#

LSH

2023-11-16 6b6801ae9e0cf5c8490c7c35659da371233664e3

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

@@ -1,58 +1,41 @@
package com.zy.asrs.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.mapper.TaskWrkMapper;
import com.zy.asrs.mapper.WaitPakinMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.CommandUtils;
import com.zy.asrs.utils.PostMesDataUtils;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.SearchLocParam;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
import com.zy.common.utils.CollectionUtils;
import com.zy.common.utils.HttpHandler;
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.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.LedThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

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

/**
 * 立体仓库WCS系统主流程业务
@@ -66,124 +49,30 @@
    public static final long COMMAND_TIMEOUT = 5 * 1000;

    @Autowired
    private CommonService commonService;
    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private WrkMastMapper wrkMastMapper;
    @Autowired
    private WrkDetlService wrkDetlService;
    @Autowired
    private WaitPakinMapper waitPakinMapper;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private StaDescService staDescService;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private BasDevpService basDevpService;
    @Autowired
    private LocDetlService locDetlService;
    @Autowired
    private BasErrLogService basErrLogService;
    @Autowired
    private BasCrnErrorMapper basCrnErrorMapper;
    @Autowired
    private TaskWrkMapper taskWrkMapper;
    @Autowired
    private TaskWrkService taskWrkService;
    @Autowired
    private ConfigService configService;

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

//    /**
//     * 组托
//     * 入库站，根据条码扫描生成入库工作档，工作状态 2
//     */
//    public void generateStoreWrkFile() {
//        // 根据输送线plc遍历
//        for (DevpSlave devp : slaveProperties.getDevp()) {
//            // 遍历入库口
//            for (DevpSlave.Sta inSta : devp.getInSta()) {
//                // 获取条码扫描仪信息
//                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
//                if (barcodeThread == null) {
//                    continue;
//                }
//                String barcode = barcodeThread.getBarcode();
//                if(!Cools.isEmpty(barcode)) {
//                    log.info("{}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;
//                }
//
//                // 获取入库站信息
//                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
//                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
//                if (staProtocol == null) {
//                    continue;
//                } else {
//                    staProtocol = staProtocol.clone();
//                }
//
//                // 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.isAutoing() && staProtocol.isLoading()
//                        && staProtocol.isInEnable()
//                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
//                        && staProtocol.isPakMk()){// && !Cools.isEmpty(barcode)) {
//
//                    // 判断重复工作档
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
//                    if (wrkMast != null) {
//                        log.error("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());
//                        continue;
//                    }
//
//                    try {
//
//                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
//
//                        SearchLocParam param = new SearchLocParam();
//                        param.setBarcode(barcode);
//                        param.setIoType(1);
//                        param.setSourceStaNo(inSta.getStaNo());
//                        param.setLocType1(locTypeDto.getLocType1());
//                        String response = new HttpHandler.Builder()
//                                .setUri(wmsUrl)
//                                .setPath("/rpc/pakin/loc/v1")
//                                .setJson(JSON.toJSONString(param))
//                                .build()
//                                .doPost();
//                        JSONObject jsonObject = JSON.parseObject(response);
//                        if (jsonObject.getInteger("code").equals(200)) {
//                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
//
//                            barcodeThread.setBarcode("");
//                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
//                            staProtocol.setStaNo(dto.getStaNo().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            boolean result = CommandUtils.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            if (!result) {
//                                throw new CoolException("更新plc站点信息失败");
//                            }
//                        } else {
//                            log.error("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();
//                    }
//                }
//            }
//        }
//    }
    @Value("${wms.movePath}")
    private String movePath;

    /**
     * 堆垛机站出库到出库站
@@ -203,46 +92,45 @@
                }
                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) {
                    TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staProtocol.getSiteId().toString());
                    if (taskWrk == null) {
                        continue;
                    }
                    // 判断工作档条件
                    if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
                        continue;
                    }
                    // 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.getTaskFinish() == 1
                            && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                        // 命令下发区 --------------------------------------------------------------------------

                        // 下发站点信息
                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                        if (!CommandUtils.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                    if (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 2) {
                        // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, taskWrk.getCrnNo());
                        CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                        if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
                            // 移动中
                            continue;
                        }
                        //  判断堆垛机状态等待确认
                        if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(taskWrk.getWrkNo().shortValue())
                                && crnProtocol.getTaskFinish() == 1
                                && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                            // 命令下发区 --------------------------------------------------------------------------

