*

lsh

2025-05-22 6c679ea7d1acdd67c7c2d4c7302b6420bd3fbcd5

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

@@ -12,10 +12,7 @@
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.CommandUtils;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.TrackRangeUtils;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.*;
import com.zy.common.model.MatDto;
import com.zy.common.service.CommonService;
import com.zy.common.utils.CollectionUtils;
@@ -34,6 +31,7 @@
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.apache.poi.ss.formula.functions.T;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
@@ -41,6 +39,7 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.io.IOException;
import java.time.LocalDateTime;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
@@ -116,17 +115,24 @@
                    // 获取入库站信息
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                    if (staProtocol == null || !staProtocol.isLoading()) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    Integer workNo = staProtocol.getWorkNo();
                    if (workNo!=9998){
                        continue;
                    }
                    Integer stano = staProtocol.getStaNo();

                    // 尺寸检测异常
                    boolean back = false;
                    String errMsg = "";
                    if (staProtocol.getGrossWt()>=600){
                        errMsg = "超重";
                        back = true;
                    }
                    if (staProtocol.isFrontErr()) {
                        errMsg = "前超限";
                        back = true;
@@ -166,9 +172,10 @@
                        if (!staProtocol.isPakMk()) {
                            continue;
                        }
                        System.out.println("扫码入库失败，{"+inSta.getStaNo()+"}入库站因{"+errMsg+"}异常，托盘已被退回");
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                        staProtocol.setWorkNo(workNo);
                        staProtocol.setStaNo(inSta.getStaNo());
                        staProtocol.setWorkNo(9999);
                        staProtocol.setStaNo(inSta.getBackSta());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -182,7 +189,7 @@
                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo>9000 && workNo<10000))
                            && workNo == 9998
                            && staProtocol.isPakMk()
                            && staProtocol.isPakMkWalk()
                    ) {
@@ -207,7 +214,7 @@
                                        return;
                                    } else {
                                        staProtocol.setWorkNo(taskWrk1.getWrkNo());
                                        staProtocol.setStaNo(staDesc.getCrnStn());
                                        staProtocol.setStaNo(staProtocol.getSiteId());
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    }
                                }
@@ -240,7 +247,7 @@
                                    log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1);
                                }
                                staProtocol.setWorkNo(9999);
                                staProtocol.setStaNo(inSta.getStaNo());
                                staProtocol.setStaNo(inSta.getBackSta());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                continue;
@@ -266,7 +273,7 @@
                                    log.error("扫码检测程序异常,异常信息" + e);

                                    staProtocol.setWorkNo(9999);
                                    staProtocol.setStaNo(inSta.getStaNo());
                                    staProtocol.setStaNo(inSta.getBackSta());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                }
@@ -277,7 +284,7 @@
                            log.error("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);

                            staProtocol.setWorkNo(9999);
                            staProtocol.setStaNo(inSta.getStaNo());
                            staProtocol.setStaNo(inSta.getBackSta());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -307,12 +314,15 @@
                    // 获取入库站信息
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                    if (staProtocol == null || !staProtocol.isLoading()) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    Integer workNo = staProtocol.getWorkNo();
                    if (workNo!=9997){
                        continue;
                    }
                    Integer stano = staProtocol.getStaNo();

                    // 尺寸检测异常
@@ -353,8 +363,9 @@
                        if (!staProtocol.isPakMk()) {
                            continue;
                        }
                        System.out.println("扫码入库失败，{"+inSta.getStaNo()+"}入库站因{"+errMsg+"}异常，托盘已被退回");
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                        staProtocol.setWorkNo(workNo);
                        staProtocol.setWorkNo(9999);
                        staProtocol.setStaNo(inSta.getStaNo());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -369,7 +380,7 @@
                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && staProtocol.isEmptyMk() && (workNo == 0 || (workNo>9000 && workNo<10000))
                            && (workNo == 9997)
                            && staProtocol.isPakMk()
                            && staProtocol.isPakMkWalk()
                    ) {
@@ -403,7 +414,7 @@
                                log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1);
                            }
                            staProtocol.setWorkNo(9999);
                            staProtocol.setStaNo(inSta.getStaNo());
                            staProtocol.setStaNo(inSta.getBackSta());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            continue;
@@ -430,7 +441,7 @@
                                log.error("扫码检测程序异常,异常信息" + e);

