#

1

6 天以前 6fcad8a10aab91b9a0825b0465b7e21d37df2332

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

@@ -260,6 +260,7 @@
                            staProtocolNew.setWorkNo(wrkMast.getWrkNo());
                            staProtocolNew.setStaNo(RouteUtils.SouStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
                            staProtocolNew.setSiteId(staProtocol.getSiteId());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            staProtocolNew.setBarcode(barcode);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolNew));
                            if (ledThread != null) {
@@ -283,10 +284,9 @@
                        if (!result) {
                            News.error(methodName + ":更新plc站点信息失败");
                            log.error("输送线下发(存在设备上走的工作档，直接下发！)==>更新plc站点信息失败");

//                            throw new CoolException("更新plc站点信息失败");
                            continue;
                        }
                        continue;

                    }
                    WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
@@ -327,41 +327,14 @@

                                throw new CoolException("更新plc站点信息失败");
                            }
                        }
//                        else if (jsonObject.getInteger("code").equals(700)) {
//                            SearchLocParam param2 = new SearchLocParam();
//                            param2.setBarcode(barcode);
//                            param2.setBarcodeMat(barcodeMat);
//                            param2.setSourceStaNo(inSta.getStaNo());
//                            param2.setLocType1(locTypeDto.getLocType1());
//                            String response2 = new HttpHandler.Builder()
//                                    .setUri(wmsUrl)
//                                    .setPath("/rpc/pakin/yk/loc/v33")
//                                    .setJson(JSON.toJSONString(param2))
//                                    .build()
//                                    .doPost();
//                            JSONObject jsonObject2 = JSON.parseObject(response2);
//                            if (jsonObject2.getInteger("code").equals(200)) {
//                                log.info("自动组托成功！！");
//                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "自动组托成功"));
//                            } else {
//                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "自动组托失败！！！barcodeMat==>"+barcodeMat));
//                                News.error(methodName + "==>组托失败:请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/yk/loc/v33", JSON.toJSONString(param), response2);
//                            }
//                            try{
//                                Thread.sleep(500);
//                            } catch (Exception e){
//
//                            }
//                        }
                        else {
                        } else {
                            News.error(JSON.toJSONString(staProtocol));
                            staProtocol.setWorkNo(wrkNo);
                            wrkNo++;
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            News.info("任务下发判断{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
                            News.info("任务下发判断{}入库回退：{}，错误编号{},任务号：{}", inSta.getStaNo(), errMsg,jsonObject.getInteger("code"),wrkNo);
                            wrkNo++;
//                            if (ledThread != null) {
                                String errorMsg = jsonObject.getString("msg");
                                if (!Cools.isEmpty(errorMsg)) {
@@ -774,6 +747,101 @@
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
                    WrkMast wrkMast9997 = wrkMastMapper.selectPakOutStep9997(staProtocol.getSiteId());
                    WrkMast wrkMast9996 = wrkMastMapper.selectPakOutStep9996(staProtocol.getSiteId());

                    if(crnSlave.getId() == 3 && wrkMast9997 != null){
                        WrkMast wrkMast107 = wrkMastMapper.selectPakOutStep107(wrkMast9997.getBarcode());
                        // 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, wrkMast107.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(wrkMast107.getWrkNo().shortValue())
                                && crnProtocol.statusType == CrnStatusType.WAITING
                                && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                            log.info("堆垛机出库完成 - 开始执行");

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

                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast107.getWrkNo());
                            staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast107.getStaNo(),wrkMast107.getSourceStaNo()));
                            if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发失败");
                                continue;
                            }else {
                                log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发成功");
                            }

                            // 更新工作档状态为14失败
                            wrkMast9997.setWrkSts(14L);
                            wrkMast9997.setCrnEndTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast9997) != 0) {
                                // 复位堆垛机
                                log.error("出库任务完成下发堆垛机复位,{}", wrkMast9997.getWrkNo());
                                crnThread.setResetFlag(true);
                            } else {
                                News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast9997.getWrkNo());
                            }

                        }else {
                            News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！"
                                    +" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO
                                    +"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast9997.getWrkNo().shortValue()
                                    +"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
                                    +"、货叉位置："+crnProtocol.forkPosType+"==HOME：0  // 货叉原位：" + CrnForkPosType.HOME);
                        }
                    }
                    if(crnSlave.getId() == 3 && wrkMast9996 != null){
                        WrkMast wrkMast107 = wrkMastMapper.selectPakOutStep107(wrkMast9996.getBarcode());
                        // 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, wrkMast107.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(wrkMast107.getWrkNo().shortValue())
                                && crnProtocol.statusType == CrnStatusType.WAITING
                                && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                            log.info("堆垛机出库完成 - 开始执行");