                        // 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 {
                            log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                            // 下发站点信息
                            staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                            String targetPoint = taskWrk.getTargetPoint();
                            int i = Integer.parseInt(targetPoint);
                            staProtocol.setStaNo((short)i);
                            if (!CommandUtils.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                continue;
                            }

                            // 更新工作档状态为14失败
                            taskWrk.setWrkSts(14);
                            if (taskWrkMapper.updateById(taskWrk) != 0) {
                                // 复位堆垛机
                                crnThread.setResetFlag(true);
                            } else {
                                log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", taskWrk.getWrkNo());
                            }

                        }

                    }

                }
            }
        }
@@ -289,7 +177,6 @@
            }
            // 库位移转
            this.locToLoc(crn, crnProtocol);
//            this.crnRebackHp(crnProtocol, crnThread);

        }
    }
@@ -430,6 +317,33 @@
                        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, taskWrk.getStartPoint())) {

                        List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
                        if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
                            break;
                        }
                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
                        LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                        if (!shallowLoc.getLocSts().equals("O")){
                            // 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")) {
                                log.error("工作号={}，库位号={}，浅库位异常：浅库位号：={}，库位状态={}",taskWrk.getTaskNo(),taskWrk.getStartPoint(),shallowLocNo,shallowLoc.getLocSts());
                            } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                                taskWrk.setTransferMark(1);
                                taskWrkMapper.updateById(taskWrk);
                                WMSAndAGVInterfaceParam param = new WMSAndAGVInterfaceParam();
                                param.setTaskNo(taskWrk.getTaskNo());
                                new PostMesDataUtils().postMesData("MES系统",wmsUrl,movePath,param);
                                log.error("工作号={}，库位号={}，浅库位需要移库：浅库位号：={}，库位状态={}",taskWrk.getTaskNo(),taskWrk.getStartPoint(),shallowLocNo,shallowLoc.getLocSts());
                            } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
                                log.error("工作号={}，库位号={}，浅库位异常：浅库位号：={}，库位状态={}",taskWrk.getTaskNo(),taskWrk.getStartPoint(),shallowLocNo,shallowLoc.getLocSts());
                            }
                            continue;
                        }
                    }

                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
@@ -464,65 +378,120 @@
     * 库位移转
     */
    public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
        // 获取工作档信息
        WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
        if (null == wrkMast) {
            return;
        }
        // 获取源库位信息
        LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
        if (null == sourceSta) {
            log.error("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 (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) {
            return;
        }
        // 获取目标库位信息
        LocMast sta = locMastService.selectById(wrkMast.getLocNo());
        if (null == sta) {
            log.error("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
        BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
        if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
            return;
        }
        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
            // 获取工作状态为11（生成出库ID）的移库工作档
            List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut3(slave.getId(), crnStn.getStaNo().toString());
            for (TaskWrk taskWrk : taskWrks){
                if (taskWrk == null) {
                    continue;
                }
                // 工作档状态判断
                if (taskWrk.getIoType() != 3 || taskWrk.getTargetPoint() == null) {
                    log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
                    continue;
                }
                // 获取源库位信息
                String locNo = taskWrk.getStartPoint();
                LocMast sourceSta = locMastService.selectById(locNo);
                if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
                    log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", locNo, sourceSta.getLocSts());
                    continue;
                }

        // 堆垛机控制过滤
        if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
            return;
        }
                // 获取目标库位信息
                String locNoEnd = taskWrk.getTargetPoint();
                LocMast sourceEnd = locMastService.selectById(locNoEnd);
                if (!sourceEnd.getLocSts().equals("S") && !sourceEnd.getLocSts().equals("Q")) {
                    log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", locNo, sourceSta.getLocSts());
                    continue;
                }

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

        // 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(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(sta.getRow1().shortValue());     // 目标库位排
        crnCommand.setDestinationPosY(sta.getBay1().shortValue());     // 目标库位列
        crnCommand.setDestinationPosZ(sta.getLev1().shortValue());     // 目标库位层
        if (!CommandUtils.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
            log.error("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) {
                log.error("【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());
//                // 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) {
//                    break;
//                } else {
//                    staProtocol = staProtocol.clone();
//                }

                // 查询站点详细信息
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    continue;
                }
                // 命令下发区 --------------------------------------------------------------------------

