Merge remote-tracking branch 'origin/jxfywcs' into jxfywcs

野心家

2023-07-29 675db903cd534aa16b59f5e9bf87da3e699e5d30

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

@@ -1,5 +1,7 @@
package com.zy.asrs.service.impl;

import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
@@ -87,7 +89,8 @@
    private BasErrLogService basErrLogService;
    @Autowired
    private BasCrnErrorMapper basCrnErrorMapper;

    @Autowired
    private WrkMastService wrkMastService;
    @Value("${wms.url}")
    private String wmsUrl;

@@ -97,12 +100,12 @@
     */
    public synchronized void generateStoreWrkFile(Integer mark) {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
        for (DevpSlave devp : slaveProperties.getDevp()) { //遍历输送线
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta()) {
            for (DevpSlave.Sta inSta : devp.getInSta()) {  // 遍历入库口
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                if (barcodeThread == null) {
                if (barcodeThread == null) { //如果扫描仪没有数据，则跳出此次循环，遍历下一个入库口扫描仪
                    continue;
                }

@@ -127,34 +130,71 @@
                if (!staProtocol.isLoading()){
                    continue;
                }
                String barcode11 = barcodeThread.getBarcode();
                if (Cools.isEmpty(barcode11)){
                    if (staProtocol.isAutoing()&& !staProtocol.isEmptyMk() && 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));
                        }
                        continue;
//                String barcode11 = barcodeThread.getBarcode();
//                if (Cools.isEmpty(barcode11)){
//                    if (staProtocol.isAutoing()&& !staProtocol.isEmptyMk() && 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));
//                        }
//                        continue;
//                    }
//                }
                //超宽超高没扫到条码报警
                boolean fig=false;
                for(int i=0;i<8;i++){
                    switch (i){
                        case 0: if(devpThread.startSignal[i]){
                            log.error("前超报警");
                            fig=true;
                        };
                        case 1: if(devpThread.startSignal[i]){
                            log.error("后超报警");
                            fig=true;
                        };
                        case 2: if(devpThread.startSignal[i]){
                            log.error("高超报警");
                            fig=true;
                        };
                        case 3: if(devpThread.startSignal[i]){
                            log.error("左超报警");
                            fig=true;
                        };
                        case 4: if(devpThread.startSignal[i]){
                            log.error("右超报警");
                            fig=true;
                        };
                        case 5: if(devpThread.startSignal[i]){
                            log.error("超重报警");
                            fig=true;
                        };
                        case 6: if(devpThread.startSignal[i]){
                            log.error("未扫到码报警");
                            fig=true;
                        };

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

                    String barcode = barcodeThread.getBarcode();
                    //String barcode = barcodeThread.getBarcode();
                    String barcode = "20000005";
                    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());
@@ -448,7 +488,7 @@
                        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.setSourceStaNo(100); // 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
@@ -594,21 +634,21 @@
                if (crnProtocol.getLastIo().equals("I")) {
                    if (basCrnp.getInEnable().equals("Y")) {
                        //mark - 1 - ....
                        this.crnStnToLoc(crn, crnProtocol,mark); //  入库
                        this.crnStnToLoc(crn, crnThread,mark); //  入库
                        crnProtocol.setLastIo("O");
                    } else if (basCrnp.getOutEnable().equals("Y")) {
                        //mark - 2 - ....
                        this.locToCrnStn(crn, crnProtocol,mark); //  出库
                        this.locToCrnStn(crn, crnThread,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, crnThread,mark); //  出库
                        crnProtocol.setLastIo("I");
                    } else if (basCrnp.getInEnable().equals("Y")) {
                        this.crnStnToLoc(crn, crnProtocol,mark); //  入库
                        this.crnStnToLoc(crn, crnThread,mark); //  入库
                        crnProtocol.setLastIo("O");
                    }
                }
@@ -616,10 +656,101 @@
            // 库位移转
            //mark - 3 - ....
            this.locToLoc(crn, crnProtocol,mark);

            if (!Cools.isEmpty(basCrnp.getMoveOrigin()) && basCrnp.getMoveOrigin().equals("Y")){
                if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
                        && crnThread.isCmdFlag()) {
                    this.crnMoveIntXY(crn, crnProtocol, crnThread);
                    this.crnMoveOutXY(crn, crnProtocol, crnThread);
                }
            }
//            this.crnRebackHp(crnProtocol, crnThread);