                                staProtocol.setWorkNo(9999);
                                staProtocol.setStaNo(inSta.getStaNo());
                                staProtocol.setStaNo(inSta.getBackSta());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            }
@@ -465,7 +476,8 @@

                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading()
                            && staProtocol.isInEnable() && (workNo == 0 || (workNo>9000 && workNo<10000))
//                            && staProtocol.isInEnable()
//                            && (workNo == 0 || (workNo>9000 && workNo<10000))
                            && staProtocol.isPakMkWalk()
                    ) {
                        if (inSta.isBarcodeSign()){
@@ -510,6 +522,7 @@
                                        } else {
                                            staProtocol.setWorkNo(taskWrk1.getWrkNo());
                                            staProtocol.setStaNo(staDesc.getCrnStn());
                                            devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
                                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                        }
                                    }
@@ -528,8 +541,21 @@
                                        return;
                                    } else {
                                        staProtocol.setWorkNo(taskWrk1.getWrkNo());
                                        staProtocol.setStaNo(staDesc.getCrnStn());
                                        staProtocol.setStaNo(BarcodeUtils.getStaNo(staProtocol.getSiteId()));
                                        devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                                        Date now = new Date();
//                                        taskWrk1.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
//                taskWrk.setAssignTime(now);//派发时间
                                        taskWrk1.setExecuteTime(now);
                                        taskWrk1.setWrkSts(2);//工作状态 3.吊车入库
                                        taskWrk1.setCrnNo(staDesc.getCrnNo());//堆垛机号
                                        taskWrk1.setModiTime(now);
                                        taskWrk1.setModiUser(9988L);
                                        taskWrkService.updateById(taskWrk1);


                                    }
                                }
                                return;
@@ -550,20 +576,23 @@
     * 堆垛机站出库到出库站
     */
    public void crnStnToOutStn() {
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
        for (CrnSlave crn : slaveProperties.getCrn()) {

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

            CrnSlave crnSlave = new CrnSlave(crn);

            if (!crn.getId().equals(crnProtocol.getLaneNo())) {
                for (CrnSlave crnOther : slaveProperties.getCrn()) {
                    if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
                        crnSlave.updateCrnInStn(crnOther);
@@ -593,7 +622,7 @@
                            log.info("下发输送线任务：taskWrk:" + JSON.toJSONString(taskWrk));
//                            R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
                            staProtocol.setWorkNo(taskWrk.getWrkNo());
                            staProtocol.setStaNo(staDesc.getCrnStn());
                            staProtocol.setStaNo(BarcodeUtils.getStaNo(staProtocol.getSiteId()));
                            boolean offer = false;
                            try {
                                offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
@@ -605,7 +634,7 @@
                            if (offer) {
                                log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk));
                                Date now = new Date();
                                taskWrk.setStatus(5);
                                taskWrk.setStatus(TaskStatusType.OVER3.id);
                                taskWrk.setWrkSts(14);
                                taskWrk.setModiTime(now);
                                taskWrk.setCompleteTime(now);
@@ -628,20 +657,22 @@
     * 入出库  ===>>  堆垛机入出库作业下发
     */
    public synchronized void crnIoExecute() throws IOException {
        for (CrnSlave crn : slaveProperties.getCrn()) {
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }
            BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
            BasCrnp basCrnp = basCrnpService.selectById(crnSlave.getId());
            if (basCrnp == null) {
                log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
                log.error("{}号堆垛机尚未在数据库进行维护！", crnSlave.getId());
                continue;
            }

            if (!crn.getId().equals(crnProtocol.getLaneNo())) {
            CrnSlave crn = new CrnSlave(crnSlave);