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

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

                // 起始深库位浅库位不为空
                if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
                    // 获取浅库位信息
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
                    LocMast shallowLocMast = locMastService.selectById(shallowLocNo);
                    if (!shallowLocMast.getLocSts().equals("O")) {
                        log.error("移库操作起始库位浅库位状态不符合--状态, 库位号={}，库位状态={}", locNo, shallowLocMast.getLocSts());
                        continue;
                    }
                }

                // 目标库位为深库位且浅库位不为空
                if (Utils.isDeepLoc(slaveProperties, taskWrk.getTargetPoint())) {
                    // 获取浅库位信息
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getTargetPoint());
                    LocMast shallowLocMast = locMastService.selectById(shallowLocNo);
                    if (!shallowLocMast.getLocSts().equals("O")) {
                        log.error("移库操作目标库位浅库位状态不符合--状态, 库位号={}，库位状态={}", locNo, shallowLocMast.getLocSts());
                        continue;
                    }
                }

                // 目标库位为浅库位且深库位无货
                if (Utils.isShallowLoc(slaveProperties, taskWrk.getTargetPoint())) {
                    // 获取深库位信息
                    String deepLocNo = Utils.getDeepLoc(slaveProperties, taskWrk.getTargetPoint());
                    LocMast deepLocMast = locMastService.selectById(deepLocNo);
                    if (!deepLocMast.getLocSts().equals("F") && !deepLocMast.getLocSts().equals("D") ) {
                        log.error("移库操作目标库位深库位状态不符合--状态, 库位号={}，库位状态={}", locNo, deepLocMast.getLocSts());
                        continue;
                    }
                }

                // 1.堆垛机开始移动
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosX(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(sourceEnd.getRow1().shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(sourceEnd.getBay1().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(sourceEnd.getLev1().shortValue());     // 目标库位层
                if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                    Date now = new Date();
                    taskWrk.setWrkSts(12);
                    taskWrk.setModiTime(now);
                    if (taskWrkMapper.updateById(taskWrk) == 0) {
                        log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
                    }
                    break;
                }
                return;
            }
        }

@@ -541,23 +510,22 @@
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.getTaskFinish() == 1 && crnProtocol.getTaskNo() != 0) {
                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                if (wrkMast == null) {
                TaskWrk taskWrk = taskWrkMapper.selectCrnNoWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
                if (taskWrk == null) {
                    log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                    continue;
                }
                // 入库 + 库位转移  ==> 4.入库完成
                if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                    wrkMast.setWrkSts(4L);
                if (taskWrk.getWrkSts() == 3 || (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 3)) {
                    taskWrk.setWrkSts(4);
                } else {
                    continue;
                }
                Date now = new Date();
                wrkMast.setCrnEndTime(now);
                wrkMast.setModiTime(now);
                Integer integerWrkMast = wrkMastMapper.updateById(wrkMast);
                taskWrk.setModiTime(now);
                Integer integerTaskWrk = taskWrkMapper.updateById(taskWrk);
                // 修改成功后复位堆垛机
                if (integerWrkMast > 0) {
                if (integerTaskWrk > 0) {
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
                }
@@ -684,606 +652,23 @@
        }
    }


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

    /**
     * 空栈板初始化入库,叉车入库站放货
     */
    @Async
    public void storeEmptyPlt(){
        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();
                }

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

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

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setIoType(10);
                        param.setSourceStaNo(emptyInSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = CommandUtils.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            log.error("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();
                    }
                }
            }
    //自动派发任务
    public void autoDistribute() {
        Config config = configService.selectByCode("autoDistribute");
        if (config == null) {
            return;
        }
    }

