zy-wcs.git - Gitblit

			@@ -13,7 +13,7 @@
			import com.zy.asrs.mapper.WrkMastMapper;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.VersionUtils;
			import com.zy.common.constant.RedisConstantType;
			import com.zy.common.model.LocTypeDto;
			import com.zy.common.model.MatDto;
			import com.zy.common.model.SearchLocParam;
			@@ -22,23 +22,26 @@
			import com.zy.common.utils.CollectionUtils;
			import com.zy.common.utils.HttpHandler;
			import com.zy.common.utils.News;
			import com.zy.common.utils.RedisUtil;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			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 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;
			@@ -46,10 +49,7 @@
			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;

			/**
			@@ -58,7 +58,6 @@
			*/
			@Slf4j
			@Service("mainService")
			@Transactional
			public class MainServiceImpl {

			public static final long COMMAND_TIMEOUT = 5 * 1000;
			@@ -70,7 +69,11 @@
			@Autowired
			private WrkMastMapper wrkMastMapper;
			@Autowired
			private WrkMastLogService wrkMastLogService;
			@Autowired
			private WrkDetlService wrkDetlService;
			@Autowired
			private WrkDetlLogService wrkDetlLogService;
			@Autowired
			private WaitPakinMapper waitPakinMapper;
			@Autowired
			@@ -87,6 +90,12 @@
			private BasErrLogService basErrLogService;
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			@Autowired
			private WrkMastService wrkMastService;
			@Autowired
			private ConfigService configService;
			@Autowired
			private RedisUtil redisUtil;

			@Value("${wms.url}")
			private String wmsUrl;
			@@ -117,51 +126,28 @@

			//LED
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			// 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;
			// }

			// 判断是否满足入库条件
			if (!staProtocol.isLoading()){
			if (!staProtocol.isLoading()) {
			continue;
			}
			String barcode11 = barcodeThread.getBarcode();
			if (Cools.isEmpty(barcode11)){
			if (staProtocol.isAutoing() && staProtocol.getWorkNo() == 9999 && staProtocol.isPakMk() && staProtocol.getStamp()>=2){
			staProtocol.setStamp(0);
			News.info(""+mark+" - 7"+" - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode11, inSta.getStaNo());
			staProtocol.setWorkNo((short) 9989);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
			}

			}
			}
			if (staProtocol.isAutoing() && staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990)
			&& staProtocol.isPakMk() && staProtocol.getStamp()>=2) {// && !Cools.isEmpty(barcode)) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行");
			// try {
			// Thread.sleep(300);
			// }catch (Exception e){}
			if (staProtocol.isAutoing()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& staProtocol.getWorkNo() == 9999
			&& staProtocol.isPakMk() && (staProtocol.getEmptyInType() != 1 && staProtocol.getEmptyInType() != 2)) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行");

			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			staProtocol.setWorkNo((short) 9999);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			News.info(""+mark+" - 2"+" - 扫码失败1 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
			if (!Cools.isEmpty(barcode)) {
			News.info("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			// staProtocol.setWorkNo((short) 9992);
			// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			News.info("" + mark + " - 2" + " - 扫码失败1 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			@@ -170,12 +156,12 @@
			continue;
			}
			} else {
			staProtocol.setWorkNo((short) 9999);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// staProtocol.setWorkNo((short) 9992);
			// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			News.info(""+mark+" - 3"+" - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
			News.info("" + mark + " - 3" + " - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			@@ -188,20 +174,20 @@
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			//过滤判断，防止拣料再入库货物，经过入库站再入库时，被退回到退库站
			WrkMast wrkMast1 = wrkMastMapper.selectPakInStepBarcode(barcode);
			if (wrkMast1 !=null){
			if (wrkMast1.getIoType()==103 \|\| wrkMast1.getIoType()==107 \|\| wrkMast1.getIoType()==104){
			if (wrkMast1 != null) {
			if (wrkMast1.getIoType() == 103 \|\| wrkMast1.getIoType() == 107 \|\| wrkMast1.getIoType() == 104) {
			continue;
			}
			}
			if (wrkMast != null) {
			News.error(""+mark+" - 4"+" - 工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			staProtocol.setWorkNo((short)9999);
			staProtocol.setStaNo(inSta.getBackSta().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");
			}
			News.error("" + mark + " - 4" + " - 工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			// staProtocol.setWorkNo((short)9992);
			// staProtocol.setStaNo(inSta.getBackSta().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");
			// }

			// led 异常显示
			if (ledThread != null) {
			@@ -209,6 +195,18 @@
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
			}
			continue;
			}

			if (inSta.getStaNo() == 1002 \|\| inSta.getStaNo() == 1007) {
			//检测是否有出库任务
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("io_type", 101, 103, 107)
			.in("sta_no", 1003, 1004)
			);
			if (!wrkMasts.isEmpty()) {
			News.error("" + mark + " - 4" + " - 入库，检测存在出库任务，等待出库任务执行完成,托盘码={}", barcode);
			continue;
			}
			}

			try {
			@@ -229,39 +227,54 @@
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
			.eq("loc_no", dto.getLocNo()));

			short staNo = dto.getStaNo().shortValue();

			int sourceStaNo = dto.getSourceStaNo();
			if (sourceStaNo == 1007) {
			staNo = 2002;
			}

			if (inSta.getStaNo() == 1002) {
			staNo = 2002;
			}

			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			staProtocol.setStaNo(staNo);
			staProtocol.setPalletSize(locMast.getLocType2());
			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");
			}

			// led 入库信息显示
			if (ledThread != null) {
			// 命令集合
			List<LedCommand> commands = new ArrayList<>();
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(dto.getWorkNo());
			ledCommand.setIoType(1);
			ledCommand.setTitle("全板入库");
			ledCommand.setLocNo(dto.getLocNo());
			ledCommand.setStaNo(dto.getStaNo());
			commands.add(ledCommand);
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, commands));
			// ledThread.errorReset();
			}
			// // led 入库信息显示
			// if (ledThread != null) {
			// // 命令集合
			// List<LedCommand> commands = new ArrayList<>();
			// // 组装命令
			// LedCommand ledCommand = new LedCommand();
			// ledCommand.setWorkNo(dto.getWorkNo());
			// ledCommand.setIoType(1);
			// ledCommand.setTitle("全板入库");
			// ledCommand.setLocNo(dto.getLocNo());
			// ledCommand.setStaNo(dto.getStaNo());
			// commands.add(ledCommand);
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, commands));
			//// ledThread.errorReset();
			// }
			} else {
			News.error(""+mark+" - 5"+" - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			staProtocol.setWorkNo((short)9999);
			staProtocol.setStaNo(inSta.getBackSta().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");
			}
			News.error("" + mark + " - 5" + " - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			// staProtocol.setWorkNo((short)9992);
			// staProtocol.setStaNo(inSta.getBackSta().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");
			// }

			// led 异常显示
			if (ledThread != null) {
			@@ -275,15 +288,15 @@
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isAutoing()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
			+"、锁定标记"+ staProtocol.isPakMk()+"、入库印记：" + staProtocol.getStamp());
			} else {
			News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isAutoing() + "、可入信号：" + staProtocol.isInEnable()
			+ "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo()
			+ "、锁定标记" + staProtocol.isPakMk());
			}

			}
			}
			News.infoNoLog(""+mark+" - 0"+" - 组托 ===》执行完成");
			News.infoNoLog("" + mark + " - 0" + " - 组托 ===》执行完成");

			}

			@@ -305,19 +318,17 @@
			staProtocol = staProtocol.clone();
			}

			// // 入出库模式判断
			if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) {
			// 判断是否满足入库条件
			if (!staProtocol.isLoading()) {
			continue;
			}

			// 判断是否满足入库条件
			if (!staProtocol.isLoading()){
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() == 9999)
			if (staProtocol.isAutoing()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& staProtocol.getWorkNo() > 0
			&& staProtocol.isPakMk()) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行");
			News.warnNoLog("" + mark + " - 0" + " - 开始执行");
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			if (wrkMast == null) {
			@@ -336,20 +347,20 @@
			wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error(""+mark+" - 1"+" - 更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			News.error("" + mark + " - 1" + " - 更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			}
			} else {
			News.error(""+mark+" - 2"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			News.error("" + mark + " - 2" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isLoading()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
			+"、锁定标记"+ staProtocol.isPakMk()+"、入库印记：" + staProtocol.getStamp());
			} else {
			News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isLoading() + "、可入信号：" + staProtocol.isInEnable()
			+ "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo()
			+ "、锁定标记" + staProtocol.isPakMk());
			}
			}
			}
			News.infoNoLog(""+mark+" - 0"+" - wms入库 ===》执行完成");
			News.infoNoLog("" + mark + " - 0" + " - wms入库 ===》执行完成");

			}

			@@ -357,50 +368,169 @@
			* 拣料、并板、盘点再入库
			*/
			public synchronized void stnToCrnStnPick(Integer mark) {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			try {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta()) {
			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			}
			} else {
			continue;
			}

			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行");
			WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
			if (wrkMast == null) {
			// 无拣料数据
			continue;
			}
			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 拣、盘、并作业站转换
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& staProtocol.getWorkNo() > 0
			&& staProtocol.isPakMk()) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行");