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

                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast107.getWrkNo());
                            staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast107.getStaNo(),wrkMast107.getSourceStaNo()));
                            if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发失败");
                                continue;
                            }else {
                                log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发成功");
                            }

                            // 更新工作档状态为14失败
                            wrkMast9996.setWrkSts(14L);
                            wrkMast9996.setCrnEndTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast9996) != 0) {
                                // 复位堆垛机
                                log.error("出库任务完成下发堆垛机复位,{}", wrkMast9996.getWrkNo());
                                crnThread.setResetFlag(true);
                            } else {
                                News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast9996.getWrkNo());
                            }

                        }else {
                            News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！"
                                    +" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO
                                    +"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast9996.getWrkNo().shortValue()
                                    +"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
                                    +"、货叉位置："+crnProtocol.forkPosType+"==HOME：0  // 货叉原位：" + CrnForkPosType.HOME);
                        }
                    }
                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
                    if (wrkMast == null) {
@@ -846,7 +914,7 @@
            } else {
                staProtocolIn = staProtocolIn.clone();
            }
            int[] outStaNos = {1015, 2016};
            int[] outStaNos = {1015, 2016}; //衔接入库点
            for (int outStaNo : outStaNos) {
                StaProtocol staProtocolOut = devpThread.getStation().get(outStaNo);// 盘点出库衔接站点（可能是 1015，也可能是 2016）
                if (staProtocolOut == null) {
@@ -855,14 +923,17 @@
                    staProtocolOut = staProtocolOut.clone();
                }

                if (staProtocolOut.getWorkNo() != null && staProtocolOut.getStaNo() == 4006) {
                    WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
                WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
                if(wrkMastOut == null ){
                    continue;
                }
                if (staProtocolOut.getWorkNo() != null && wrkMastOut.getStaNo() == 4006) {
                    WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9997);
                    if (wrkMastOut == null) {
                        continue;
                    }
                    if (wrkMast != null) {
                        News.info("已存在斜街任务，等待任务完成");
//                        News.info("已存在斜街任务，等待任务完成");
                        continue;
                    }
                    try {
@@ -1067,61 +1138,62 @@
            } else {
                staProtocol = staProtocol.clone();
            }
//            if (slave.getId() == 3) {
//                SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
//                StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
//                if (staProtocol2 == null) {
//                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
//                    break;
//                } else {
//                    staProtocol2 = staProtocol2.clone();
//                }
//                WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9996);
//                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
//                if (staDetl == null) {
//                    News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
//                    break;
////                    continue;
//                }
//                if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
//                    // 堆垛机控制过滤
//                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
////                        continue;
//                        break;
//                    }
//                    // 已经存在吊车执行任务时，则过滤
//                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
//                        break;
////                        return;
//                    }
//                    // 1.堆垛机开始移动
//                    CrnCommand crnCommand = new CrnCommand();
//                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
//                    crnCommand.setTaskNo((short) 9996); // 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((short) 5);     // 源库位排
//                    crnCommand.setSourcePosY((short) 1);     // 源库位列
//                    crnCommand.setSourcePosZ((short) 4);     // 源库位层
//                    crnCommand.setDestinationPosX((short) 6);     // 目标库位排
//                    crnCommand.setDestinationPosY((short) 1);     // 目标库位列
//                    crnCommand.setDestinationPosZ((short) 1);     // 目标库位层
////                crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
//                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.getCrnNo(), new Task(2, crnCommand))) {
//                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9999.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();
//                        wrkMast9999.setWrkSts(3L);
//                        wrkMast9999.setCrnStrTime(now);
//                        wrkMast9999.setModiTime(now);
//                        if (wrkMastMapper.updateById(wrkMast9999) == 0) {
//                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9999.getWrkNo());
//                        }
//                        break;
//                    }
//                }
//            }
            WrkMast wrkMast9996 = wrkMastMapper.selectByWrkNo9996(9996);

            if (slave.getId() == 3 && wrkMast9996 != null) {
                SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
                if (staProtocol2 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
                    break;
                } else {
                    staProtocol2 = staProtocol2.clone();
                }
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    break;
//                    continue;
                }
                if( staProtocol2.isAutoing() && staProtocol2.isLoading() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                        break;
                    }
                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
//                        return;
                    }
                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo((short) 9996); // 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((short) 9);     // 源库位排
                    crnCommand.setSourcePosY((short) 52);     // 源库位列
                    crnCommand.setSourcePosZ((short) 3);     // 源库位层
                    crnCommand.setDestinationPosX((short) 9);     // 目标库位排
                    crnCommand.setDestinationPosY((short) 52);     // 目标库位列
                    crnCommand.setDestinationPosZ((short) 2);     // 目标库位层
//                crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast9996.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9996.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();
                        wrkMast9996.setWrkSts(3L);
                        wrkMast9996.setCrnStrTime(now);
                        wrkMast9996.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast9996) == 0) {
                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9996.getWrkNo());
                        }
                        break;
                    }
                }
            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
@@ -1266,8 +1338,10 @@
            // 获取工作状态为11（生成出库ID）的出库工作档
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            if (slave.getId() == 3) {
                SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            WrkMast wrkMast9997 = wrkMastMapper.selectByWrkNo9997(9997);

