrk : taskWrkService.selectReceive()) {
			try {
			taskWrkService.distribute(taskWrk.getTaskNo(), 9527L);
			} catch (CoolException e) {
			log.info(e.getMessage());
			}
			}
			}

			//自动完成任务
			public synchronized void autoCompleteTask() {
			List<TaskWrk> taskWrks = taskWrkMapper.selectWorkingTask();
			for (TaskWrk taskWrk : taskWrks) {
			//获取命令集合
			List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
			if (taskWrk.getCommandStep() != commandInfos.size()) {
			continue;//当前步序没有到达最后一条命令
			}

			//判断末端命令是否执行完成
			CommandInfo commandInfo = commandInfos.get(commandInfos.size() - 1);
			if (commandInfo.getCommandStatus() != CommandStatusType.COMPLETE.id) {
			continue;//指令未完成
			}

			Date now = new Date();
			//指令已完成，更新任务
			if (taskWrk.getIoType() == 1) {
			//入库任务
			taskWrk.setWrkSts(4);//3.吊车入库中 => 4.入库完成
			//taskWrk.setStatus(TaskStatusType.COMPLETE.id);
			taskWrk.setModiTime(now);
			taskWrkService.updateById(taskWrk);

			//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) {
			//出库任务
			taskWrk.setWrkSts(14);//12.吊车出库中 => 14.出库完成
			// taskWrk.setStatus(TaskStatusType.COMPLETE.id);
			taskWrk.setModiTime(now);
			taskWrkService.updateById(taskWrk);

			//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);
			}
			}
			}


			public synchronized String CrnStartRunning(TaskWrk taskWrk){
			String tasktype = null;
			switch (taskWrk.getIoType()){
			case 1:
			tasktype= "RK";
			break;
			case 2:
			tasktype= "CK";
			break;
			case 3:
			tasktype= "YK";
			break;
			default:
			tasktype= "未知";
			}
			Map<String, Object> map = new HashMap<>();
			map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
			TaskOverToWms taskOverToWms = new TaskOverToWms();
			taskOverToWms.setFeedbackFrom("WCS"); //来源
			taskOverToWms.setWarehouseId("1688469798893297665"); //仓库标识
			taskOverToWms.setTaskNo(taskWrk.getTaskNo()); //任务号
			taskOverToWms.setTaskType(tasktype); // 任务类型
			taskOverToWms.setContainerCode(taskWrk.getBarcode()); // 容器编码
			if (taskWrk.getIoType() ==1 \|\| taskWrk.getIoType() == 3){
			taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //设备编码
			taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //目标库位
			}else if (taskWrk.getIoType() ==2){
			Map<Integer,String> map1 = new HashMap<>();
			map1.put(102,"J-1101");
			map1.put(106,"J-1103");
			map1.put(110,"J-1105");
			map1.put(114,"J-1107");
			map1.put(118,"J-1109");
			map1.put(122,"J-1111");
			map1.put(305,"H-1101");
			map1.put(405,"G-1101");
			taskOverToWms.setEquipmentCode(map1.get(taskWrk.getTargetPoint())); //设备编码
			taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint()); //源库位
			}

			taskOverToWms.setTaskStatus("executing"); //任务状态
			String response = null;
			//agv取放货任务完成
			public synchronized void autoCompleteAGV() {
			List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
			try {
			response = new HttpHandler.Builder()
			.setHeaders(map)
			.setUri(wmsUrl)
			.setPath("wcsManager/wcsInterface/taskStatusFeedback")
			.setJson(JSON.toJSONString(taskOverToWms))
			.build()
			.doPost();
			}catch (Exception e){
			log.error("堆垛机任务完成，请求wms任务完成接口失败");
			Thread.sleep(500);
			} catch (Exception e) {

			}
			apiLogService.save("堆垛机开始运行"
			,wmsUrl+"wcsManager/wcsInterface/taskStatusFeedback"
			,null
			,"127.0.0.1"
			,JSON.toJSONString(taskOverToWms)
			,response
			,true
			);
			return response;

			for (BasDevp basDevp : basDevps) {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (basDevp.getWrkNo() != 0) {
			if (basDevp.getAgvTargetPick() != 0) {//取货
			staProtocol.setAgvTypeSign((short) 0);
			staProtocol.setStaNo(basDevp.getDevNo().shortValue());
			MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
			}
			boolean sign = true;
			if (basDevp.getAgvTargetPlace() != 0) {
			sign = false;
			basDevp.setAgvTargetPlace(0);
			basDevpService.updateById(basDevp);
			staProtocol.setAgvTypeSign((short) 3);//1
			staProtocol.setStaNo(basDevp.getDevNo().shortValue());
			MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
			}
			} else {
			if (basDevp.getAgvTargetPlace() != 0) {
			if (basDevp.getLoading().equals("Y")) {
			staProtocol.setAgvTypeSign((short) 1);
			staProtocol.setStaNo(basDevp.getDevNo().shortValue());
			MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
			} else {
			log.error("AGV放货完成但输送线无物，复位信号 ===>> [staNo:{}] [basDevp:{}]", basDevp.getDevNo(), basDevp);
			basDevp.setAgvTargetPlace(0);
			basDevpService.updateById(basDevp);
			staProtocol.setAgvTypeSign((short) 3);//1
			staProtocol.setStaNo(basDevp.getDevNo().shortValue());
			MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
			}

			}
			if (basDevp.getAgvTargetPick() != 0) {
			basDevp.setAgvTargetPick(0);
			basDevpService.updateById(basDevp);
			staProtocol.setAgvTypeSign((short) 2);//0
			staProtocol.setStaNo(basDevp.getDevNo().shortValue());
			MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
			}
			}
			}
			}