			// // 获取条码扫描仪信息
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			// if (barcodeThread == null) {
			// continue;
			// }
			// String barcode = barcodeThread.getBarcode();
			// if(!Cools.isEmpty(barcode)) {
			// News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			// if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			// continue;
			// }
			// } else {
			// continue;
			// }

			// WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
			if (wrkMast == null) {
			// 无拣料数据
			continue;
			}
			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			continue;
			}

			// 获取目标站
			Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			.eq("type_no", wrkMast.getIoType() - 50)
			.eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
			.eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (Cools.isEmpty(staDesc)) {
			// News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			// staProtocol.setWorkNo((short) 9989);
			// staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//LED
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "此为拣料、并板、盘点再入库.请放在" + pickSta.getBackSta().shortValue() + "站点";
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errorMsg));
			}
			continue;
			}

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(wrkMast.getBarcode());
			param.setSourceStaNo(pickSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/pick/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			staProtocol.setPalletSize(locMast.getLocType2());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			News.error("" + mark + " - 3" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			} else {
			News.error("" + mark + " - 5" + " - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/pick/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			}

			} else {
			News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isLoading() + "、可入信号：" + staProtocol.isInEnable()
			+ "、空板信号：" + staProtocol.isEmptyMk());
			}
			}

			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			News.infoNoLog("" + mark + " - 0" + " - 拣料、并板、盘点再入库 ===》执行完成");
			}

			/**
			* 拣料、并板、盘点再入库-条码
			*/
			public synchronized void stnToCrnStnPickBarcode(Integer mark) {
			try {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta insta : devp.getInSta()) {
			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(insta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& staProtocol.getWorkNo() > 0
			&& staProtocol.isPakMk()) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行");

			// 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)) {
			News.info("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", insta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			if (wrkMast == null) {
			// 无拣料数据
			continue;
			}
			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			continue;
			}

			// 拣、盘、并作业站转换
			// int stnNo = 0;
			// if (wrkMast.getStaNo() == 109) {
			// stnNo = 127;
			@@ -409,147 +539,171 @@
			// } else {
			// log.error("{}号任务数据异常！", wrkMast.getWrkNo());
			// }
			// 获取目标站
			Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			.eq("type_no", wrkMast.getIoType() - 50)
			.eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
			.eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (Cools.isEmpty(staDesc)) {
			News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			continue;
			}

			try {
			// 保存工作明细档历史档
			if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作明细档历史档失败");
			}
			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作主档历史档失败");
			// 获取目标站
			Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			.eq("type_no", wrkMast.getIoType() - 50)
			.eq("stn_no", insta.getStaNo()) // 作业站点 = 拣料出库的目标站
			.eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (Cools.isEmpty(staDesc)) {
			// News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			// staProtocol.setWorkNo((short) 9989);
			// staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//LED
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, insta.getLed());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "此为拣料、并板、盘点再入库.请放在" + insta.getBackSta().shortValue() + "站点";
			MessageQueue.offer(SlaveType.Led, insta.getLed(), new Task(5, errorMsg));
			}
			continue;
			}

			Date now = new Date();
			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			// 更新工作档数据状态
			wrkMast.setIoTime(now);
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
			wrkMast.setStaNo(staNo); // 目标站
			wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档数据状态失败");
			try {
			// 保存工作明细档历史档
			if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作明细档历史档失败");
			}
			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作主档历史档失败");
			}

			Date now = new Date();
			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			// 更新工作档数据状态
			wrkMast.setIoTime(now);
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
			wrkMast.setStaNo(staNo); // 目标站
			wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			wrkMast.setModiTime(now);
			wrkMast.setUpdMk("");//允许再次移库
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档数据状态失败");
			}
			// 更新明细档io_time (历史档关联使用）
			wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
			// 修改库位状态 Q.拣料/盘点/并板再入库
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException("修改库位状态失败");
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			continue;
			}
			// 更新明细档io_time (历史档关联使用）
			wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
			// 修改库位状态 Q.拣料/盘点/并板再入库

			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException("修改库位状态失败");
			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			staProtocol.setPalletSize(locMast.getLocType2());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			News.error("" + mark + " - 3" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			continue;

			} else {
			News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isLoading() + "、可入信号：" + staProtocol.isInEnable()
			+ "、空板信号：" + staProtocol.isEmptyMk());
			}

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			News.error(""+mark+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isLoading()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk());
			}

			}

			} catch (Exception e) {
			e.printStackTrace();
			}
			News.infoNoLog(""+mark+" - 0"+" - 拣料、并板、盘点再入库 ===》执行完成");
			News.infoNoLog("" + mark + " - 0" + " - 拣料、并板、盘点再入库 ===》执行完成");
			}

			/**
			* 堆垛机站出库到出库站
			*/
			public synchronized void crnStnToOutStn(Integer mark) {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.eq("wrk_sts", 12)
			);

			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			// 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();
			for (WrkMast wrkMast : wrkMasts) {
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			continue;
			}

			Integer devpId = null;
			Integer sourceStaNo = wrkMast.getSourceStaNo();
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			if (crnStn.getStaNo().equals(sourceStaNo)) {
			devpId = crnStn.getDevpPlcId();
			break;
			}
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
			if (wrkMast == null) {
			}

			if (devpId == null) {
			News.error("" + mark + " - 0" + " - 堆垛机站出库到出库站，未找到对应PLC");
			continue;
			}

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpId);
			StaProtocol staProtocol = devpThread.getStation().get(sourceStaNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();

			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			&& (crnProtocol.statusType == CrnStatusType.PUTTING \|\| crnProtocol.statusType == CrnStatusType.WAITING)) {
			//放货中或等待确认
			News.warnNoLog("" + mark + " - 0" + " - 开始执行");

			// 命令下发区 --------------------------------------------------------------------------
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
			.eq("loc_no", wrkMast.getSourceLocNo()));

			short staNo = wrkMast.getStaNo().shortValue();
			if (wrkMast.getStaNo() == 1004) {
			staNo = 2003;
			}

			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(staNo);
			staProtocol.setPalletSize(locMast.getLocType2());
			if (!MessageQueue.offer(SlaveType.Devp, devpId, new Task(2, staProtocol))) {
			continue;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			continue;

			// 更新工作档状态为14失败
			wrkMast.setWrkSts(14L);
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			News.info("" + mark + " - 1" + " - 更新工作档的工作状态为14成功！！！ [工作号:{}]", wrkMast.getWrkNo());
			} else {
			News.error("" + mark + " - 1" + " - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			// 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, wrkMast.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			continue;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行");

			// 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, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}

			// 更新工作档状态为14失败
			wrkMast.setWrkSts(14L);
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位堆垛机
			crnThread.setResetFlag(true);
			} else {
			News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！"
			+" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO
			+"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast.getWrkNo().shortValue()
			+"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
			+"、货叉位置："+crnProtocol.forkPosType+"==HOME：0 // 货叉原位：" + CrnForkPosType.HOME);
			}

			}
			}
			}
			News.infoNoLog(""+mark+" - 0"+" - 堆垛机站出库到出库站 ===》执行完成");

			News.infoNoLog("" + mark + " - 0" + " - 堆垛机站出库到出库站 ===》执行完成");
			}

			/**
			@@ -566,7 +720,7 @@
			}
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			News.error(""+mark+" - 1"+" - {}号堆垛机尚未在数据库进行维护！", crn.getId());
			News.error("" + mark + " - 1" + " - {}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}

			@@ -575,110 +729,205 @@
			// continue;
			// }

			//堆垛机回原点任务中
			Object object = redisUtil.get(RedisConstantType.CRN_MOVE_LOCK + crn.getId());
			if (object != null) {
			continue;
			}

			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
			&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行堆垛机入出库作业下发");
			News.warnNoLog("" + mark + " - 0" + " - 开始执行堆垛机入出库作业下发");
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			//mark - 1 - ....
			this.crnStnToLoc(crn, crnProtocol,mark); // 入库
			this.crnStnToLoc(crn, crnProtocol, mark); // 入库
			crnProtocol.setLastIo("O");
			} else if (basCrnp.getOutEnable().equals("Y")) {
			//mark - 2 - ....
			this.locToCrnStn(crn, crnProtocol,mark); // 出库
			this.locToCrnStn(crn, crnProtocol, mark); // 出库
			crnProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn(crn, crnProtocol,mark); // 出库
			this.locToCrnStn(crn, crnProtocol, mark); // 出库
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc(crn, crnProtocol,mark); // 入库
			this.crnStnToLoc(crn, crnProtocol, mark); // 入库
			crnProtocol.setLastIo("O");
			}
			}
			}
			// 库位移转
			//mark - 3 - ....
			this.locToLoc(crn, crnProtocol,mark);
			this.locToLoc(crn, crnProtocol, mark);
			this.locToLoc111(crn, crnProtocol, mark);
			// this.crnRebackHp(crnProtocol, crnThread);

			}
			News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
			News.infoNoLog("" + mark + " - 0" + " - 堆垛机入出库作业下发执行完成");
			}