            if (slave.getId() == 3 && wrkMast9997 != null) {
                SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                StaProtocol staProtocol2 = devpThread1.getStation().get(1015);
                if (staProtocol2 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
@@ -1275,14 +1349,21 @@
                } else {
                    staProtocol2 = staProtocol2.clone();
                }
                WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9997);
                SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
                StaProtocol staProtocol3 = devpThread2.getStation().get(2016);
                if (staProtocol3 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
                    break;
                } else {
                    staProtocol3 = staProtocol3.clone();
                }
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    break;
//                    continue;
                }
                if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
                if(staProtocol2.isLoading() && staProtocol2.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
@@ -1299,23 +1380,61 @@
                    crnCommand.setTaskNo((short) 9997); // 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((short) 5);     // 源库位排
                    crnCommand.setSourcePosY((short) 1);     // 源库位列
                    crnCommand.setSourcePosX((short) 9);     // 源库位排
                    crnCommand.setSourcePosY((short) 52);     // 源库位列
                    crnCommand.setSourcePosZ((short) 1);     // 源库位层
                    crnCommand.setDestinationPosX((short) 6);     // 目标库位排
                    crnCommand.setDestinationPosY((short) 1);     // 目标库位列
                    crnCommand.setDestinationPosZ((short) 4);     // 目标库位层
                    crnCommand.setDestinationPosX((short) 11);     // 目标库位排
                    crnCommand.setDestinationPosY((short) 52);     // 目标库位列
                    crnCommand.setDestinationPosZ((short) 3);     // 目标库位层
//                crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9999.getCrnNo(), JSON.toJSON(crnCommand));
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast9997.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9997.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();
                        wrkMast9999.setWrkSts(12L);
                        wrkMast9999.setCrnStrTime(now);
                        wrkMast9999.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast9999) == 0) {
                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9999.getWrkNo());
                        wrkMast9997.setWrkSts(12L);
                        wrkMast9997.setCrnStrTime(now);
                        wrkMast9997.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast9997) == 0) {
                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9997.getWrkNo());
                        }
                        break;
                    }
                }
                if(staProtocol3.isLoading() && staProtocol3.isAutoing()){
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                        break;
                    }
                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
//                        return;
                    }
                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo((short) 9997); // 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((short) 11);     // 源库位排
                    crnCommand.setSourcePosY((short) 52);     // 源库位列
                    crnCommand.setSourcePosZ((short) 2);     // 源库位层
                    crnCommand.setDestinationPosX((short) 11);     // 目标库位排
                    crnCommand.setDestinationPosY((short) 52);     // 目标库位列
                    crnCommand.setDestinationPosZ((short) 3);     // 目标库位层
//                crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast9997.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9997.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();
                        wrkMast9997.setWrkSts(12L);
                        wrkMast9997.setCrnStrTime(now);
                        wrkMast9997.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast9997) == 0) {
                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9997.getWrkNo());
                        }
                        break;
                    }
@@ -2581,18 +2700,18 @@
    public synchronized void autoEmptyOut() {
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        List<Integer> list = new ArrayList<>();
        list.add(1109);list.add(2031);
        list.add(1108);list.add(2031);
        for (Integer site:list){
            Integer emptyCount = wrkMastMapper.countPakOutEmpty(site);
            StaProtocol staProtocol = null;
            if(emptyCount >= 2 && site == 1109){
            if(emptyCount >= 1 && site == 1108){
                continue;
            }else if(emptyCount == 1 && site == 2031){
                continue;
            }
            //如果站点可出禁用，则不生成空盘出库任务
            switch (site){
                case 1109:staProtocol = devpThread.getStation().get(site - 2);break;
                case 1108:staProtocol = devpThread.getStation().get(site - 2);break;
                case 2031:staProtocol = devpThread.getStation().get(site);break;
            }
            if (staProtocol == null) {
@@ -2602,7 +2721,7 @@
            }
            if (staProtocol.isAutoing()  //自动
                    && !staProtocol.isLoading()  //无物
                    && staProtocol.isOutEnable()  //可出信号
//                    && staProtocol.isOutEnable()  //可出信号
                    && staProtocol.getWorkNo() == 0
            ) {
                Short loctype1 = 1;
@@ -3352,7 +3471,7 @@
            if(wrkMastSta1 != null && wrkMastSta2 != null){
                rgvThread.setPakMk(false);  //小车双工位锁定
            }
//            if(!rgvThread.isPakToCrn()){
//            if(basRgv.getPakToCrn().equals("0")){
//                rgvRunWrkToCrn(rgv, rgvProtocol,mark); //若小车取到一个接驳任务，第二个工位只能取接驳任务
//            }
//            if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakIn() && rgvThread.isPakRgv()){
@@ -3607,6 +3726,9 @@
                continue;
            }
            WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
            if(basRgv.getPakToCrn().equals("0")){
                wrkMastSta = wrkMastStaMapper.selectNoInterfereCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));
            }
            boolean result = false;
            if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //距离计算   2楼单入库口不需要计算
                result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
@@ -3615,7 +3737,6 @@
                basRgv.setPakRgv("0");
                basRgvService.updateById(basRgv);