    /**
     * 出库  ===>> 工作档信息写入led显示器
     */
    @Async
    public void ledExecute() {
        for (LedSlave led : slaveProperties.getLed()) {
            // 获取输送线plc线程
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
            // 命令集合
            List<LedCommand> commands = new ArrayList<>();
            // 工作档集合
            List<WrkMast> wrkMasts = new ArrayList<>();
            for (Integer staNo : led.getStaArr()) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                // 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; }
                wrkMasts.add(wrkMast);
                // 组装命令
                LedCommand ledCommand = new LedCommand();
                ledCommand.setWorkNo(wrkMast.getWrkNo());
                ledCommand.setIoType(wrkMast.getIoType());
                // 出库模式
                switch (wrkMast.getIoType()) {
                    case 1:
                        ledCommand.setTitle("全板入库");
                        break;
                    case 10:
                        ledCommand.setTitle("空板入库");
                        break;
                    case 101:
                        ledCommand.setTitle("全板出库");
                        break;
                    case 103:
                        ledCommand.setTitle("拣料出库");
                        break;
                    case 104:
                        ledCommand.setTitle("并板出库");
                        break;
                    case 107:
                        ledCommand.setTitle("盘点出库");
                        break;
                    case 110:
                        ledCommand.setTitle("空板出库");
                        ledCommand.setEmptyMk(true);
                        break;
                    default:
                        log.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                        break;
                }
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                ledCommand.setLocNo(wrkMast.getLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
//                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())));
                }
                commands.add(ledCommand);
            }
            Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
            // 获取LED线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
            // 相同工作号集合则过滤
            if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
                continue;
            }
            // 命令下发 -------------------------------------------------------------------------------
            if (!commands.isEmpty()) {
                if (!CommandUtils.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
                    log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    continue;
                } else {
                    ledThread.setLedMk(false);
                }
            }
        if (config.getValue().equals("false")) {//判断是否开启自动派发任务
            return;
        }

        for (TaskWrk taskWrk : taskWrkService.selectReceive()) {
            try {
                // 修改主档led标记
                for (WrkMast wrkMast : wrkMasts) {
                    wrkMast.setOveMk("Y");
                    wrkMast.setModiTime(new Date());
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        throw new CoolException("更新工作档失败");
                    }
                }

                // 更新线程当前工作号集合
                ledThread.setWorkNos(workNos);

            } catch (Exception e) {
                taskWrkService.distribute(taskWrk.getTaskNo(), 9527L);
            } catch (CoolException e) {
                e.printStackTrace();
                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
            }

        }
    }

    /**
     * 其他  ===>> LED显示器复位，显示默认信息
     */
    @Async
    public void ledReset() {
        for (LedSlave led : slaveProperties.getLed()) {
            // 获取输送线plc线程
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
            // 命令集合
            boolean reset = true;
            for (Integer staNo : led.getStaArr()) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (staProtocol == null) {
                    continue;
                }
                if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
                    reset = false;
                    break;
                }
            }
            // 获取led线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
            // led显示默认内容
            if (reset && !ledThread.isLedMk()) {
                ledThread.setLedMk(true);
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
                    log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                } else {

                }
            }
        }
    }

    /**
     * 因双深库位阻塞，对浅库位进行移转（入库版)
     * tip：同步
     */
    @Transactional
    public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast){
        LocMast loc = locMastService.selectById(pakinWrkMast.getLocNo());

        // 获取工作号
        int workNo = commonService.getWorkNo(0);
        Date now = new Date();
        // 保存工作档
        WrkMast wrkMast = new WrkMast();
        wrkMast.setWrkNo(workNo);
        wrkMast.setIoTime(now);
        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(15D);
        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.setCtnNo("Y");  // 入库阻塞库位移转标记
        wrkMast.setAppeTime(now);
        wrkMast.setModiTime(now);
        int res = wrkMastMapper.insert(wrkMast);
        if (res == 0) {
            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(now);
                wrkDetl.setAnfme(locDetl.getAnfme());
                VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
                wrkDetl.setAppeTime(now);
                wrkDetl.setModiTime(now);
                if (!wrkDetlService.insert(wrkDetl)) {
                    throw new CoolException("保存工作档明细失败");
                }
            }
        }
        // 修改源库位状态
        if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
            shallowLoc.setLocSts("S"); // S.入库预约，入库阻塞库位移转
            shallowLoc.setModiTime(now);
            if (!locMastService.updateById(shallowLoc)){
                throw new CoolException("更新源库位状态失败");
            }
        } else {
            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)) {
//                throw new CoolException("更新目标库位状态失败");
//            }
//        } else {
//            throw new CoolException("移转失败");
//        }
        wrkMast.setLocNo(shallowLoc.getLocNo());
        if (wrkMastMapper.updateById(wrkMast) == 0) {
            throw new CoolException("修改阻塞入库任务失败");
        }
    }

    /**
     * 因双深库位阻塞，对浅库位进行移转（立即执行版)
     * tip：同步
     */
    private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){
        try {
            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 (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
                            String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
                            LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
                            if (!shallowLoc1.getLocSts().equals("O")) {
                                loc = null;
                            }
                        }
                    }
                    if (null != loc) {
                        break;
                    }
                }
            }
            if (null == loc) {
                for (Integer row : rows) {
                    if (Utils.isShallowLoc(slaveProperties, row)) {
                        loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