			/**
			* 入出库模式切换函数
			*/
			public synchronized void ioConvert() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			WrkMast pakout = wrkMastMapper.selectWorkingPakout(inSta.getBackSta());
			switch (inSta.getBackSta()) {
			case 116:
			if (pakout != null) {
			if (devpThread.ioModeOf1F1 != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioModeOf1F1 = IoModeType.PAKOUT_BOOTING;
			WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			&& !devpThread.getStation().get(inSta.getBackSta()).isLoading()
			&& devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
			// 出库模式
			devpThread.ioModeOf1F1 = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf1F1 = IoModeType.PAKIN_MODE;
			}
			break;
			case 117:
			if (pakout != null) {
			if (devpThread.ioModeOf1F2 != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioModeOf1F2 = IoModeType.PAKOUT_BOOTING;
			WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			&& !devpThread.getStation().get(inSta.getBackSta()).isLoading()
			&& devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
			// 出库模式
			devpThread.ioModeOf1F2 = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf1F2 = IoModeType.PAKIN_MODE;
			}
			break;
			case 118:
			if (pakout != null) {
			if (devpThread.ioModeOf1F3 != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioModeOf1F3 = IoModeType.PAKOUT_BOOTING;
			WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			&& !devpThread.getStation().get(inSta.getBackSta()).isLoading()
			&& devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
			// 出库模式
			devpThread.ioModeOf1F3 = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf1F3 = IoModeType.PAKIN_MODE;
			}
			break;
			case 119:
			if (pakout != null) {
			if (devpThread.ioModeOf1F4 != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioModeOf1F4 = IoModeType.PAKOUT_BOOTING;
			WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			&& !devpThread.getStation().get(inSta.getBackSta()).isLoading()
			&& devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
			// 出库模式
			devpThread.ioModeOf1F4 = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf1F4 = IoModeType.PAKIN_MODE;
			}
			break;
			case 120:
			if (pakout != null) {
			if (devpThread.ioModeOf1F5 != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioModeOf1F5 = IoModeType.PAKOUT_BOOTING;
			WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			&& !devpThread.getStation().get(inSta.getBackSta()).isLoading()
			&& devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
			// 出库模式
			devpThread.ioModeOf1F5 = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf1F5 = IoModeType.PAKIN_MODE;
			}
			break;
			case 203:
			if (pakout != null) {
			if (devpThread.ioModeOf2F1 != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioModeOf2F1 = IoModeType.PAKOUT_BOOTING;
			WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			&& !devpThread.getStation().get(inSta.getBackSta()).isLoading()
			&& devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
			// 出库模式
			devpThread.ioModeOf2F1 = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf2F1 = IoModeType.PAKIN_MODE;
			}
			break;

			case 207:
			if (pakout != null) {
			if (devpThread.ioModeOf2F2 != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioModeOf2F2 = IoModeType.PAKOUT_BOOTING;
			WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			&& !devpThread.getStation().get(inSta.getBackSta()).isLoading()
			&& devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
			// 出库模式
			devpThread.ioModeOf2F2 = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf2F2 = IoModeType.PAKIN_MODE;
			}
			break;

			case 212:
			if (pakout != null) {
			if (devpThread.ioModeOf2F3 != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioModeOf2F3 = IoModeType.PAKOUT_BOOTING;
			WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			&& !devpThread.getStation().get(inSta.getBackSta()).isLoading()
			&& devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
			// 出库模式
			devpThread.ioModeOf2F3 = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf2F3 = IoModeType.PAKIN_MODE;
			}
			break;
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}


			/**
			* 跑库程序
			*/
			public void debug() {
			//首先库位有一个在库的库位
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_sts", "F"));
			if (locMast != null) {
			// 再生成一个移库任务
			LocMast mk = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_sts", "O").ne("mk", 1));

			}

			}


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

			for (DevpSlave.Sta sta : slaveProperties.getDevp().get(1).getInSta()) {
			try {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol = devpThread.getStation().get(sta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == 0)) {
			// 查询工作档
			TransferTask transferTask = transferTaskService.selectByStartPoint(sta.getStaNo());
			if (transferTask == null) {
			continue;
			}
			log.info("下发输送线转移任务：taskWrk:" + JSON.toJSONString(transferTask));
			staProtocol.setWorkNo(transferTask.getWrkNo().shortValue());
			staProtocol.setStaNo(transferTask.getTargetPoint().shortValue());
			boolean offer = false;
			try {
			offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			} catch (Exception e) {
			log.error("下发输送线转移任务：异常:" + e);
			log.error("下发输送线转移任务：异常:offer:" + offer);
			}
			if (offer) {
			log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(transferTask));
			transferTask.setStatus(2);
			transferTaskService.updateById(transferTask);
			} else {
			log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(transferTask));
			}
			}
			} catch (Exception e) {
			log.error("转移任务异常:异常信息：" + e);
			}
			}

			}

			/**
			* 转移任务完成
			*/
			public void transferTaskEnd() {
			for (DevpSlave.Sta sta : slaveProperties.getDevp().get(1).getInSta()) {
			try {
			// 获取终点站
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol = devpThread.getStation().get(sta.getOverSta());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == 0)) {
			// 查询工作档
			TransferTask transferTask = transferTaskService.selectByEndPoint(sta.getStaNo());
			if (transferTask == null) {
			continue;
			}
			log.info("转移任务完成：transferTask:" + JSON.toJSONString(transferTask));
			transferTask.setStatus(5);
			transferTaskService.updateById(transferTask);
			}
			} catch (Exception e) {
			log.error("转移任务异常:异常信息：" + e);
			}
			}

			}

			}