//                rgvThread.setPakRgv(false);
                continue;
            }
            wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//若1号工位有任务给2号工位
@@ -3626,8 +3747,11 @@
                if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
                    basRgv.setPakToCrn("0");
                    basRgvService.updateById(basRgv);

//                    rgvThread.setPakToCrn(false); //锁定小车只能接接驳任务
                    if(wrkMastSta3 != null){
                        if(!LEFT_POSITION.contains(wrkMastSta3.getStaEnd())){
                            wrkMastSta3 = null;//若接驳第二位不接驳时取消连续取货
                        }
                    }
                }

                if(wrkMastSta3 != null ){
@@ -4240,7 +4364,9 @@
                    List<BasArmMast> basArmMastListRuning3 = basArmMastService.selectList(
                            new EntityWrapper<BasArmMast>()
                                    .eq("arm_no", basArm.getArmNo())
                                    .eq("sorting_line", basArm.getSortingLineSou())
                                    .eq(

                                            "sorting_line", basArm.getSortingLineSou())
                                    .eq("status", 3)
                    );
                    if (basArmMastListRuning.isEmpty() && basArmMastListRuning3.isEmpty()){
@@ -4254,7 +4380,7 @@
                            continue;
                        }
                        if (basArmMastList.size()>1){
                            armTaskAssignmentCallApiLogSave(staProtocol, "任务待执行数量大于1", "arm编号："+basArm.getArmNo()+"====》拆码垛任务异常禁止下发！！！任务待执行数量大于1！！！", false);
                            armTaskAssignmentCallApiLogSave(staProtocol, "任务待执行数量大于1,无法分辨待执行任务", "arm编号："+basArm.getArmNo()+"====》拆码垛任务异常禁止下发！！！任务待执行数量大于1！！！", false);

//                            log.error("arm编号："+basArm.getArmNo()+"====》拆码垛任务异常禁止下发！！！任务待执行数量大于1！！！");
                            continue;
@@ -4266,13 +4392,34 @@
                                        .eq("sorting_line", basArm.getSortingLineSou())
                                        .eq("sku", basArmMast.getSku())
                                        .eq("order_no", basArmMast.getOrderNo())
                                        .eq("binding_tags", basArmMast.getBindingTags())
                        );
                        if (basArmMastListOrder.size()==1){
                            Thread.sleep(100);


                            List<BasArmMast> basArmMastListRuningBarCode2 = basArmMastService.selectList(
                                    new EntityWrapper<BasArmMast>()
                                            .eq("barcode", barcode)
                            );
                            if (!basArmMastListRuningBarCode2.isEmpty()){
                                int binding_tags = basArmMastService.selectCount(
                                        new EntityWrapper<BasArmMast>()
                                                .eq("status", 2)
                                                .eq("binding_tags", basArmMast.getBindingTags())
                                );
                                if (binding_tags<2){
                                    armTaskAssignmentCallApiLogSave(staProtocol, "条码数据已存在！！！", staProtocol.getSiteId()+"码垛位置，条码数据正在自动组托===>>" + barcode, false);
                                    continue;
                                }
                            }
                            OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getSku());

                            if (Cools.isEmpty(orderDetlValueResultUtil)){
                                continue;
                            }
                            Double anfmeSign = basArmMastService.selectBasArmMastSignValue(basArmMast.getOrderNo(), basArmMast.getSku(),basArmMast.getBindingTags());
                            orderDetlValueResultUtil.setAnfme(anfmeSign);
                            //订单下发
                            try{
                                ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);