#

LSH

2023-01-29 74e21cf5b984c1e9c75a4d11153d6193dfa92140

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

@@ -21,6 +21,7 @@
import com.zy.common.service.CommonService;
import com.zy.common.utils.CollectionUtils;
import com.zy.common.utils.HttpHandler;
import com.zy.common.utils.News;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
@@ -94,7 +95,8 @@
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
     */
    public synchronized void generateStoreWrkFile() {
    public synchronized void generateStoreWrkFile(Integer mark) {
        News.warn(""+mark+" - 0"+" - 开始执行");
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
@@ -102,15 +104,6 @@
                // 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;
                }

@@ -123,46 +116,84 @@
                    staProtocol = staProtocol.clone();
                }

                //LED
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                // 入出库模式判断
//                if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
                if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
                    continue;
                }
//                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)) {
                        && staProtocol.isPakMk() && staProtocol.getStamp()>=2) {// && !Cools.isEmpty(barcode)) {

//                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
//                        //条码为空或者不符合，退库到172站点
//                        staProtocol.setWorkNo((short)9999);
//                        staProtocol.setStaNo((short)172);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }
//                        continue;
//                    }
//                    try {
//                        Thread.sleep(300);
//                    }catch (Exception e){}

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

                            News.info(""+mark+" - 2"+" - 扫码失败1 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = "扫码失败，请重试";
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                            }
                            continue;
                        }
                    } else {
                        staProtocol.setWorkNo((short) 9999);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

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

                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    //过滤判断，防止拣料再入库货物，经过入库站再入库时，被退回到退库站
                    WrkMast wrkMast1 = wrkMastMapper.selectPakInStepBarcode(barcode);
                    if (wrkMast1 !=null){
                        if (wrkMast1.getIoType()==103 || wrkMast1.getIoType()==107 || wrkMast1.getIoType()==104){
                            continue;
                        }
                    }
                    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());
                        News.error(""+mark+" - 4"+" - 工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        staProtocol.setWorkNo((short)9999);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
                        }

                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "工作档已存在该条码号===>>" + barcode;
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                        }
                        continue;
                    }
//                    // 获取入库通知档
//                    List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
//                    if (waitPakins.isEmpty()) {
//                        log.error("无此入库条码数据。条码号={}", barcode);
//                        continue;
//                    }

                    try {

                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
@@ -188,67 +219,38 @@
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }

                            // led 入库信息显示
                            if (ledThread != null) {
                                // 命令集合
                                List<LedCommand> commands = new ArrayList<>();
                                // 组装命令
                                LedCommand ledCommand = new LedCommand();
                                ledCommand.setWorkNo(dto.getWorkNo());
                                ledCommand.setIoType(1);
                                ledCommand.setTitle("全板入库");
                                ledCommand.setLocNo(dto.getLocNo());
                                ledCommand.setStaNo(dto.getStaNo());
                                commands.add(ledCommand);
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, commands));
//                                ledThread.errorReset();
                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            News.error(""+mark+" - 5"+" - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            staProtocol.setWorkNo((short)9999);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }

                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = jsonObject.getString("msg");
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                            }
                        }