			/**
			* 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
			* 堆垛机无任务两分钟，回入库口待机
			*/
			public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) {
			// for (CrnSlave crn : slaveProperties.getCrn()) {
			// // 获取堆垛机信息
			// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			// if (crnProtocol == null) {
			// continue;
			// }
			// BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			// if (basCrnp == null) {
			// log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			// continue;
			// }
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
			return;
			public synchronized void crnMove() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			if (crn.getId() == 1) {
			continue;
			}

			// 已经存在吊车执行任务时，则过滤3,12
			if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
			return;
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}

			//堆垛机有执行中任务，过滤3,4,11,12
			if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) {
			return;
			}
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
			continue;
			}

			//输送线没有入库任务，过滤2
			if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
			return;
			if (System.currentTimeMillis() - crnProtocol.getLastCommandTime() < 1000 * 60 * 2) {
			continue;
			}

			Object object = redisUtil.get(RedisConstantType.CRN_MOVE_LOCK + crn.getId());
			if (object != null) {
			continue;
			}

			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.eq("crn_no", crn.getId())
			.notIn("wrk_sts", 5, 14, 15)
			);
			if (!wrkMasts.isEmpty()) {
			continue;
			}

			CrnSlave.CrnStn crnStn = crn.getCrnInStn().get(0);

			News.info("堆垛机无任务自动回入库口待机==>>" + crnProtocol.getCrnNo() + "号堆垛机");
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9999); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE); // 任务模式: 堆垛机移动
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY((short) 1); // 源库位列
			crnCommand.setSourcePosZ((short) 1); // 源库位层
			crnCommand.setDestinationPosX((short) 0); // 目标库位排
			crnCommand.setDestinationPosY((short) 0); // 目标库位列
			crnCommand.setDestinationPosZ((short) 0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
			News.error("堆垛机移动命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
			}
			crnThread.setBackHpFlag(true);
			redisUtil.set(RedisConstantType.CRN_MOVE_LOCK + crn.getId(), "lock", 10);
			try {
			Thread.sleep(500);
			} catch (Exception e) {
			e.printStackTrace();
			}
			}
			News.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9999); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 回原点
			crnCommand.setSourcePosX((short) 0); // 源库位排
			crnCommand.setSourcePosY((short) 0); // 源库位列
			crnCommand.setSourcePosZ((short) 0); // 源库位层
			crnCommand.setDestinationPosX((short) 0); // 目标库位排
			crnCommand.setDestinationPosY((short) 0); // 目标库位列
			crnCommand.setDestinationPosZ((short) 0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
			News.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
			}
			crnThread.setBackHpFlag(true);
			}
			// }
			}

			/**
			* 堆垛机有入库任务时，回入库口待机
			*/
			public synchronized void crnMoveByInTask() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			if (crn.getId() == 1) {
			continue;
			}

			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}

			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
			continue;
			}

			if (System.currentTimeMillis() - crnProtocol.getLastCommandTime() < 1000 * 60) {
			continue;
			}

			Object object = redisUtil.get(RedisConstantType.CRN_MOVE_LOCK + crn.getId());
			if (object != null) {
			continue;
			}

			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.eq("crn_no", crn.getId())
			.eq("wrk_sts", 2)
			);
			if (wrkMasts.isEmpty()) {
			continue;
			}

			CrnSlave.CrnStn crnStn = crn.getCrnInStn().get(0);

			News.info("堆垛机有入库任务时，回入库口待机==>>" + crnProtocol.getCrnNo() + "号堆垛机");
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9999); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE); // 任务模式: 堆垛机移动
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY((short) 1); // 源库位列
			crnCommand.setSourcePosZ((short) 1); // 源库位层
			crnCommand.setDestinationPosX((short) 0); // 目标库位排
			crnCommand.setDestinationPosY((short) 0); // 目标库位列
			crnCommand.setDestinationPosZ((short) 0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
			News.error("堆垛机移动命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
			}
			crnThread.setBackHpFlag(true);
			redisUtil.set(RedisConstantType.CRN_MOVE_LOCK + crn.getId(), "lock", 10);
			try {
			Thread.sleep(500);
			} catch (Exception e) {
			e.printStackTrace();
			}
			}
			}
			}

			/**
			* 入库 ===>> 堆垛机站到库位
			*/
			public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
			News.warnNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发：执行入库");
			public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
			News.warnNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发：执行入库");
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			boolean flag = false;
			// 获取堆垛机入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			News.infoNoLog(""+mark+" - 1"+" - 1"+" - 堆垛机入库站信息(staProtocol!=null继续执行)：staProtocol="+staProtocol);
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - 堆垛机入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol = staProtocol.clone();
			@@ -686,7 +935,7 @@
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error(""+mark+" - 1"+" - 2"+" - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			@@ -694,27 +943,27 @@
			flag = true;
			}
			if (!flag) {
			News.errorNoLog(""+mark+" - 1"+" - 3"+" - 堆垛机入库站信息(以下需要全true):"
			+"自动信号"+staProtocol.isAutoing()+"有物信号"+staProtocol.isLoading()
			+"工作号>0"+staProtocol.getWorkNo()+"可入信号"+staProtocol.isInEnable()
			+"能入信号（wms设置）.equals(\"Y\")"+staDetl.getCanining());
			News.errorNoLog("" + mark + " - 1" + " - 3" + " - 堆垛机入库站信息(以下需要全true):"
			+ "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
			+ "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isInEnable()
			+ "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
			continue;
			}
			// 获取工作状态为2（设备上走）的入库工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
			if (null == wrkMast) {
			News.infoNoLog(""+mark+" - 1"+" - 4"+" - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			// log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			// 获取库位信息
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			if (locMast == null) {
			News.error(""+mark+" - 1"+" - 5"+" - 查询库存无数据--库位号{}", wrkMast.getLocNo());
			News.error("" + mark + " - 1" + " - 5" + " - 查询库存无数据--库位号{}", wrkMast.getLocNo());
			continue;
			}
			if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
			News.error(""+mark+" - 1"+" - 6"+" - 入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
			News.error("" + mark + " - 1" + " - 6" + " - 入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
			continue;
			}

			@@ -729,51 +978,73 @@
			continue;
			}

			if (crnProtocol.getCrnNo() == 1) {
			//判断堆垛机和当前任务是否处于一个巷道
			if (Utils.getLaneByLocNo(wrkMast.getLocNo()) != crnProtocol.getCrnLane()) {
			//判断堆垛机所在巷道是否存在其他任务，如存在则优先执行
			List<WrkMast> currentWrkMasts = wrkMastService.selectLaneWrkMast(crnProtocol.getCrnLane(), false);
			// if (!currentWrkMasts.isEmpty()) {
			// continue;//当前堆垛机所在巷道存在任务
			// }
			}
			}

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
			News.warnNoLog(""+mark+" - 1"+" - 8"+" - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行任务号={}",wrkMast.getWrkNo());
			News.warnNoLog("" + mark + " - 1" + " - 8" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行任务号={}", wrkMast.getWrkNo());
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			News.warnNoLog(""+mark+" - 1"+" - 9"+" - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！库位状态={}",shallowLoc.getLocSts());
			News.warn("" + mark + " - 1" + " - 9" + " - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！库位={},库位状态={}", shallowLoc.getLocNo(), shallowLoc.getLocSts());
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			News.error(""+mark+" - 1"+" - 10"+" - {}库位异常，未检索到相应工作档！", shallowLocNo);
			News.error("" + mark + " - 1" + " - 10" + " - {}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			News.error(""+mark+" - 1"+" - 11"+" - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			if (waitWrkMast.getWrkSts() != 14 && waitWrkMast.getIoType() > 100) {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			News.error("" + mark + " - 1" + " - 11" + " - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			}
			continue;

			if (waitWrkMast.getWrkSts() < 5 && waitWrkMast.getIoType() < 100) {
			continue;//有任务禁止搬运，有可能浅库位状态还未变更完成
			}
			}

			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			News.warnNoLog(""+mark+" - 1"+" - 12"+" - // F、D 库位状态={}",shallowLoc.getLocSts());
			News.warn("" + mark + " - 1" + " - 12" + " - // F、D 库位={},库位状态={}", shallowLoc.getLocNo(), shallowLoc.getLocSts());
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc,mark);
			if (moveLocForDeepLoc(slave, crnProtocol, shallowLoc, mark)) {
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			}
			// wrkMast.setUpdMk("Y");
			// wrkMast.setIoPri(14D);
			// wrkMastMapper.updateById(wrkMast);
			// // 生成工作档,将浅库位移转到新的库位中
			// moveLocForDeepLoc(slave, shallowLoc,mark);
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			}
			continue;
			} else if (shallowLoc.getLocSts().equals("Q")) {
			News.warnNoLog(""+mark+" - 1"+" - 13"+" - // Q 库位状态={}",shallowLoc.getLocSts());
			News.warn("" + mark + " - 1" + " - 13" + " - // Q 库位={},库位状态={}", shallowLoc.getLocNo(), shallowLoc.getLocSts());
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			News.infoNoLog(""+mark+" - 1"+" - 14"+" - // F、D 工作状态(判断条件为==4)={}",waitWrkMast.getWrkSts());
			News.infoNoLog("" + mark + " - 1" + " - 14" + " - // F、D 工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
			continue;
			}
			}
			}
			News.warnNoLog(""+mark+" - 1"+" - 15"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
			,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue()
			,locMast.getRow1().shortValue(),locMast.getBay1().shortValue(),locMast.getLev1().shortValue());
			News.info("" + mark + " - 1" + " - 15" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
			, crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue()
			, locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue());