            if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
                for (CrnSlave crnOther : slaveProperties.getCrn()) {
                    if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
                        crn.updateCrnInStn(crnOther);
@@ -783,7 +814,7 @@
                crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位层
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand.setCommand((short) 1);
                if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) {
                if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                    throw new CoolException("堆垛机命令生成失败");
                } else {
@@ -795,10 +826,13 @@
                    }
                    try {
                        HashMap<String, Object> headParam = new HashMap<>();
                        headParam.put("taskNo", taskWrk.getTaskNo());
                        headParam.put("status", taskWrk.getStatus());
                        headParam.put("ioType", taskWrk.getIoTypeWms());
                        headParam.put("barcode", taskWrk.getBarcode());
                        headParam.put("taskNo",taskWrk.getTaskNo());
                        headParam.put("taskStatus",taskWrk.getStatusWms());
                        headParam.put("ioType",taskWrk.getIoTypeWms());
                        headParam.put("barCode",taskWrk.getBarcode());
                        headParam.put("reportTime", LocalDateTime.now());
                        headParam.put("weight",taskWrk.getScWeight().doubleValue());

                        String response;
                        response = new HttpHandler.Builder()
                                // .setHeaders(headParam)
@@ -895,7 +929,7 @@
                        command.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                        command.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                        command.setCommand((short) 1);
                        if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command), false)) {
                        if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command))) {
                            log.error("堆垛机命令生成失败，堆垛机号={}，巷道={}，任务数据={}", slave.getId(), taskWrk.getCrnNo(), JSON.toJSON(command));
                            throw new CoolException("堆垛机命令生成失败");
                        } else {
@@ -903,7 +937,7 @@
                                // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                                Date now = new Date();
                                taskWrk.setWrkSts(12);
                                taskWrk.setStatus(2);
                                taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);
                                taskWrk.setModiTime(now);
                                taskWrk.setExecuteTime(now);
                                if (taskWrkMapper.updateById(taskWrk) == 0) {
@@ -915,10 +949,13 @@
                            }
                            try {
                                HashMap<String, Object> headParam = new HashMap<>();
                                headParam.put("taskNo", taskWrk.getTaskNo());
                                headParam.put("status", taskWrk.getStatus());
                                headParam.put("ioType", taskWrk.getIoTypeWms());
                                headParam.put("barcode", taskWrk.getBarcode());
                                headParam.put("taskNo",taskWrk.getTaskNo());
                                headParam.put("taskStatus",taskWrk.getStatusWms());
                                headParam.put("ioType",taskWrk.getIoTypeWms());
                                headParam.put("barCode",taskWrk.getBarcode());
                                headParam.put("reportTime", LocalDateTime.now());
                                headParam.put("weight",taskWrk.getScWeight().doubleValue());

                                String response;
                                response = new HttpHandler.Builder()
                                        // .setHeaders(headParam)
@@ -1005,13 +1042,13 @@
                crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位列
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位层
                crnCommand.setCommand((short) 1);
                if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) {
                if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                    Date now = new Date();
                    taskWrk.setWrkSts(12);
                    taskWrk.setStatus(2);
                    taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);
                    taskWrk.setModiTime(now);
                    taskWrk.setExecuteTime(now);
                    if (taskWrkMapper.updateById(taskWrk) == 0) {
@@ -1019,10 +1056,13 @@
                    }
                    try {
                        HashMap<String, Object> headParam = new HashMap<>();
                        headParam.put("taskNo", taskWrk.getTaskNo());
                        headParam.put("status", taskWrk.getStatus());
                        headParam.put("ioType", taskWrk.getIoTypeWms());
                        headParam.put("barcode", taskWrk.getBarcode());
                        headParam.put("taskNo",taskWrk.getTaskNo());
                        headParam.put("taskStatus",taskWrk.getStatusWms());
                        headParam.put("ioType",taskWrk.getIoTypeWms());
                        headParam.put("barCode",taskWrk.getBarcode());
                        headParam.put("reportTime", LocalDateTime.now());
                        headParam.put("weight",taskWrk.getScWeight().doubleValue());