//                        // 检索库位
//                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
//                        List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
//                        StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos, locTypeDto, 0);
//                        // 工作号
//                        int workNo = startupDto.getWorkNo();
//                        // 插入工作明细档
//                        wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);
//
//                        // 插入工作主档
//                        wrkMast = new WrkMast();
//                        wrkMast.setWrkNo(workNo);
//                        wrkMast.setIoTime(new Date());
//                        wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
//                        wrkMast.setIoType(1); // 入出库状态：1.入库
//                        wrkMast.setIoPri(10D); // 优先级：10
//                        wrkMast.setCrnNo(startupDto.getCrnNo());
//                        wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
//                        wrkMast.setStaNo(startupDto.getStaNo());
//                        wrkMast.setLocNo(startupDto.getLocNo());
//                        wrkMast.setBarcode(barcode); // 托盘码
//                        wrkMast.setFullPlt("Y"); // 满板：Y
//                        wrkMast.setPicking("N"); // 拣料
//                        wrkMast.setExitMk("N"); // 退出
//                        wrkMast.setEmptyMk("N"); // 空板
//                        wrkMast.setLinkMis("N");
//                        // 操作人员数据
//                        wrkMast.setAppeTime(new Date());
//                        wrkMast.setModiTime(new Date());
//                        Integer insert = wrkMastMapper.insert(wrkMast);
//                        if (insert == 0) {
//                            throw new CoolException("保存工作档失败");
//                        }
//                        // 更新目标库位状态
//                        LocMast locMast = locMastService.selectById(startupDto.getLocNo());
//                        locMast.setLocSts("S"); // S.入库预约
//                        locMast.setModiTime(new Date());
//                        if (!locMastService.updateById(locMast)){
//                            throw new CoolException("改变库位状态失败");
//                        }
//                        // 将入库通知档修改为已启动
//                        if (wrkMastMapper.updateWaitPakInStep1(barcode) == 0) {
//                            throw new CoolException("修改入库通知档状态为已启动失败");
//                        }
//
//                        // 命令下发区 --------------------------------------------------------------------------
//
//                        // 更新站点信息 且 下发plc命令
//                        barcodeThread.setBarcode("");
//                        staProtocol.setWorkNo((short) workNo);
//                        staProtocol.setStaNo(startupDto.getStaNo().shortValue());
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }

                    } catch (Exception e) {
                        e.printStackTrace();
@@ -257,9 +259,9 @@

                }


            }
        }
        News.info(""+mark+" - 0"+" - 执行完成");

    }

@@ -267,7 +269,8 @@
     * wms入库
     * 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
     */
    public synchronized void generateStoreWrkFile0() {
    public synchronized void generateStoreWrkFile0(Integer mark) {
        News.warn(""+mark+" - 0"+" - 开始执行");
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
@@ -308,10 +311,10 @@
                        wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
                        wrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
                            News.error(""+mark+" - 1"+" - 更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
                        }
                    } else {
                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                        News.error(""+mark+" - 2"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }

                }
@@ -319,30 +322,32 @@

            }
        }
        News.info(""+mark+" - 0"+" - 执行完成");

    }

    /**
     * 拣料、并板、盘点再入库
     */
    public synchronized void stnToCrnStnPick() {
    public synchronized void stnToCrnStnPick(Integer mark) {
        News.warn(""+mark+" - 0"+" - 开始执行");
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历拣料入库口
            for (DevpSlave.Sta pickSta : devp.getPickSta()) {
//                // 获取条码扫描仪信息
//                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
//                if (barcodeThread == null) {
//                    continue;
//                }
//                String barcode = barcodeThread.getBarcode();
//                if(!Cools.isEmpty(barcode)) {
//                    log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        continue;
//                    }
//                } else {
//                    continue;
//                }
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                if(!Cools.isEmpty(barcode)) {
                    News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
                } else {
                    continue;
                }

                // 获取拣料入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
@@ -357,8 +362,8 @@
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
//                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                    if (wrkMast == null) {
                        // 无拣料数据
                        continue;
@@ -384,7 +389,7 @@
                            .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                    StaDesc staDesc = staDescService.selectOne(wrapper);
                    if (Cools.isEmpty(staDesc)) {
                        log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
                        News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
                        continue;
                    }

@@ -434,7 +439,7 @@
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    if (!result) {
                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                        News.error(""+mark+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }

                }
@@ -442,12 +447,14 @@
            }

        }
        News.info(""+mark+" - 0"+" - 执行完成");
    }

    /**
     * 堆垛机站出库到出库站
     */
    public synchronized void crnStnToOutStn() {
    public synchronized void crnStnToOutStn(Integer mark) {
        News.warn(""+mark+" - 0"+" - 开始执行");
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            // 遍历堆垛机出库站
            for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
@@ -497,7 +504,7 @@
                            // 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());
                            News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                        }

                    }
@@ -505,12 +512,14 @@
                }
            }
        }
        News.info(""+mark+" - 0"+" - 执行完成");
    }

    /**
     * 入出库  ===>>  堆垛机入出库作业下发
     */
    public synchronized void crnIoExecute() {
    public synchronized void crnIoExecute(Integer mark) {
        News.warn(""+mark+" - 0"+" - 开始执行");
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -520,7 +529,7 @@
            }
            BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
            if (basCrnp == null) {
                log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
                News.error(""+mark+" - 1"+" - {}号堆垛机尚未在数据库进行维护！", crn.getId());
                continue;
            }