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

    /**
     * 堆垛机xy移动
     */
    public synchronized void crnMoveIntXY(CrnSlave crn,CrnProtocol crnProtocol, CrnThread crnThread) {
        // 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.getBay().equals((short)1) && crnThread.isCmdFlag()) {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().ne("io_type", 1).and().ne("wrk_sts", 40L).and().ne("io_type",10));
            if (Cools.isEmpty(wrkMasts) || wrkMasts.size()==0){
                // 堆垛机入库 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crn.getId()); // 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)1);     // 源库位排
                crnCommand.setSourcePosY((short)1);     // 源库位列
                crnCommand.setSourcePosZ((short)1);     // 源库位层
                crnCommand.setDestinationPosX((short)1);     // 目标库位排
                crnCommand.setDestinationPosY((short)1);     // 目标库位列
                crnCommand.setDestinationPosZ((short)1);     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
                    News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={} ,任务类型:回原点", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    crnThread.setCmdFlag(false);
                }
            }
        }
    }

    /**
     * 堆垛机xy移动
     */
    public synchronized void crnMoveOutXY(CrnSlave crn,CrnProtocol crnProtocol, CrnThread crnThread) {
        // 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
                && crnThread.isCmdFlag()) {
            List<WrkMast> wrkMastsM = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("io_type", 1).and().ne("wrk_sts", 20L));
            List<WrkMast> wrkMastsK = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("io_type", 10).and().ne("wrk_sts", 20L));
            if ((Cools.isEmpty(wrkMastsM) || wrkMastsM.size()==0) && (Cools.isEmpty(wrkMastsK) || wrkMastsK.size()==0)){
                WrkMast wrkMast = wrkMastService.wrkCrnMoveOutXY(crnProtocol.getCrnNo());
                if (Cools.isEmpty(wrkMast)){
                    return;
                }
                short locRow = 1;
                short locBay = 1;
                short locLev = 1;
                if (wrkMast.getIoType().equals(111)) {
                    //库位移转-入库，获取工作档目标库位的排列层
                    String locNo = wrkMast.getLocNo();
                    locBay = (short) Utils.getBay(locNo);
                    locLev = (short) Utils.getLev(locNo);
                }else if ( wrkMast.getIoType().equals(101)  || wrkMast.getIoType().equals(110)  || wrkMast.getIoType().equals(11)){
                    //出库，获取工作档源库位的排列层
                    String sourceLocNo = wrkMast.getSourceLocNo();
                    locBay = (short) Utils.getBay(sourceLocNo);
                    locLev = (short) Utils.getLev(sourceLocNo);
                }
                if (crnProtocol.getBay().equals(locBay)){
                    return;
                }
                // 堆垛机入库 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crn.getId()); // 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.XY_MOVE); // 任务模式:  站位转移
                crnCommand.setSourcePosX(locRow);     // 源库位排
                crnCommand.setSourcePosY(locBay);     // 源库位列
                crnCommand.setSourcePosZ(locLev);     // 源库位层
                crnCommand.setDestinationPosX(locRow);     // 目标库位排
                crnCommand.setDestinationPosY(locBay);     // 目标库位列
                crnCommand.setDestinationPosZ(locLev);     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
                    News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={} ,任务类型:回原点", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
                    return;//continue
                } else {
                    crnThread.setCmdFlag(false);
                }
            }
        }
    }

    /**
@@ -681,126 +812,132 @@
    /**
     * 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");
        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);
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            // 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());
                continue;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                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());
                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());
    public synchronized void crnStnToLoc(CrnSlave slave, CrnThread crnThread,Integer mark) {
        CrnProtocol crnProtocol = crnThread.getCrnProtocol();
        if (crnProtocol == null) { return; }
        // 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
                && crnThread.isCmdFlag()) {
            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);
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                // 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());
                    continue;
                }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                        && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                    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());
                    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());
//                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());
                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());
                continue;
            }
                    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());
                    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());
                    continue;
                }

            // 堆垛机控制过滤
            if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                // 堆垛机控制过滤
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                News.infoNoLog(""+mark+" - 1"+" - 7"+" - 堆垛机控制过滤:堆垛机是否空闲={}，任务号={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo());
                continue;
            }
                    continue;
                }

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

            // 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());
                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());
                    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);
                    } 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());
                // 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());
                    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());
                        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);
                        } 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());
                            }
                            continue;
                        }

                    } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                        News.warnNoLog(""+mark+" - 1"+" - 12"+" - // F、D  库位状态={}",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);
                            // 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("F") || shallowLoc.getLocSts().equals("D")) {
                    News.warnNoLog(""+mark+" - 1"+" - 12"+" - // F、D  库位状态={}",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);
                        // 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());
                    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());
                        continue;
                    } else if (shallowLoc.getLocSts().equals("Q")) {
                        News.warnNoLog(""+mark+" - 1"+" - 13"+" - // Q  库位状态={}",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());
                            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.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());

            // 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
                // 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(crnStn.getRow().shortValue());     // 源库位排
            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
            crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
            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));
            } else {
                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
                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));
                } else {

//                long startTime = System.currentTimeMillis();
//                while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
@@ -814,54 +951,60 @@
//                    }catch(Exception ignore){}
//                }