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			@@ -788,7 +1059,7 @@
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			News.error(""+mark+" - 1"+" - 16"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			News.error("" + mark + " - 1" + " - 16" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {

			// long startTime = System.currentTimeMillis();
			@@ -809,19 +1080,47 @@
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error(""+mark+" - 1"+" - 17"+" - 修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			News.error("" + mark + " - 1" + " - 17" + " - 修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			News.infoNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发：入库执行完毕");
			News.infoNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发：入库执行完毕");
			}

			/**
			* 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 synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
			News.warnNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发：执行出库");
			public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
			News.warnNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发：执行出库");

			int devpTaskStackOver = 20;
			Config config = configService.selectOne(new EntityWrapper<Config>()
			.eq("code", "devpTaskStackOver"));
			if (config != null) {
			devpTaskStackOver = Integer.parseInt(config.getValue());
			}
			int devpCheckTaskStackOver = 2;
			Config config2 = configService.selectOne(new EntityWrapper<Config>()
			.eq("code", "devpCheckTaskStackOver"));
			if (config2 != null) {
			devpCheckTaskStackOver = Integer.parseInt(config2.getValue());
			}

			int outNumber = 13;
			Config config3 = configService.selectOne(new EntityWrapper<Config>()
			.eq("code", "fullBoardOutboundNumber"));
			if (config3 != null) {
			outNumber = Integer.parseInt(config3.getValue());
			}


			Integer devpWorkingCount = commonService.queryDevpWorkingCount();
			if (devpWorkingCount > devpTaskStackOver) {
			News.warn("" + mark + " - 2" + " - 0" + " - 输送线任务过载，当前输送线承载数量:{}", devpWorkingCount);
			return;
			}

			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			@@ -832,24 +1131,68 @@
			}
			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null) {
			News.error(""+mark+" - 2"+" - 1"+" - 查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
			News.error("" + mark + " - 2" + " - 1" + " - 查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
			continue;
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
			News.error(""+mark+" - 2"+" - 2"+" - 出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			News.error("" + mark + " - 2" + " - 2" + " - 出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			News.infoNoLog(""+mark+" - 2"+" - 3"+" - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol="+staProtocol);
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
			break;
			// continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (wrkMast.getStaNo() == 1003 \|\| wrkMast.getStaNo() == 1007 \|\| wrkMast.getStaNo() == 1004) {
			//检测是否有入库任务
			List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("io_type", 1, 53, 57)
			.notIn("wrk_sts", 3, 4, 5)
			.in("source_sta_no", 1002, 1007)
			);
			if (!inWrkMasts.isEmpty()) {
			News.error("" + mark + " - 2" + " - 检测存在入库任务，等待入库任务执行完成再出库，工作号={}" + wrkMast.getWrkNo());
			continue;
			}
			}

			//zhangc
			if (wrkMast.getIoType() == 103 \|\| wrkMast.getIoType() == 107) {
			if (wrkMast.getStaNo() == 1058) {
			List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("wrk_sts", 12, 14)
			.eq("sta_no", 1058)
			);
			if (!Cools.isEmpty(inWrkMasts) && inWrkMasts.size() >= devpCheckTaskStackOver) {
			News.error("" + mark + " - 2" + " - 检测存在1058站点，存在两笔工作中的任务，工作号={}" + wrkMast.getWrkNo());
			continue;
			}
			} else if (wrkMast.getStaNo() == 1062) {
			List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("wrk_sts", 12, 14)
			.eq("sta_no", 1062)
			);
			if (!Cools.isEmpty(inWrkMasts) && inWrkMasts.size() >= devpCheckTaskStackOver) {
			News.error("" + mark + " - 2" + " - 检测存在1062站点，存在两笔工作中的任务，工作号={}" + wrkMast.getWrkNo());
			continue;
			}
			}
			}else if (wrkMast.getIoType() == 101) {
			List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("wrk_sts", 12, 14)
			);
			if (!Cools.isEmpty(inWrkMasts) && inWrkMasts.size() >= outNumber) {
			News.error("" + mark + " - 4" + " - 检测到全板出库的任务已经到达上线，工作号={}" + wrkMast.getWrkNo());
			continue;
			}
			}

			// // 入出库模式判断
			@@ -862,13 +1205,32 @@
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			News.error("" + mark + " - 2" + " - 5" + " - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {

			//根据参数判断是否校验可出信号
			String crnOutVerifyOut = "Y";
			Config crnOutVerifyOutEnableConfig = configService.selectOne(new EntityWrapper<Config>()
			.eq("code", "crnOutVerifyOutEnable"));
			if (crnOutVerifyOutEnableConfig != null) {
			crnOutVerifyOut = crnOutVerifyOutEnableConfig.getValue();
			}

			if (crnOutVerifyOut.equals("Y")) {
			if (!staProtocol.isOutEnable()) {
			continue;
			}

			if (staProtocol.getWorkNo() > 0) {
			continue;
			}
			}


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

			// 堆垛机控制过滤
			@@ -877,14 +1239,35 @@
			break;
			}

			if (crnProtocol.getCrnNo() == 1) {
			String turnCrnExecuteCurrentChannel = "Y";
			Config turnCrnExecuteCurrentChannelConfig = configService.selectOne(new EntityWrapper<Config>()
			.eq("code", "turnCrnExecuteCurrentChannel")
			);
			if (turnCrnExecuteCurrentChannelConfig != null) {
			turnCrnExecuteCurrentChannel = turnCrnExecuteCurrentChannelConfig.getValue();
			}

			if (turnCrnExecuteCurrentChannel.equals("Y")) {
			//判断堆垛机和当前任务是否处于一个巷道
			if (Utils.getLaneByLocNo(wrkMast.getSourceLocNo()) != crnProtocol.getCrnLane()) {
			//判断堆垛机所在巷道是否存在其他任务，如存在则优先执行
			List<WrkMast> currentWrkMasts = wrkMastService.selectLaneWrkMast(crnProtocol.getCrnLane(), false);
			if (!currentWrkMasts.isEmpty()) {
			continue;//当前堆垛机所在巷道存在任务
			}
			}
			}
			}

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
			News.warnNoLog(""+mark+" - 2"+" - 6"+" - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行任务号={}",wrkMast.getWrkNo());
			News.warnNoLog("" + mark + " - 2" + " - 6" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行任务号={}", wrkMast.getWrkNo());
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			News.warnNoLog(""+mark+" - 2"+" - 7"+" - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！库位状态={}",shallowLoc.getLocSts());
			News.warnNoLog("" + mark + " - 2" + " - 7" + " - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！库位={},库位状态={}", shallowLoc.getLocNo(), shallowLoc.getLocSts());
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			@@ -893,7 +1276,7 @@
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			News.error(""+mark+" - 2"+" - 8"+" - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			News.error("" + mark + " - 2" + " - 8" + " - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			} else {
			@@ -901,7 +1284,7 @@
			}
			}
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			News.warnNoLog(""+mark+" - 2"+" - 9"+" - // F、D 库位状态={}",shallowLoc.getLocSts());
			News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F、D 库位={},库位状态={}", shallowLoc.getLocNo(), shallowLoc.getLocSts());
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			//2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			@@ -909,18 +1292,23 @@
			// if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())
			// \|\| Cools.isEmpty(waitWrkMast)) {
			if (Cools.isEmpty(waitWrkMast)) {
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc,mark);
			if (moveLocForDeepLoc(slave, crnProtocol, shallowLoc, mark)) {
			wrkMast.setUpdMk("Y");
			// wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			}
			// wrkMast.setUpdMk("Y");
			// wrkMastMapper.updateById(wrkMast);
			// // 生成工作档,将浅库位移转到新的库位中
			// moveLocForDeepLoc(slave, shallowLoc,mark);
			}
			News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			News.warnNoLog(""+mark+" - 2"+" - 10"+" - // Q、S 库位状态={}",shallowLoc.getLocSts());
			News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q、S 库位={},库位状态={}", shallowLoc.getLocNo(), shallowLoc.getLocSts());
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			News.infoNoLog(""+mark+" - 2"+" - 11"+" - // F、D 工作状态(判断条件为==4)={}",waitWrkMast.getWrkSts());
			News.infoNoLog("" + mark + " - 2" + " - 11" + " - // F、D 工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
			continue;
			}
			}
			@@ -932,9 +1320,9 @@
			// return;
			}

			News.warnNoLog(""+mark+" - 2"+" - 12"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
			,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue()
			,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue());
			News.warnNoLog("" + mark + " - 2" + " - 12" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
			, sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue()
			, crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue());