                        String response;
                        response = new HttpHandler.Builder()
                                // .setHeaders(headParam)
@@ -1056,15 +1096,17 @@
     * 执行对工作档的完成操作
     */
    public void storeFinished() throws InterruptedException {
        for (CrnSlave crn : slaveProperties.getCrn()) {
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }

            if (!crn.getId().equals(crnProtocol.getLaneNo())) {
            CrnSlave crn = new CrnSlave(crnSlave);

            if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
                for (CrnSlave crnOther : slaveProperties.getCrn()) {
                    if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
                        crn.updateCrnInStn(crnOther);
@@ -1073,14 +1115,14 @@
            }

            //  状态：等待确认 并且  任务完成位 = 1
            if (!Cools.isEmpty(crnProtocol.getTaskFinish()) && crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                //获取入库待确认工作档
                TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crnProtocol.getLaneNo(), crnProtocol.getTaskNo().intValue());
                if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
                    log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，巷道号={}，工作号={}", crn.getId(), crnProtocol.getLaneNo(), crnProtocol.getTaskNo());
                    continue;
                }
                Thread.sleep(300);
//                Thread.sleep(300);
                //确认完成信号
                CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
                crnOperatorParam.setCrnNo(crn.getId());
@@ -1090,7 +1132,7 @@
                if (!Cools.isEmpty(taskWrk)) {
                    if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
                        taskWrk.setWrkSts(4);//入库完成
                        taskWrk.setStatus(5);//完结
                        taskWrk.setStatus(TaskStatusType.OVER.id);//完结
                        //更新库位状态
                        LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
                        locMast.setLocSts("F");//F.在库
@@ -1100,7 +1142,7 @@
                        locMastService.updateById(locMast);
                    } else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
                        taskWrk.setWrkSts(13);//出库完成
                        taskWrk.setStatus(5);//完结
                        taskWrk.setStatus(TaskStatusType.OVER.id);//完结
                        //更新库位状态
                        LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
                        locMast.setLocSts("O");//O.空库位
@@ -1110,7 +1152,7 @@
                        locMastService.updateById(locMast);
                    } else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
                        taskWrk.setWrkSts(4);//入库完成
                        taskWrk.setStatus(5);//完结
                        taskWrk.setStatus(TaskStatusType.OVER.id);//完结
                        //更新库位状态
                        LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
                        locMast.setLocSts("F");//F.在库
@@ -1131,40 +1173,43 @@
                    taskWrkService.updateById(taskWrk);


                    try {
                        HashMap<String, Object> headParam = new HashMap<>();
                        headParam.put("taskNo", taskWrk.getTaskNo());
                        headParam.put("status", taskWrk.getStatus());
                        headParam.put("ioType", taskWrk.getIoTypeWms());
                        headParam.put("barcode", taskWrk.getBarcode());
                        String response;
                        log.error("wcs完结任务上报wms==》", headParam);

                        response = new HttpHandler.Builder()
                                // .setHeaders(headParam)
                                .setUri(wmsUrl)
                                .setPath(taskStatusFeedbackPath)
                                .setJson(JSON.toJSONString(headParam))
                                .build()
                                .doPost();
                        log.error("wcs完结任务上报wms==》", response);

//                        JSONObject jsonObject = JSON.parseObject(response);
//                        log.error("wcs完结任务上报wms==》", jsonObject);

