#

lsh

2023-03-03 76d3fff7c27d020fd7110e4a5e84cc87e3fe7e43

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

@@ -4,6 +4,7 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.*;
@@ -666,7 +667,7 @@
                // 库位移转
//                this.locToLoc(crn, crnProtocol);
                // 演示
                this.steMoveDemo(crn, crnProtocol);
//                this.steMoveDemo(crn, crnProtocol);
            }
        }
    }
@@ -736,117 +737,95 @@
            wrkMast.setIoPri((double) 9999);
            wrkMastMapper.updateById(wrkMast);

            // 判断是否为穿梭库
            if (!locMastService.isShuttle(wrkMast.getLocNo())) {

                // 非穿梭库入库 【 堆垛机直接入库 】
                if (wrkMast.getWrkSts() == 2) {

                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        continue;
                // 目标库位 ===>> 最外层库位
            if (locMastService.isOutMost(wrkMast.getLocNo(), true)) {
                // 判断小车是否在最外层库位，如果是则搬走，如果不是，则直接堆垛机入库
                Integer steNo = this.hasCar(wrkMast.getLocNo());
                // 有小车
                if (steNo != null) {
                    // 小车行走到堆垛机待搬移点
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                        // 没有其他任务
                        if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
                            this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo());
                            return true;
                        }
                    }
                    // 小车搬走
                    if (wrkMast.getWrkSts() == 3L) {
                        this.carMoveOut(wrkMast, steNo, crnProtocol);
                        return true;
                    }
                    // 没有小车
                } else {

                    // 双深库位且浅库位有货，则需先对浅库位进行库位移转
                    if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
                        LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                        // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                        if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                            WrkMast waitWrkMast = wrkMastMapper.selectBySourceLocNo(shallowLocNo);
                            if (null == waitWrkMast) {
                                News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                    // 当前入库库位组没有小车 堆垛机则去站点取货入库
                    // case 1：从始至终库位组都没有小车，没有迁出小车动作，所以工作状态 = 2
                    // case 2：堆垛机已经搬出小车，有迁出小车动作，所以工作状态 = 6
                    if ((wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) || wrkMast.getWrkSts() == 6L) {

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

                        // 堆垛机入库 命令下发区 --------------------------------------------------------------------------
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                        crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                        crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                        crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                        crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                        crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
                        crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                            News.error("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  7.吊车入库中
                            Date now = new Date();
                            wrkMast.setWrkSts(7L);
                            wrkMast.setCrnStrTime(now);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                News.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
                            } else {
                                if (waitWrkMast.getWrkSts() < 17) {
                                    waitWrkMast.setIoPri(30D);
                                    waitWrkMast.setModiTime(new Date());
                                    if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                        News.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                    }
                                    //20220719 Add，如果浅库位状态为P/R，工作状态为14/15,说明浅库位已经空了，可以执行入库任务
                                }
                            }
                            continue;
                        }
                        if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                            // 此标记避免多次执行移库任务
                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                                wrkMast.setUpdMk("Y");
                                wrkMast.setIoPri(20D);
                                wrkMastMapper.updateById(wrkMast);
                                // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
                                moveLocForDeepLoc(slave, shallowLoc);
                            }
                            continue;
                        }
                        if (shallowLoc.getLocSts().equals("Q")) {
                            WrkMast waitWrkMast = wrkMastMapper.selectBySourceLocNo(shallowLocNo);
                            if (null != waitWrkMast && waitWrkMast.getWrkSts() == 9) {
                                continue;
                                return true;
                            }
                        }
                    }

                    // 堆垛机入库 命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                    crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                    crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                    crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("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  7.吊车入库中
                        Date now = new Date();
                        wrkMast.setWrkSts(7L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
                }

            // 目标库位 ===>> 非最外层库位
            } else {
                // 判断小车是否在当前组库位，如果是则将穿梭车移至最外层，等待堆垛机放货；如果不是，则堆垛机寻找穿梭车，并放置当前组最外层
                Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
                // 有小车
                if (steNo != null) {
                    // 小车行走到待机位
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                        // 没有其他任务
                        if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
                            this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
                        } else {
                            return true;
                        }
                    }
                }
            } else {
                // 目标库位 ===>> 最外层库位
                if (locMastService.isOutMost(wrkMast.getLocNo(), true)) {
                    // 判断小车是否在最外层库位，如果是则搬走，如果不是，则直接堆垛机入库
                    Integer steNo = this.hasCar(wrkMast.getLocNo());
                    // 有小车
                    if (steNo != null) {
                        // 小车行走到堆垛机待搬移点
                        if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                            // 没有其他任务
                            if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
                                this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo());
                                return true;
                            }
                        }
                        // 小车搬走
                        if (wrkMast.getWrkSts() == 3L) {
                            this.carMoveOut(wrkMast, steNo, crnProtocol);
                            return true;
                        }
                        // 没有小车
                    } else {