			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			@@ -949,7 +1337,7 @@
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			News.error(""+mark+" - 2"+" - 13"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			@@ -957,14 +1345,14 @@
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error(""+mark+" - 2"+" - 14"+" - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			break;
			}
			}
			}
			}
			News.infoNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发：出库执行完毕");
			News.infoNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发：出库执行完毕");
			}

			// /**
			@@ -1087,17 +1475,17 @@
			/**
			* 库位移转
			*/
			public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
			public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
			// 获取工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
			if (null == wrkMast) {
			return;
			}
			News.warnNoLog(""+mark+" - 3"+" - 0"+" - 堆垛机入出库作业下发：执行库位移转");
			News.warnNoLog("" + mark + " - 3" + " - 0" + " - 堆垛机入出库作业下发：执行库位移转");
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (null == sourceSta) {
			News.error(""+mark+" - 3"+" - 1"+" - 工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			News.error("" + mark + " - 3" + " - 1" + " - 工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			return;
			}
			// 源库位库位状态判断
			@@ -1107,7 +1495,7 @@
			// 获取目标库位信息
			LocMast sta = locMastService.selectById(wrkMast.getLocNo());
			if (null == sta) {
			News.error(""+mark+" - 3"+" - 2"+" - 工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
			News.error("" + mark + " - 3" + " - 2" + " - 工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
			return;
			}
			// 获取堆垛机信息并判断是否可入出
			@@ -1126,9 +1514,9 @@
			return;
			}

			News.warnNoLog(""+mark+" - 3"+" - 3"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
			,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue()
			,sta.getRow1().shortValue(),sta.getBay1().shortValue(),sta.getLev1().shortValue());
			News.warnNoLog("" + mark + " - 3" + " - 3" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
			, sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue()
			, sta.getRow1().shortValue(), sta.getBay1().shortValue(), sta.getLev1().shortValue());

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			@@ -1143,7 +1531,7 @@
			crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			News.error(""+mark+" - 3"+" - 4"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			News.error("" + mark + " - 3" + " - 4" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			@@ -1151,10 +1539,94 @@
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error(""+mark+" - 3"+" - 5"+" - 【库位移转】修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			News.error("" + mark + " - 3" + " - 5" + " - 【库位移转】修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			crnProtocol.setLastIo("I");
			}
			News.infoNoLog("" + mark + " - 3" + " - 0" + " - 堆垛机入出库作业下发：库位移转完成");

			}

			/**
			* 库位移转
			*/
			public synchronized void locToLoc111(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
			// 获取工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove111(slave.getId());
			if (null == wrkMast) {
			return;
			}
			News.warnNoLog("" + mark + " - 3" + " - 0" + " - 堆垛机入出库作业下发：执行库位移转");
			// 获取源库位信息
			LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo());
			if (null == sourceLoc) {
			News.error("" + mark + " - 3" + " - 1" + " - 工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			return;
			}
			// 源库位库位状态判断
			if (!sourceLoc.getLocSts().equals("R")) {
			News.error("" + mark + " - 3" + " - 11" + " - 工作档库位移转失败，原因：源库位状态不为R！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			return;
			}

			if (wrkMast.getIoType() != 111) {
			// 获取目标库位信息
			LocMast loc = locMastService.selectById(wrkMast.getLocNo());
			if (null == loc) {
			News.error("" + mark + " - 3" + " - 2" + " - 工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
			return;
			}
			// 源库位库位状态判断
			if (!loc.getLocSts().equals("S")) {
			News.error("" + mark + " - 3" + " - 21" + " - 工作档库位移转失败，原因：目标库位状态不为R！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
			return;
			}
			}
			News.infoNoLog(""+mark+" - 3"+" - 0"+" - 堆垛机入出库作业下发：库位移转完成");
			// 获取堆垛机信息并判断是否可入出
			BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
			if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
			return;
			}

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			return;
			}

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

			News.warnNoLog("" + mark + " - 3" + " - 3" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
			, sourceLoc.getRow1().shortValue(), sourceLoc.getBay1().shortValue(), sourceLoc.getLev1().shortValue()
			, sourceLoc.getRow1().shortValue(), sourceLoc.getBay1().shortValue(), sourceLoc.getLev1().shortValue());

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(sourceLoc.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(sourceLoc.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(sourceLoc.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			News.error("" + mark + " - 3" + " - 4" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error("" + mark + " - 3" + " - 5" + " - 【库位移转】修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			News.infoNoLog("" + mark + " - 3" + " - 0" + " - 堆垛机入出库作业下发：库位移转完成");

			}

			@@ -1162,7 +1634,6 @@
			* 执行对工作档的完成操作
			*/
			public synchronized void storeFinished(Integer mark) {

			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			@@ -1172,37 +1643,57 @@
			}
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行对工作档的完成操作");
			News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作");
			if (crnProtocol.getTaskNo() == 9999) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			News.error(""+mark+" - 1"+" - 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;
			}
			redisUtil.set(RedisConstantType.CRN_MOVE_LOCK + crn.getId(), "lock", 8);//防止回原点后下发指令过快
			continue;
			}

			// 获取待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			News.error("" + mark + " - 1" + " - 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;
			}

			Date now = new Date();
			if (wrkMast.getIoType() < 100) {
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && (wrkMast.getIoType() == 11 \|\| wrkMast.getIoType() == 111))) {
			wrkMast.setWrkSts(4L);
			} else {
			continue;
			}
			Date now = new Date();

			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			News.warnNoLog(""+mark+" - 2"+" - 修改成功后复位堆垛机 : 堆垛机号={}",crnThread.getCrnProtocol().getCrnNo());
			News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
			crnThread.setResetFlag(true);
			}
			} else {
			List<Long> list = new ArrayList<>();
			list.add(14L);
			list.add(15L);
			if (!list.contains(wrkMast.getWrkSts())) {
			News.error("" + mark + " - 1" + " - 堆垛机处于等待确认但工作档状态未完成。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			continue;
			}

			wrkMast.setCrnEndTime(now);
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位堆垛机
			crnThread.setResetFlag(true);
			}
			}

			}
			}
			News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成");
			News.infoNoLog("" + mark + " - 0" + " - 对工作档的完成操作执行完成");
			}

			/**
			@@ -1225,7 +1716,7 @@
			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			News.warnNoLog(""+mark+" - 1"+" - 开始执行：堆垛机异常信息记录：有任务，有异常");
			News.warnNoLog("" + mark + " - 1" + " - 开始执行：堆垛机异常信息记录：有任务，有异常");
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			@@ -1257,7 +1748,7 @@
			"任务中异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			News.error(""+mark+" - 2"+" - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			News.error("" + mark + " - 2" + " - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			} else {
			@@ -1267,7 +1758,7 @@
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			News.error(""+mark+" - 3"+" - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			News.error("" + mark + " - 3" + " - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			@@ -1276,7 +1767,7 @@
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			News.warnNoLog(""+mark+" - 4"+" - 开始执行：堆垛机异常信息记录：无任务，有异常");
			News.warnNoLog("" + mark + " - 4" + " - 开始执行：堆垛机异常信息记录：无任务，有异常");
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			@@ -1305,7 +1796,7 @@
			"无任务异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			News.error(""+mark+" - 5"+" - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			News.error("" + mark + " - 5" + " - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			// 无异常
			@@ -1316,7 +1807,7 @@
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			News.error(""+mark+" - 6"+" - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			News.error("" + mark + " - 6" + " - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			@@ -1324,7 +1815,7 @@
			}

			}
			News.infoNoLog(""+mark+" - 0"+" - 堆垛机异常信息记录执行完成");
			News.infoNoLog("" + mark + " - 0" + " - 堆垛机异常信息记录执行完成");
			}


			@@ -1348,11 +1839,17 @@
			}

			LedThread ledThread = null;
			if (!Cools.isEmpty(emptyInSta.getLed())) {
			if (!Cools.isEmpty(emptyInSta.getLed())) {
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
			}

			if (!staProtocol.isLoading()){
			if (!staProtocol.isLoading()) {
			continue;
			}

			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}

			@@ -1361,8 +1858,32 @@
			&& staProtocol.isInEnable()
			&& staProtocol.isEmptyMk()
			&& (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999)
			&& staProtocol.isPakMk()) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行：空栈板初始化入库,叉车入库站放货");
			&& staProtocol.isPakMk()
			&& staProtocol.getEmptyInType() == 1
			) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行：空栈板初始化入库,叉车入库站放货");

			String barcode = barcodeThread.getBarcode();
			if (!Cools.isEmpty(barcode)) {
			News.info("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			News.info("" + mark + " - 2" + " - 扫码失败1 ===>> {}号条码扫描器检测条码信息：{},站点:{}", emptyInSta.getBarcode(), barcode, emptyInSta.getStaNo());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
			}
			continue;
			}
			} else {
			News.info("" + mark + " - 3" + " - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", emptyInSta.getBarcode(), barcode, emptyInSta.getStaNo());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
			}
			continue;
			}