@@ -558,6 +567,7 @@
//            this.crnRebackHp(crnProtocol, crnThread);

        }
        News.info(""+mark+" - 0"+" - 执行完成");
    }

    /**
@@ -595,7 +605,7 @@
            if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
                return;
            }
            log.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
            News.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
@@ -609,7 +619,7 @@
            crnCommand.setDestinationPosY((short) 0);     // 目标库位列
            crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
                log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
                News.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
            }
            crnThread.setBackHpFlag(true);
        }
@@ -633,7 +643,7 @@
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                News.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
@@ -652,11 +662,11 @@
            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
            if (locMast == null) {
                log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
                News.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
                continue;
            }
            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
                log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
                News.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
                continue;
            }

@@ -678,12 +688,12 @@
                if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    if (null == waitWrkMast) {
                        log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                        News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                    } else {
                        waitWrkMast.setIoPri(15D);
                        waitWrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                            log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                            News.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                        }
                        continue;
                    }
@@ -712,7 +722,7 @@
            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.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
@@ -721,7 +731,7 @@
            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            } else {

//                long startTime = System.currentTimeMillis();
@@ -742,7 +752,7 @@
                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());
                    News.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());
                }
            }
        }
@@ -763,13 +773,13 @@
                }
                // 工作档状态判断
                if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
                    log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                    News.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                    continue;
                }
                // 获取源库位信息
                LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
                if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
                    log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                    News.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                    continue;
                }
                // 获取堆垛机出库站信息
@@ -791,7 +801,7 @@
                // 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());
                    News.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    break;
//                    continue;
                }
@@ -814,13 +824,13 @@
                        if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            if (null == waitWrkMast) {
                                log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                                News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                            } else {
                                if (waitWrkMast.getWrkSts() == 11) {
                                    waitWrkMast.setIoPri(15D);
                                    waitWrkMast.setModiTime(new Date());
                                    if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                        log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                        News.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                    }
                                    continue;
                                } else {
@@ -840,7 +850,7 @@
                                // 生成工作档,将浅库位移转到新的库位中
                                moveLocForDeepLoc(slave, shallowLoc);
                            }
                            log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                            News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                            continue;
                        } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
@@ -860,7 +870,7 @@
                    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.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
@@ -869,7 +879,7 @@
                    crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                        News.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();
@@ -877,7 +887,7 @@
                        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());
                            News.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());
                        }
                        break;
                    }
@@ -1015,7 +1025,7 @@
        // 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());
            News.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
@@ -1025,7 +1035,7 @@
        // 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());
            News.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
@@ -1057,7 +1067,7 @@
        crnCommand.setDestinationPosY(sta.getBay1().shortValue());     // 目标库位列
        crnCommand.setDestinationPosZ(sta.getLev1().shortValue());     // 目标库位层
        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
            log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            News.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();
@@ -1065,7 +1075,7 @@
            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());
                News.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());
            }
        }

@@ -1074,7 +1084,8 @@
    /**
     * 执行对工作档的完成操作
     */
    public synchronized void storeFinished() {
    public synchronized void storeFinished(Integer mark) {
        News.warn(""+mark+" - 0"+" - 开始执行");
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -1091,7 +1102,7 @@
                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                    if (wrkMast == 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());
                        News.error(""+mark+" - 1"+" - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                        continue;
                    }
                    // 入库 + 库位转移  ==> 4.入库完成
@@ -1112,12 +1123,14 @@