                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                Date now = new Date();
                wrkMast.setWrkSts(3L);
                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());
                    // 修改工作档状态 2.设备上走 => 3.吊车入库中
                    Date now = new Date();
                    wrkMast.setWrkSts(3L);
                    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.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");
        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
    public synchronized void locToCrnStn(CrnSlave slave, CrnThread crnThread,Integer mark) {
        CrnProtocol crnProtocol = crnThread.getCrnProtocol();
        if (crnProtocol == null) { return; }
        // 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
                && crnThread.isCmdFlag()) {
            News.warnNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发：执行出库");
            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());
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            for (WrkMast wrkMast : wrkMasts) {
                if (wrkMast == null) {
                    continue;
                }
                // 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());
                    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());
                    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);
                    break;
                List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
                for (WrkMast wrkMast : wrkMasts) {
                    if (wrkMast == null) {
                        continue;
                    }
                    // 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());
                        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());
                        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);
                        break;
//                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                    } else {
                        staProtocol = staProtocol.clone();
                    }

//            // 入出库模式判断
//            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
@@ -870,112 +1013,113 @@
//                    continue;
//                }

                // 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());
                    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()) {
                    // 命令下发区 --------------------------------------------------------------------------

                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                    // 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());
                        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()) {
                        // 命令下发区 --------------------------------------------------------------------------

                    // 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());
                        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());
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            if (null == waitWrkMast) {
                                News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                            } else {
                                if (waitWrkMast.getWrkSts() == 11) {
                                    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());
                                    }
                                    continue;
                        // 堆垛机控制过滤
                        if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                            break;
                        }

                        // 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());
                            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());
                                WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                                if (null == waitWrkMast) {
                                    News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                                } else {
                                    if (waitWrkMast.getWrkSts() == 11) {
                                        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());
                                        }
                                        continue;
                                    } else {

                                    }
                                }
                            }
                        } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                            News.warnNoLog(""+mark+" - 2"+" - 9"+" - // F、D  库位状态={}",shallowLoc.getLocSts());
                            } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                                News.warnNoLog(""+mark+" - 2"+" - 9"+" - // F、D  库位状态={}",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);
                            // 此标记避免多次执行移库任务
                                //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);
                                // 此标记避免多次执行移库任务
//                            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);
                            }
                            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());
                            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());
                                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);
                                }
                                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());
                                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());
                                    continue;
                                }
                            }
                        }
                    }

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

                    // 1.堆垛机开始移动
                    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(sourceSta.getRow1().shortValue());     // 源库位排
                    crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                    crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                    crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                    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));
                    } 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+" - 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.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();
                        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(sourceSta.getRow1().shortValue());     // 源库位排
                        crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                        crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                        crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                        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));
                        } 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+" - 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");
    }

//    /**
@@ -1366,13 +1510,12 @@
                if (!staProtocol.isLoading()){
                    continue;
                }

                // 站点条件判断
                if (staProtocol.isAutoing()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999)
                        && staProtocol.isPakMk()&& staProtocol.getStamp()>=2) {
                        && 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");

                    try {
@@ -1417,8 +1560,8 @@
//                                ledThread.errorReset();
                            }
                        } else {
                            staProtocol.setWorkNo((short)9999);
                            staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
                            staProtocol.setWorkNo((short)9991);
                            staProtocol.setStaNo((short)100);
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
@@ -2126,4 +2269,64 @@
            }
        }
    }

    /**
     *  接收超宽超高没扫到条码报警
     * @param mark
     */
    public synchronized void DevpCallThePolice(Integer mark){
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) { //遍历输送线
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta()) {  // 遍历入库口
                // 获取入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if(null != devpThread){
                    boolean fig=false;
                    for (int i=0;i<8;i++){
                        switch (i){
                            case 0: if(devpThread.startSignal[i]){
                                        log.error("前超报警");
                                        fig=true;
                                    };
                            case 1: if(devpThread.startSignal[i]){
                                log.error("后超报警");
                                fig=true;
                            };
                            case 2: if(devpThread.startSignal[i]){
                                log.error("高超报警");
                                fig=true;
                            };
                            case 3: if(devpThread.startSignal[i]){
                                log.error("左超报警");
                                fig=true;
                            };
                            case 4: if(devpThread.startSignal[i]){
                                log.error("右超报警");
                                fig=true;
                            };
                            case 5: if(devpThread.startSignal[i]){
                                log.error("超重报警");
                                fig=true;
                            };
                            case 6: if(devpThread.startSignal[i]){
                                log.error("未扫到码报警");
                                fig=true;
                            };

                        }
                    }
                    //发生报警，退回入库口
                    if(fig){
                        staProtocol.setWorkNo((short)9991);
                        staProtocol.setStaNo((short)100);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    }
                }
            }
        }
    }

}