                        apiLogService.save("wcs派发入库任务上报wms"
                                , wmsUrl + taskStatusFeedbackPath
                                , null
                                , "127.0.0.1"
                                , JSON.toJSONString(headParam)
                                , response
                                , true
                        );
                    } catch (Exception e) {
                        log.error("wcs完结任务上报wms失败", taskWrk);
                        log.error("wcs完结任务上报wms失败,报错信息：", e);
//                        throw new CoolException("wcs派发入库任务上报wms失败");
                    }
//                    try {
//                        HashMap<String, Object> headParam = new HashMap<>();
//                        headParam.put("taskNo",taskWrk.getTaskNo());
//                        headParam.put("taskStatus",taskWrk.getStatusWms());
//                        headParam.put("ioType",taskWrk.getIoTypeWms());
//                        headParam.put("barCode",taskWrk.getBarcode());
//                        headParam.put("reportTime", LocalDateTime.now());
//                        headParam.put("weight",taskWrk.getScWeight().doubleValue());
//
//                        String response;
//                        log.error("wcs完结任务上报wms==》", headParam);
//
//                        response = new HttpHandler.Builder()
//                                // .setHeaders(headParam)
//                                .setUri(wmsUrl)
//                                .setPath(taskStatusFeedbackPath)
//                                .setJson(JSON.toJSONString(headParam))
//                                .build()
//                                .doPost();
//                        log.error("wcs完结任务上报wms==》", response);
//
////                        JSONObject jsonObject = JSON.parseObject(response);
////                        log.error("wcs完结任务上报wms==》", jsonObject);
//
//                        apiLogService.save("wcs派发入库任务上报wms"
//                                , wmsUrl + taskStatusFeedbackPath
//                                , null
//                                , "127.0.0.1"
//                                , JSON.toJSONString(headParam)
//                                , response
//                                , true
//                        );
//                    } catch (Exception e) {
//                        log.error("wcs完结任务上报wms失败", taskWrk);
//                        log.error("wcs完结任务上报wms失败,报错信息：", e);
////                        throw new CoolException("wcs派发入库任务上报wms失败");
//                    }
                }

            }
@@ -1343,7 +1388,7 @@
        if (rgvProtocol == null || rgvTaskProtocol == null) {
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 || rgvProtocol.getRgvPosDestination() == 0L
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }
@@ -1360,6 +1405,49 @@
        }
        return true;
    }
    public boolean rgvOtherIDLEOther(RgvSlave slave) {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());

        if (rgvProtocol == null || rgvTaskProtocol == null) {
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }

        if (rgvProtocol.getLoaded()!=0) {
            return false;
        }
        return true;
    }
    public boolean rgvOtherIDLE(RgvSlave slave,Integer staNo) {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

        if (rgvProtocol == null || rgvTaskProtocol == null) {
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());

        if (rgvProtocolOther == null) {
            return true;
        }
        if (rgvProtocolOther.statusEnable) {
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
            if (Math.abs(basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos())
                    >=
                    Math.abs(basDevpPosition.getPlcPosition()-rgvProtocolOther.getRgvPos())){
                return false;
            }
        }
        return true;
    }