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			@@ -1371,6 +1892,7 @@
			param.setIoType(10);
			param.setSourceStaNo(emptyInSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			param.setBarcode(barcode);
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			@@ -1381,61 +1903,158 @@
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
			.eq("loc_no", dto.getLocNo()));

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			staProtocol.setPalletSize(locMast.getLocType2());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			News.errorNoLog(""+mark+" - 1"+" - 更新plc站点信息失败");
			News.errorNoLog("" + mark + " - 1" + " - 更新plc站点信息失败");
			throw new CoolException("更新plc站点信息失败");
			}

			if (ledThread != null) {
			// 命令集合
			List<LedCommand> commands = new ArrayList<>();
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(dto.getWorkNo());
			ledCommand.setIoType(1);
			ledCommand.setTitle("全板入库");
			ledCommand.setLocNo(dto.getLocNo());
			ledCommand.setStaNo(dto.getStaNo());
			commands.add(ledCommand);
			MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, commands));
			// ledThread.errorReset();
			}
			} else {
			staProtocol.setWorkNo((short)9999);
			staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			News.errorNoLog(""+mark+" - 2"+" - 更新plc站点信息失败");
			throw new CoolException("更新plc站点信息失败");
			}

			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
			}
			}
			News.error(""+mark+" - 3"+" - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			News.error("" + mark + " - 3" + " - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			} else {
			News.errorNoLog(""+mark+" - 4"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isAutoing()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
			+"、锁定标记"+ staProtocol.isPakMk());
			News.errorNoLog("" + mark + " - 4" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isAutoing() + "、可入信号：" + staProtocol.isInEnable()
			+ "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo()
			+ "、锁定标记" + staProtocol.isPakMk());
			}
			}
			}
			News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成");
			News.infoNoLog("" + mark + " - 0" + " - 空栈板初始化入库,叉车入库站放货执行完成");
			}

			/**
			* 空托盘入库-产线
			*/
			public synchronized void storeEmptyPltLine(Integer mark) {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			// 获取空板入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			LedThread ledThread = null;
			if (!Cools.isEmpty(emptyInSta.getLed())) {
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
			}

			if (!staProtocol.isLoading()) {
			continue;
			}

			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}

			// 站点条件判断
			if (staProtocol.isAutoing()
			&& staProtocol.isInEnable()
			&& staProtocol.isEmptyMk()
			&& (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999)
			&& staProtocol.isPakMk()
			&& staProtocol.getEmptyInType() == 2
			) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行：空栈板初始化入库,叉车入库站放货");

			String barcode = barcodeThread.getBarcode();
			if (!Cools.isEmpty(barcode)) {
			News.info("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			News.info("" + mark + " - 2" + " - 扫码失败1 ===>> {}号条码扫描器检测条码信息：{},站点:{}", emptyInSta.getBarcode(), barcode, emptyInSta.getStaNo());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
			}
			continue;
			}
			} else {
			News.info("" + mark + " - 3" + " - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", emptyInSta.getBarcode(), barcode, emptyInSta.getStaNo());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
			}
			continue;
			}

			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
			.eq("barcode", barcode)
			);
			if (wrkMast != null) {
			continue;
			}

			//检测是否有入库任务
			List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("io_type", 1, 53, 57)
			.in("source_sta_no", 1002, 1007)
			);
			if (!inWrkMasts.isEmpty()) {
			News.error("" + mark + " - 2" + " - 检测存在入库任务，等待入库任务执行完成再入空托，工作号={}");
			continue;
			}

			int workNo = commonService.getWorkNo(3);
			// 生成工作档
			WrkMast wrkMast1 = new WrkMast();
			wrkMast1.setWrkNo(workNo);
			wrkMast1.setIoTime(new Date());
			wrkMast1.setWrkSts(2L); // 工作状态：设备上走
			wrkMast1.setIoType(3); // 入出库状态：3.站到站
			wrkMast1.setIoPri(13D); // 优先级
			wrkMast1.setSourceStaNo(emptyInSta.getStaNo());
			wrkMast1.setStaNo(1004);
			wrkMast1.setBarcode(barcode);
			// 操作人员数据
			wrkMast1.setAppeTime(new Date());
			wrkMast1.setModiTime(new Date());
			boolean res = wrkMastService.insert(wrkMast1);
			if (!res) {
			throw new CoolException("保存工作档失败");
			}

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo((short) workNo);
			staProtocol.setStaNo((short) 2003);
			staProtocol.setPalletSize((short) 1);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			News.errorNoLog("" + mark + " - 1" + " - 更新plc站点信息失败");
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			News.errorNoLog("" + mark + " - 4" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isAutoing() + "、可入信号：" + staProtocol.isInEnable()
			+ "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo()
			+ "、锁定标记" + staProtocol.isPakMk());
			}
			}
			}
			News.infoNoLog("" + mark + " - 0" + " - 空栈板初始化入库,叉车入库站放货执行完成");
			}

			/**
			@@ -1448,8 +2067,9 @@
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			List<LedCommand> commands = new ArrayList<>();
			// 工作档集合
			List<WrkMast> wrkMasts = new ArrayList<>();
			// // 工作档集合
			// List<WrkMast> wrkMasts = new ArrayList<>();
			List<Integer> workNoList = new ArrayList<>();
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			@@ -1458,20 +2078,48 @@
			} else {
			staProtocol = staProtocol.clone();
			}
			Integer wrkNo = null;
			Integer ioType = null;
			Integer targetStaNo = null;
			String sourceLocNo = null;
			String locNo = null;
			String barcode = null;

			// 获取工作档数据
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			// if (null == wrkMast \|\| wrkMast.getWrkSts() < 14 \|\| wrkMast.getIoType() < 100) { continue; }
			if (null == wrkMast) {
			continue;
			List<WrkMastLog> wrkMastLogs = wrkMastLogService.selectList(new EntityWrapper<WrkMastLog>()
			.eq("wrk_no", staProtocol.getWorkNo())
			.orderBy("modi_time", false)
			);
			if (wrkMastLogs.isEmpty()) {
			continue;
			}

			WrkMastLog wrkMastLog = wrkMastLogs.get(0);
			wrkNo = wrkMastLog.getWrkNo();
			ioType = wrkMastLog.getIoType();
			sourceLocNo = wrkMastLog.getSourceLocNo();
			locNo = wrkMastLog.getLocNo();
			targetStaNo = wrkMastLog.getStaNo();
			barcode = wrkMastLog.getBarcode();
			}else {
			wrkNo = wrkMast.getWrkNo();
			ioType = wrkMast.getIoType();
			sourceLocNo = wrkMast.getSourceLocNo();
			locNo = wrkMast.getLocNo();
			targetStaNo = wrkMast.getStaNo();
			barcode = wrkMast.getBarcode();
			}
			News.warnNoLog(""+mark+" - 0"+" - 开始执行:出库 ===>> 工作档信息写入led显示器");
			wrkMasts.add(wrkMast);
			News.warnNoLog("" + mark + " - 0" + " - 开始执行:出库 ===>> 工作档信息写入led显示器");
			workNoList.add(wrkNo);
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(wrkMast.getWrkNo());
			ledCommand.setIoType(wrkMast.getIoType());
			ledCommand.setWorkNo(wrkNo);
			ledCommand.setIoType(ioType);
			// 出库模式
			switch (wrkMast.getIoType()) {
			switch (ioType) {
			case 1:
			ledCommand.setTitle("全板入库");
			break;
			@@ -1494,21 +2142,114 @@
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			case 53:
			ledCommand.setTitle("拣料入库");
			break;
			case 57:
			ledCommand.setTitle("盘点入库");
			break;
			case 54:
			ledCommand.setTitle("并板入库");
			break;
			default:
			News.error(""+mark+" - 1"+" - 任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			News.error("" + mark + " - 1" + " - 任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkNo, ioType);
			break;
			}
			ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			ledCommand.setLocNo(wrkMast.getLocNo());
			ledCommand.setStaNo(wrkMast.getStaNo());
			ledCommand.setSourceLocNo(sourceLocNo);
			ledCommand.setLocNo(locNo);
			ledCommand.setStaNo(targetStaNo);
			ledCommand.setBarcode(barcode);
			// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
			if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs())));
			if (ioType != 110 && ioType != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkNo);

			if (!wrkDetls.isEmpty()) {
			WrkDetl wrkDetl = wrkDetls.get(0);
			double anfme = 0D;
			double weight = 0D;
			for (WrkDetl detl : wrkDetls) {
			anfme += detl.getAnfme();
			weight += detl.getWeight();
			wrkDetl.setAnfme(anfme);
			wrkDetl.setWeight(weight);
			}

			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>()
			.eq("loc_no", wrkMast.getSourceLocNo()));
			double totalAnfme = 0D;
			double totalWeight = 0D;
			for (LocDetl locDetl : locDetls) {
			totalAnfme += locDetl.getAnfme();
			totalWeight += locDetl.getWeight();
			}
			wrkDetl.setStockNum(totalAnfme);
			wrkDetl.setStockNum2(totalWeight);

			ledCommand.getMatDtos().add(new MatDto(
			wrkDetl.getMatnr()
			, wrkDetl.getMaktx()
			, wrkDetl.getAnfme()
			, wrkDetl.getWeight()
			, wrkDetl.getStockNum()
			, wrkDetl.getStockNum2()
			, wrkDetl.getSpecs()
			, wrkDetl.getSku()
			, wrkDetl.getZpallet()
			, wrkDetl.getModel()
			, wrkDetl.getSupp()
			, wrkDetl.getKpCstmrName()
			, wrkDetl.getOrderNo()
			, wrkDetl.getCstateid$()
			));