            }
        }
        News.info(""+mark+" - 0"+" - 开始执行");
    }

    /**
     * 堆垛机异常信息记录
     */
    public synchronized void recCrnErr() {
    public synchronized void recCrnErr(Integer mark) {
        News.warn(""+mark+" - 0"+" - 开始执行");
        Date now = new Date();
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
@@ -1164,7 +1177,7 @@
                                    "任务中异常"    // 备注
                            );
                            if (!basErrLogService.insert(basErrLog)) {
                                log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                                News.error(""+mark+" - 1"+" - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                            }
                        }
                    } else {
@@ -1174,7 +1187,7 @@
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
                            if (!basErrLogService.updateById(latest)) {
                                log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                                News.error(""+mark+" - 2"+" - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                            }
                        }
                    }
@@ -1211,7 +1224,7 @@
                                    "无任务异常"    // 备注
                            );
                            if (!basErrLogService.insert(basErrLog)) {
                                log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                                News.error(""+mark+" - 3"+" - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                            }
                        }
                        // 无异常
@@ -1222,7 +1235,7 @@
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
                            if (!basErrLogService.updateById(latest)) {
                                log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                                News.error(""+mark+" - 4"+" - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                            }
                        }
                    }
@@ -1230,6 +1243,7 @@
            }

        }
        News.info(""+mark+" - 0"+" - 开始执行");
    }


@@ -1238,7 +1252,8 @@
    /**
     * 空栈板初始化入库,叉车入库站放货
     */
    public synchronized void storeEmptyPlt() {
    public synchronized void storeEmptyPlt(Integer mark) {
        News.warn(""+mark+" - 0"+" - 开始执行");
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历空板入库口
            for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
@@ -1251,9 +1266,18 @@
                    staProtocol = staProtocol.clone();
                }

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

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

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -1280,79 +1304,55 @@
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }

                            if (ledThread != null) {
                                // 命令集合
                                List<LedCommand> commands = new ArrayList<>();
                                // 组装命令
                                LedCommand ledCommand = new LedCommand();
                                ledCommand.setWorkNo(dto.getWorkNo());
                                ledCommand.setIoType(1);
                                ledCommand.setTitle("全板入库");
                                ledCommand.setLocNo(dto.getLocNo());
                                ledCommand.setStaNo(dto.getStaNo());
                                commands.add(ledCommand);
                                MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, commands));
//                                ledThread.errorReset();
                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            staProtocol.setWorkNo((short)9999);
                            staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }

                            if (ledThread != null) {
                                String errorMsg = jsonObject.getString("msg");
                                if (!Cools.isEmpty(errorMsg)) {
                                    MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
                                }
                            }
                            News.error(""+mark+" - 1"+" - 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();
                    }


//                    // 检索库位
//                    LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
//                    StartupDto startupDto = commonService.getLocNo(1, 10, emptyInSta.getStaNo(), null, locTypeDto, 0);
//                    // 工作号
//                    int workNo = startupDto.getWorkNo();
//
//                    try {
//                        // 插入工作主档
//                        WrkMast wrkMast = new WrkMast();
//                        wrkMast.setWrkNo(workNo);
//                        wrkMast.setIoTime(new Date());
//                        wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
//                        wrkMast.setIoType(10); // 入出库状态：10.空板入库
//                        wrkMast.setIoPri(10D); // 优先级：10
//                        wrkMast.setCrnNo(startupDto.getCrnNo());
//                        wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
//                        wrkMast.setStaNo(startupDto.getStaNo());
//                        wrkMast.setLocNo(startupDto.getLocNo());
//                        wrkMast.setFullPlt("N"); // 满板
//                        wrkMast.setPicking("N"); // 拣料
//                        wrkMast.setExitMk("N"); // 退出
//                        wrkMast.setEmptyMk("Y"); // 空板
//                        wrkMast.setLinkMis("N");
////                    wrkMast.setCtnType(sourceStaNo.getCtnType()); // 容器类型
//                        // 操作人员数据
//                        wrkMast.setAppeTime(new Date());
//                        wrkMast.setModiTime(new Date());
//                        Integer insert = wrkMastMapper.insert(wrkMast);
//                        if (insert == 0) {
//                            throw new CoolException("保存工作档失败");
//                        }
//                        // 更新目标库位状态
//                        LocMast locMast = locMastService.selectById(startupDto.getLocNo());
//                        locMast.setLocSts("S"); // S.入库预约
//                        locMast.setModiTime(new Date());
//                        if (!locMastService.updateById(locMast)){
//                            throw new CoolException("改变库位状态失败");
//                        }
//                        // 命令下发区 --------------------------------------------------------------------------
//
//                        // 更新站点信息 且 下发plc命令
//                        staProtocol.setWorkNo((short) workNo);
//                        staProtocol.setStaNo(startupDto.getStaNo().shortValue());
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }
//                    } catch (Exception e) {
//                        e.printStackTrace();
//                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
//                    }