                        if (null != loc) {//对应深库位非在库状态,不能移库
                            String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
                            LocMast deepLoc1 = locMastService.selectById(deepLoc);
                            if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) {
                                loc = null;
                            }
                        }

                        if (null != loc) {
                            break;
                        }
                    }
                }
            }

            if (null == loc) {
                log.error("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) {
                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)) {
                        throw new CoolException("保存工作档明细失败");
                    }
                }
            }
            // 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)) {
                    throw new CoolException("更新源库位状态失败");
                }
            } else {
                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)) {
                    throw new CoolException("更新目标库位状态失败");
                }
            } else {
                throw new CoolException("移转失败");
            }
        } catch (Exception e) {
            log.error("双深库位阻塞，对浅库位进行移转失败", e);
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }

    /**
     * 堆垛机演示  ===>> 库位移转
     */
    public synchronized void crnDemoOfLocMove1(){
        try {
            for (CrnSlave crn : slaveProperties.getCrn()) {
                if (!crn.getDemo()) {
                    continue;
                }   // 必须为演示状态

                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == 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) {
                    // 获取移库工作档信息
                    WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
                    if (null != wrkMast) {
                        continue;
                    }

                    LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
                    LocMast loc = locMastService.queryDemoLoc(crn.getId());
                    if (null == sourceLoc || null == loc) {
                        continue;
                    }

                    String sourceLocNo = sourceLoc.getLocNo();
                    String locNo = loc.getLocNo();

                    // 获取工作号
                    int workNo = commonService.getWorkNo(0);
                    // 保存工作档
                    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(sourceLocNo); // 源库位
                    wrkMast.setLocNo(locNo); // 目标库位
                    wrkMast.setFullPlt("N"); // 满板：Y
                    wrkMast.setPicking("N"); // 拣料
                    wrkMast.setExitMk("N"); // 退出
                    wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
                    wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
                    wrkMast.setLinkMis("N");
                    wrkMast.setAppeTime(new Date());
                    wrkMast.setModiTime(new Date());
                    int res = wrkMastMapper.insert(wrkMast);
                    if (res == 0) {
                        throw new CoolException("保存工作档失败");
                    }
                    // 工作档明细保存
//                List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
//                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)) {
//                        throw new CoolException("保存工作档明细失败");
//                    }
//                }
                    // 修改源库位状态
                    if (sourceLoc.getLocSts().equals("D")) {
                        sourceLoc.setLocSts("R"); // R.出库预约
                        sourceLoc.setModiTime(new Date());
                        if (!locMastService.updateById(sourceLoc)) {
                            throw new CoolException("更新源库位状态失败");
                        }
                    } else {
                        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)) {
                            throw new CoolException("更新目标库位状态失败");
                        }
                    } else {
                        throw new CoolException("移转失败");
                    }

                }
            }
        } catch (Exception e) {
            log.error("堆垛机演示  ===>> 库位移转失败", e);
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }

    /**
     * 堆垛机命令下发后，异步修改工作档状态
     */
    public synchronized void crnIoWrkMast(){
        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;
            }
            Date now = new Date();
            // 堆垛机正在运行
            if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                // 获取工作档
                WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
                if (wrkMast == null) { continue; }
                // 入库
                if (wrkMast.getWrkSts() == 1 || wrkMast.getWrkSts() == 2) {
                    log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
                    // 修改工作档状态 2.设备上走 => 3.吊车入库中
                    wrkMast.setWrkSts(3L);
                    wrkMast.setCrnStrTime(now);
                    wrkMast.setModiTime(now);
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
                    log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}",  DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F),  wrkMast.getWrkNo());
                }
                // 出库、移库
                if (wrkMast.getWrkSts() == 11) {
                    log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
                    // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                    wrkMast.setWrkSts(12L);
                    wrkMast.setCrnStrTime(now);
                    wrkMast.setModiTime(now);
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
                    log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}",  DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F),  wrkMast.getWrkNo());
                }


            }

        }
    }

//    /**
//     * 入出库模式切换函数
//     */
//    public 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 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;
//                    }
//                }
//            }
//
//        } catch (Exception e) {
//            e.printStackTrace();
//        }
//    }

    public void outOfDevp() {
        List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
        for (WrkMast wrkMast : wrkMasts) {
            if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
                wrkMast.setCtnNo("Y");
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    log.error("修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
                }
            }

        }
    }