			}else {
			List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectTodayByWrkNo(wrkNo);
			if(!wrkDetlLogs.isEmpty()) {
			WrkDetlLog wrkDetlLog = wrkDetlLogs.get(0);

			double anfme = 0D;
			double weight = 0D;
			for (WrkDetlLog detl : wrkDetlLogs) {
			anfme += detl.getAnfme();
			weight += detl.getWeight();
			wrkDetlLog.setAnfme(anfme);
			wrkDetlLog.setWeight(weight);
			}

			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>()
			.eq("loc_no", sourceLocNo));
			double totalAnfme = 0D;
			double totalWeight = 0D;
			for (LocDetl locDetl : locDetls) {
			totalAnfme += locDetl.getAnfme();
			totalWeight += locDetl.getWeight();
			}
			wrkDetlLog.setStockNum(totalAnfme);
			wrkDetlLog.setStockNum2(totalWeight);

			ledCommand.getMatDtos().add(new MatDto(
			wrkDetlLog.getMatnr()
			, wrkDetlLog.getMaktx()
			, wrkDetlLog.getAnfme()
			, wrkDetlLog.getWeight()
			, wrkDetlLog.getStockNum()
			, wrkDetlLog.getStockNum2()
			, wrkDetlLog.getSpecs()
			, wrkDetlLog.getSku()
			, wrkDetlLog.getZpallet()
			, wrkDetlLog.getModel()
			, wrkDetlLog.getSupp()
			, wrkDetlLog.getKpCstmrName()
			, wrkDetlLog.getOrderNo()
			, wrkDetlLog.getCstateid$()
			));
			}
			}

			}
			commands.add(ledCommand);
			}
			Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
			Set<Integer> workNos = new HashSet<>(workNoList);
			// 获取LED线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// 相同工作号集合则过滤
			@@ -1539,19 +2280,22 @@
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
			News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			}else {
			} else {
			ledThread.setLedMk(false);
			}
			}

			try {
			// 修改主档led标记
			for (WrkMast wrkMast : wrkMasts) {
			wrkMast.setOveMk("Y");
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.errorNoLog(""+mark+" - 4"+" - 更新工作档失败");
			throw new CoolException("更新工作档失败");
			for (Integer wrkNo : workNoList) {
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", wrkNo));
			if (wrkMast != null) {
			wrkMast.setOveMk("Y");
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.errorNoLog("" + mark + " - 4" + " - 更新工作档失败");
			throw new CoolException("更新工作档失败");
			}
			}
			}

			@@ -1564,7 +2308,7 @@
			}

			}
			News.infoNoLog(""+mark+" - 0"+" - 出库 ===>> 工作档信息写入led显示器执行完成");
			News.infoNoLog("" + mark + " - 0" + " - 出库 ===>> 工作档信息写入led显示器执行完成");
			}

			/**
			@@ -1572,7 +2316,7 @@
			*/
			public synchronized void ledReset(Integer mark) {

			News.warnNoLog(""+mark+" - 0"+" - 开始执行:其他 ===>> LED显示器复位，显示默认信息");
			News.warnNoLog("" + mark + " - 0" + " - 开始执行:其他 ===>> LED显示器复位，显示默认信息");
			for (LedSlave led : slaveProperties.getLed()) {

			// 获取输送线plc线程
			@@ -1596,13 +2340,13 @@
			if (reset && !ledThread.isLedMk()) {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
			News.error(""+mark+" - 1"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			News.error("" + mark + " - 1" + " - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			} else {

			}
			}
			}
			News.infoNoLog(""+mark+" - 0"+" - 执行完成：其他 ===>> LED显示器复位，显示默认信息");
			News.infoNoLog("" + mark + " - 0" + " - 执行完成：其他 ===>> LED显示器复位，显示默认信息");
			}

			/**
			@@ -1644,10 +2388,11 @@
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.sync(locDetl);
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(now);
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			// VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(now);
			wrkDetl.setModiTime(now);
			if (!wrkDetlService.insert(wrkDetl)) {
			@@ -1685,17 +2430,21 @@
			* 因双深库位阻塞，对浅库位进行移转（立即执行版)
			* tip：同步
			*/
			private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc,Integer mark) {

			private synchronized boolean moveLocForDeepLoc(CrnSlave crn, CrnProtocol crnProtocol, LocMast shallowLoc, Integer mark) {
			try {
			News.warnNoLog(""+mark+"moveLocForDeepLoc"+" - 0"+" - 开始执行:因双深库位阻塞，对浅库位进行移转（立即执行版)");
			News.warnNoLog("" + mark + "moveLocForDeepLoc" + " - 0" + " - 开始执行:因双深库位阻塞，对浅库位进行移转（立即执行版)");
			List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
			LocMast loc = null;
			for (Integer row : rows) {
			if (Utils.isDeepLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

			if (loc != null) {
			if (crn.getId() == 1) {
			if (Utils.getLaneByLocNo(loc.getLocNo()) != crnProtocol.getCrnLane()) {
			continue;
			}
			}

			if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
			LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
			@@ -1715,6 +2464,12 @@
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

			if (null != loc) {//对应深库位非在库状态,不能移库
			if (crn.getId() == 1) {
			if (Utils.getLaneByLocNo(loc.getLocNo()) != crnProtocol.getCrnLane()) {
			continue;
			}
			}

			String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
			LocMast deepLoc1 = locMastService.selectById(deepLoc);
			if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) {
			@@ -1730,81 +2485,107 @@
			}

			if (null == loc) {
			News.error(""+mark+"moveLocForDeepLoc"+" - 1"+" - 双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			throw new CoolException("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			}

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 2"+" - 保存工作档失败");
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 3"+" - 保存工作档明细失败");
			throw new CoolException("保存工作档明细失败");
			News.error("" + mark + "moveLocForDeepLoc" + " - 1" + " - 双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			return false;
			// throw new CoolException("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			} else {
			String deepLoc2 = Utils.getDeepLoc2(slaveProperties, loc.getLocNo());
			if (deepLoc2 != null) {
			LocMast locnew = locMastService.selectById(deepLoc2);
			if (locnew != null && locnew.getLocSts().equals("O")) {
			loc = locnew;
			}
			}
			}
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 4"+" - 更新源库位状态失败");
			throw new CoolException("更新源库位状态失败");


			try {
			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			// wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setFullPlt(shallowLoc.getLocSts().equals("D") ? "N" : "Y"); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 2" + " - 保存工作档失败");
			// throw new CoolException("保存工作档失败");
			return true;
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));

			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.sync(locDetl);
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setAnfme(locDetl.getAnfme());
			// VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 3" + " - 保存工作档明细失败");
			// throw new CoolException("保存工作档明细失败");
			return true;
			}
			}
			}
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)) {
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 4" + " - 更新源库位状态失败");
			// throw new CoolException("更新源库位状态失败");
			return true;
			}
			} else {
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 5" + " - 源库位出库失败");
			// throw new CoolException("源库位出库失败");
			return true;
			}
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 6" + " - 更新目标库位状态失败");
			// throw new CoolException("更新目标库位状态失败");
			return true;
			}
			} else {
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 7" + " - 移转失败");
			// throw new CoolException("移转失败");
			return true;
			}
			} catch (Exception e) {
			News.error("" + mark + "moveLocForDeepLoc" + " - 8" + " - 双深库位阻塞，对浅库位进行移转失败", e);
			}
			} else {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 5"+" - 源库位出库失败");
			throw new CoolException("源库位出库失败");
			}
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 6"+" - 更新目标库位状态失败");
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 7"+" - 移转失败");
			throw new CoolException("移转失败");
			}


			} catch (Exception e) {
			News.error(""+mark+"moveLocForDeepLoc"+" - 8"+" - 双深库位阻塞，对浅库位进行移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			News.error("" + mark + "moveLocForDeepLoc" + " - 8" + " - 双深库位阻塞，对浅库位进行移转失败", e);
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			return true;
			}

			/**
			@@ -1834,6 +2615,11 @@
			LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
			LocMast loc = locMastService.queryDemoLoc(crn.getId());
			if (null == sourceLoc \|\| null == loc) {
			continue;
			}

			Integer ctnType = 1;
			if (ctnType.equals(loc.getCtnType())) {
			continue;
			}

			@@ -1891,6 +2677,7 @@
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setCtnType(1);
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			@@ -1958,161 +2745,316 @@
			}
			}