                }


            }
        }
        News.info(""+mark+" - 0"+" - 开始执行");
    }

    /**
     * 出库  ===>> 工作档信息写入led显示器
     */
    public synchronized void ledExecute() {
    public synchronized void ledExecute(Integer mark) {
        News.warn(""+mark+" - 0"+" - 开始执行");
        for (LedSlave led : slaveProperties.getLed()) {
            // 获取输送线plc线程
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
@@ -1404,7 +1404,7 @@
                        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());
                        News.error(""+mark+" - 1"+" - 任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                        break;
                }
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
@@ -1428,14 +1428,14 @@
            if (!commands.isEmpty()) {
                if (led.getId() == 7) {
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
                        log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                        News.error(""+mark+" - 2"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                        continue;
                    } else {
                        ledThread.setLedMk(false);
                    }
                } else {
                    if (!MessageQueue.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());
                        News.error(""+mark+" - 3"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                        continue;
                    } else {
                        ledThread.setLedMk(false);
@@ -1463,39 +1463,14 @@
            }

        }
        News.info(""+mark+" - 0"+" - 开始执行");
    }

    /**
     * 其他  ===>> LED显示器复位，显示默认信息
     */
    public synchronized 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;
//                } else {
//                    staProtocol = staProtocol.clone();
//                }
//                if (staProtocol.getWorkNo() != 0) {
//                    reset = false;
//                    break;
//                }
//            }
//            // 获取led线程
//            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
//            // led显示默认内容
//            if (reset) {
//                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());
//                }
//            }
//        }
    public synchronized void ledReset(Integer mark) {
        News.warn(""+mark+" - 0"+" - 开始执行");
        for (LedSlave led : slaveProperties.getLed()) {
            // 获取输送线plc线程
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
@@ -1516,23 +1491,15 @@
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
            // led显示默认内容
            if (reset && !ledThread.isLedMk()) {
                if (led.getId() == 7) {
                    ledThread.setLedMk(true);
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
                        log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    } else {

                    }
                ledThread.setLedMk(true);
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
                    News.error(""+mark+" - 1"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                } else {
                    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 {

                    }
                }
            }
        }
        News.info(""+mark+" - 0"+" - 开始执行");
    }

    /**
@@ -1658,7 +1625,7 @@
            }

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

@@ -1723,7 +1690,7 @@
                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);
            News.error("双深库位阻塞，对浅库位进行移转失败", e);
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
@@ -1824,7 +1791,7 @@
                }
            }
        } catch (Exception e) {
            log.error("堆垛机演示  ===>> 库位移转失败", e);
            News.error("堆垛机演示  ===>> 库位移转失败", e);
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
@@ -1851,27 +1818,27 @@
                }
                // 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());
                    News.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());
                        News.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());
                    News.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());
                    News.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());
                        News.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());
                    News.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
                }


@@ -1943,17 +1910,18 @@

    }

    public synchronized void outOfDevp() {
    public synchronized void outOfDevp(Integer mark) {
        News.warn(""+mark+" - 0"+" - 开始执行");
        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());
                    News.error(""+mark+" - 1"+" - 修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
                }
            }

        }
        News.info(""+mark+" - 0"+" - 执行完成");
    }


@@ -1985,9 +1953,9 @@
                JSONObject jsonObject = JSON.parseObject(response);
                if (jsonObject.getInteger("code").equals(200)) {
                    JSONObject data = (JSONObject) jsonObject.get("data");
                    log.info((String) data.get("msg"));
                    News.info((String) data.get("msg"));
                } else {
                    log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
                    News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
                }
            } catch (Exception e) {
                e.printStackTrace();
@@ -2023,9 +1991,9 @@
                        .doPost();
                JSONObject jsonObject = JSON.parseObject(response);
                if (jsonObject.getInteger("code").equals(200)) {
                    log.info((String) jsonObject.get("msg"));
                    News.info((String) jsonObject.get("msg"));
                } else {
                    log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
                    News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
                }
            } catch (Exception e) {
                e.printStackTrace();