    public TaskWrk deviceDetection(RgvSlave.RgvStn inSta) {

@@ -1371,8 +1459,9 @@
        // 判断是否满足取货条件
        if (staProtocol.isAutoing()
//                && staProtocol.isLoading()
                && staProtocol.isStaOk()
                && staProtocol.getWorkNo() != 0) {
            TaskWrk taskWrk = taskWrkService.selectByTaskNo(staProtocol.getWorkNo().toString());
            TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo());
            if (taskWrk != null) {
                return taskWrk;
            }
@@ -1409,7 +1498,7 @@
                    for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()) {
                        TaskWrk taskWrk = deviceDetection(inSta);
                        if (taskWrk != null) {
                            if (taskWrk.getTaskNo().equals(taskNoNow)) continue;
                            if (taskWrk.getWrkNo().toString().equals(taskNoNow)) continue;
                            taskWrkList.add(taskWrk);
                            staList.add(inSta.getStaNo());
                        }
@@ -1442,7 +1531,7 @@
                                if (rgvStn.getStaNo().equals(staNoNow)) {
                                    TaskWrk taskWrk = deviceDetection(rgvStn);
                                    if (taskWrk != null) {
                                        BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
                                        BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                        if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                            sign = taskGenerate(rgvSlave, rgvStn, 0);
                                        }
@@ -1459,12 +1548,47 @@
                            for (Integer staNoNow : belongToRange) {
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
                                    if (rgvStn.getStaNo().equals(staNoNow)) {
                                        sign = taskGenerate(rgvSlave, rgvStn, 0);
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk != null) {
                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
                                            for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
                                                if (rgvStnOut.getStaNo().equals(outStaNo)) {
                                                    sign = taskGenerate(rgvSlave, rgvStn, 0);
                                                    break;
                                                }
                                            }
                                        }
                                        break;
                                    }
                                }
                                if (sign) {
                                    break;
                                }
                            }
                        }
                        if (!sign && staList.size()==1){
                            if (rgvOtherIDLEOther(rgvSlave)){
                                if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
                                    sign=true;
                                }
                            }
                            if (sign){
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
                                    if (rgvStn.getStaNo().equals(staList.get(0))) {
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk != null) {
                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
                                            for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
                                                if (rgvSuper.getStaNo().equals(outStaNo)){
                                                    sign=false;
                                                    break;
                                                }
                                            }
                                        } else {
                                            return;
                                        }
                                        break;
                                    }
                                }
                            }
                        }
@@ -1475,7 +1599,7 @@
                                    if (rgvStn.getStaNo().equals(staNoNow)) {
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk != null) {
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
                                            }
@@ -1493,7 +1617,16 @@
                            for (Integer staNoNow : rangeList) {
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
                                    if (rgvStn.getStaNo().equals(staNoNow)) {
                                        sign = taskGenerate(rgvSlave, rgvStn, 0);
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk != null) {
                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
                                            for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
                                                if (rgvStnOut.getStaNo().equals(outStaNo)) {
                                                    sign = taskGenerate(rgvSlave, rgvStn, 0);
                                                    break;
                                                }
                                            }
                                        }
                                        break;
                                    }
                                }
@@ -1509,7 +1642,7 @@
                                    if (rgvStn.getStaNo().equals(staNoNow)) {
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk != null) {
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
                                            }
@@ -1531,7 +1664,16 @@
                        for (Integer staNoNow : rangeList) {
                            for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
                                if (rgvStn.getStaNo().equals(staNoNow)) {
                                    sign = taskGenerate(rgvSlave, rgvStn, 0);
                                    TaskWrk taskWrk = deviceDetection(rgvStn);
                                    if (taskWrk != null) {
                                        Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
                                        for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
                                            if (rgvStnOut.getStaNo().equals(outStaNo)) {
                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
                                                break;
                                            }
                                        }
                                    }
                                    break;
                                }
                            }
@@ -1594,32 +1736,45 @@
                if (taskWrk == null) {
                    return false;
                }
                Integer targetPointConvert = taskWrk.getTargetPointConvert();
//                Integer targetPointConvert = taskWrk.getTargetPointConvert();
                Integer targetPointConvert = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
                if (targetPointConvert == null) {
                    return false;
                }
                RgvSlave.RgvStn rgvStnEnd = getRgvStnNow(rgvSlave, targetPointConvert);
                if (rgvStnEnd == null) {
                    return false;
                }

                BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
                BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
                //执行
                issuedTake.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
                issuedTake.setTaskStatus(1);
                issuedTake.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
                issuedTake.setTaskStatus(2);
                issuedTake.setTargetPositionStaNo(basDevpPositionSou.getDevNo());
                issuedTake.setTargetPositionStaNoPlcId(basDevpPositionSou.getPlcId());
                issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
                issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
                issuedTake.setIsRunning(1);
                issuedTake.setDirection(rgvStn.isDirection());
                issuedTake.setDirection(basDevpPositionSou.getRgvSign()==1);


                issuedPut.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
                issuedPut.setTaskStatus(2);
                issuedPut.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
                issuedPut.setTaskStatus(3);
                issuedPut.setTargetPositionStaNo(basDevpPositionEnd.getDevNo());
                issuedPut.setTargetPositionStaNoPlcId(basDevpPositionEnd.getPlcId());
                issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
                issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
                issuedPut.setIsRunning(1);
                issuedPut.setDirection(rgvStnEnd.isDirection());
                issuedPut.setDirection(basDevpPositionEnd.getRgvSign()==1);

                try{
                    if (taskWrk.getIoType()==2 && basDevpPositionEnd.getRgvSign()==1){
                        Date now = new Date();
                        taskWrk.setStatus(TaskStatusType.OVER.id);
                        taskWrk.setModiTime(now);//更新时间
                        taskWrk.setCompleteTime(now);//完结时间
                        taskWrkService.updateById(taskWrk);
                    }
                } catch (Exception e){

                }
            } catch (Exception e) {
                log.error("任务生成失败issued1===》异常信息：{}", e.getMessage());
                return false;