			/**
			* 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());
			// RGV ===>> 执行对RGV操作
			public synchronized void rgvExecute(Integer mark) {
			ArrayList<Integer> list = new ArrayList<Integer>() {{
			add(2003);
			add(2002);
			}};
			for (Integer staNo : list) {
			Integer devpId = null;
			Integer rgvStaNoDevpId = null;
			Integer rgvStaNo = null;
			if (staNo == 2003) {
			devpId = 1;
			rgvStaNo = 2002;
			rgvStaNoDevpId = 2;
			} else {
			devpId = 2;
			rgvStaNo = 2003;
			rgvStaNoDevpId = 1;
			}

			for (DevpSlave.Sta inSta : devp.getInSta()) {
			if (inSta.getStaNo() == 2) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devpId);
			if (devpThread == null) {
			continue;
			}
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& staProtocol.getWorkNo() > 0
			) {
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
			.eq("wrk_no", staProtocol.getWorkNo()));

			if (wrkMast == null) {
			continue;
			}

			if (wrkMast.getWrkSts() == 201) {
			continue;
			}

			SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvStaNoDevpId);
			if (devpThread2 == null) {
			continue;
			}
			StaProtocol staProtocolRgvStaNo = devpThread2.getStation().get(rgvStaNo);
			if (staProtocolRgvStaNo == null) {
			continue;
			}

			if (!staProtocolRgvStaNo.isAutoing()) {
			continue;
			}

			if (staProtocolRgvStaNo.isLoading()) {
			continue;
			}

			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, 1);
			if (rgvThread == null) {
			continue;
			}

			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}

			if (rgvProtocol.statusType1 != RgvStatusType.IDLE && rgvProtocol.getTaskNo1() != 0) {
			continue;
			}

			Object object = redisUtil.get(RedisConstantType.RGV_MOVE_LOCK + wrkMast.getWrkNo());
			if (object != null) {
			continue;
			}

			RgvCommand command = new RgvCommand();
			command.setRgvNo(1); // RGV编号
			command.setAckFinish1((short) 0); // 任务完成确认位
			command.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工作号
			command.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
			command.setSourceStaNo1(staNo.shortValue()); // 源站
			command.setDestinationStaNo1(rgvStaNo.shortValue()); // 目标站
			command.setCommand((short) 0);

			boolean result = MessageQueue.offer(SlaveType.Rgv, 1, new Task(4, command));
			if (!result) {
			throw new CoolException("RGV指令下发失败");
			}

			wrkMast.setWrkSts(201L);//201.RGV搬运中
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);
			redisUtil.set(RedisConstantType.RGV_MOVE_LOCK + wrkMast.getWrkNo(), "lock", 60 * 60);
			}
			}
			}

			// RGV ===>> 执行对RGV工作档的完成操作
			public synchronized void rgvFinished(Integer mark) {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			if (rgvThread == null) {
			continue;
			}

			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}

			// 状态：等待确认并且任务完成位 = 1
			if (rgvProtocol.statusType1 == RgvStatusType.WAITING && rgvProtocol.getTaskNo1() != 0) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行对RGV工作档的完成操作");
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
			if (wrkMast == null) {
			News.error("" + mark + " - 1" + " - RGV处于等待确认且任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgvSlave.getId(), rgvProtocol.getTaskNo1());
			continue;
			}

			if (wrkMast.getWrkSts() != 201) {
			continue;
			}

			if (wrkMast.getIoType() == 3) {
			//站到站走另外一个方法
			continue;
			}

			Integer devpId = null;
			Integer devpStaNo = null;
			String locNo = null;
			Long updateWrkSts = null;
			if (wrkMast.getIoType() < 100) {
			//入库
			updateWrkSts = 2L;
			devpId = 1;
			devpStaNo = 2003;
			locNo = wrkMast.getLocNo();
			} else {
			//出库
			updateWrkSts = 15L;
			devpId = 2;
			devpStaNo = 2002;
			locNo = wrkMast.getSourceLocNo();
			}

			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devpId);
			StaProtocol staProtocol = devpThread.getStation().get(devpStaNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.getWorkNo() == 0
			) {
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
			.eq("loc_no", locNo));
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			staProtocol.setPalletSize(locMast.getLocType2());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpId, new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			wrkMastMapper.updateWrkSts(updateWrkSts, wrkMast.getWrkNo());
			rgvThread.setResetFlag1(true);
			}
			}
			}
			News.infoNoLog("" + mark + " - 0" + " - 对工作档的完成操作执行完成");
			}

			// RGV ===>> 执行对RGV工作档的完成操作站到站
			public synchronized void rgvFinished2(Integer mark) {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			if (rgvThread == null) {
			continue;
			}

			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}

			// 状态：等待确认并且任务完成位 = 1
			if (rgvProtocol.statusType1 == RgvStatusType.WAITING && rgvProtocol.getTaskNo1() != 0) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行对RGV工作档的完成操作");
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
			if (wrkMast == null) {
			News.error("" + mark + " - 1" + " - RGV处于等待确认且任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgvSlave.getId(), rgvProtocol.getTaskNo1());
			continue;
			}

			if (wrkMast.getWrkSts() != 201) {
			continue;
			}

			if (wrkMast.getIoType() != 3) {
			//不是站到站
			continue;
			}

			Integer devpId = 2;
			Integer devpStaNo = 2002;

			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devpId);
			StaProtocol staProtocol = devpThread.getStation().get(devpStaNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.getWorkNo() == 0
			) {

			short locType2 = 1;
			String barcode = wrkMast.getBarcode();
			if (barcode.startsWith("11")) {
			locType2 = 1;
			} else if (barcode.startsWith("13")) {
			locType2 = 2;
			} else if (barcode.startsWith("16")) {
			locType2 = 3;
			} else {
			continue;
			}
			WrkMast pakout = wrkMastMapper.selectWorkingPakout(inSta.getStaNo());
			switch (inSta.getStaNo()) {
			case 203://1F
			if (pakout != null) {
			if (devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
			WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			&& !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading()
			&& devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) {
			// 出库模式
			devpThread.ioModeOf2F = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf2F = IoModeType.PAKIN_MODE;
			}
			break;
			case 401://1F
			if (pakout != null) {
			if (devpThread.ioModeOf4F != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioModeOf4F = IoModeType.PAKOUT_BOOTING;
			WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			&& !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading()
			&& devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) {
			// 出库模式
			devpThread.ioModeOf4F = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf4F = IoModeType.PAKIN_MODE;
			}
			break;

			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			staProtocol.setPalletSize(locType2);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpId, new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			}
			rgvThread.setResetFlag1(true);

			}

			} catch (Exception e) {
			e.printStackTrace();
			}


			}

			public synchronized void outOfDevp(Integer mark) {

			List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
			if (wrkMasts.size()!=0){
			News.warnNoLog(""+mark+" - 0"+" - 开始执行outOfDevp");
			}
			for (WrkMast wrkMast : wrkMasts) {
			if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
			wrkMast.setCtnNo("Y");
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error(""+mark+" - 1"+" - 修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
			wrkMastService.delete(new EntityWrapper<WrkMast>()
			.eq("wrk_no", wrkMast.getWrkNo()));
			}
			}
			}
			News.infoNoLog(""+mark+" - 0"+" - outOfDevp执行完成");
			News.infoNoLog("" + mark + " - 0" + " - 对工作档的完成操作执行完成");
			}


			public synchronized void autoEmptyOut() {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			Integer autoOutSite = 12;
			//如果站点可出禁用，则不生成空盘出库任务
			StaProtocol staProtocol = devpThread.getStation().get(autoOutSite);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() //自动
			&& !staProtocol.isLoading() //无物
			&& staProtocol.isOutEnable() //可出信号
			&& staProtocol.getWorkNo() == 0
			) {
			WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(autoOutSite);
			if (null != pakoutEmpty) {
			return;
			}
			try {
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/emptyOut/v1")
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			JSONObject data = (JSONObject) jsonObject.get("data");
			News.info((String) data.get("msg"));
			} else {
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}

			public synchronized void autoEmptyIn() {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			Integer autoInSite = 12;
			StaProtocol staProtocol = devpThread.getStation().get(autoInSite);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() //自动
			&& staProtocol.isLoading() //有物
			&& staProtocol.isInEnable() //可入信号
			&& (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990) //工作号为0或者工作号是9991~9999（输送机留用）
			) {

			try {
			LocTypeDto locTypeDto = new LocTypeDto((short) 1, (short) 1, (short) 1);


			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/emptyIn/v1")
			.setJson(JSON.toJSONString(locTypeDto))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			News.info((String) jsonObject.get("msg"));
			} else {
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			// /**
			// * 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()) {
			// if (inSta.getStaNo() == 2) {
			// continue;
			// }
			// WrkMast pakout = wrkMastMapper.selectWorkingPakout(inSta.getStaNo());
			// switch (inSta.getStaNo()) {
			// case 101://1F
			// if (pakout != null) {
			// if (devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
			// // 出库切换中
			// devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
			// WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			// if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			// && !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading()
			// && devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) {
			// // 出库模式
			// devpThread.ioModeOf2F = IoModeType.PAKOUT_MODE;
			// }
			// }
			// } else {
			// // 入库模式
			// devpThread.ioModeOf2F = IoModeType.PAKIN_MODE;
			// }
			// break;
			// }
			// }
			//
			// }
			//
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			//
			//
			// }
			}