                        // 当前入库库位组没有小车 堆垛机则去站点取货入库
                        // case 1：从始至终库位组都没有小车，没有迁出小车动作，所以工作状态 = 2
                        // case 2：堆垛机已经搬出小车，有迁出小车动作，所以工作状态 = 6
                        if ((wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) || wrkMast.getWrkSts() == 6L) {
                    // 堆垛机将货放至小车上 3.小车待搬（小车不用搬运，已经在当前组库位） / 6.小车待入  ===>> 7.吊车入库中
                    if (wrkMast.getWrkSts() == 3L || wrkMast.getWrkSts() == 6L) {
                        // 小车处于空闲
                        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                        SteProtocol steProtocol = steThread.getSteProtocol();
                        if (steProtocol == null) { continue; }
                        if (steProtocol.isIdle()) {

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

                            // 堆垛机入库 命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
@@ -856,105 +835,46 @@
                            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                            crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
                            crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue());     // 目标库位排
                            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                                News.error("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  7.吊车入库中
                                // 修改工作档状态  3.小车待搬 ===>> 7.吊车入库中
                                Date now = new Date();
                                wrkMast.setWrkSts(7L);
                                wrkMast.setCrnStrTime(now);
                                wrkMast.setModiTime(now);
                                if (wrkMastMapper.updateById(wrkMast) == 0) {
                                    News.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
                                    News.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                } else {
                                    return true;
                                }
                            }
                        }

                    }

                // 目标库位 ===>> 非最外层库位
                // 没有小车
                } else {
                    // 判断小车是否在当前组库位，如果是则将穿梭车移至最外层，等待堆垛机放货；如果不是，则堆垛机寻找穿梭车，并放置当前组最外层
                    Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
                    // 有小车
                    if (steNo != null) {
                        // 小车行走到待机位
                        if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                        // 寻找当前堆垛机对应的小车
                        SteThread steThread = queryIdleCar(wrkMast);
                        if (steThread != null) {
                            // 没有其他任务
                            if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
                                this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
                            } else {
                                // 让小车等待搬运待续
                                this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo());
                                return true;
                            }
                        }
                        // 堆垛机将货放至小车上 3.小车待搬（小车不用搬运，已经在当前组库位） / 6.小车待入  ===>> 7.吊车入库中
                        if (wrkMast.getWrkSts() == 3L || wrkMast.getWrkSts() == 6L) {
                            // 小车处于空闲
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
                            if (steProtocol.isIdle()) {

                                // 已经存在吊车执行任务时，则过滤
                                if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                                    continue;
                                }
                                // 堆垛机入库 命令下发区 --------------------------------------------------------------------------
                                CrnCommand crnCommand = new CrnCommand();
                                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                                crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                                crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                                crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                                crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue());     // 目标库位排
                                crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                                crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                                    News.error("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  3.小车待搬 ===>> 7.吊车入库中
                                    Date now = new Date();
                                    wrkMast.setWrkSts(7L);
                                    wrkMast.setCrnStrTime(now);
                                    wrkMast.setModiTime(now);
                                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                                        News.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                    } else {
                                        return true;
                                    }
                                }
                            }
                        }
                    // 没有小车
                    } else {
                        if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                            // 寻找当前堆垛机对应的小车
                            SteThread steThread = queryIdleCar(wrkMast);
                            if (steThread != null) {
                                // 没有其他任务
                                if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
                                    // 让小车等待搬运待续
                                    this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo());
                                    return true;
                                }
                            }
                        }
                        // 堆垛机搬运小车
                        if (wrkMast.getWrkSts() == 3L) {
                            this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
                            return true;
                        }
                    }
                    // 堆垛机搬运小车
                    if (wrkMast.getWrkSts() == 3L) {
                        this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
                        return true;
                    }
                }
            }

        }
        return false;
    }
@@ -1032,47 +952,14 @@
                wrkMast.setIoPri((double) 9998);
                wrkMastMapper.updateById(wrkMast);

                // 判断是否为穿梭库
                if (!locMastService.isShuttle(wrkMast.getSourceLocNo())) {

                    // 双深库位且浅库位有货，则需先对浅库位进行库位移转
                    if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
                        LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                        // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                        if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                            WrkMast waitWrkMast = wrkMastMapper.selectBySourceLocNo(shallowLocNo);
                            if (null == waitWrkMast) {
                                News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                            } else {
                                if(waitWrkMast.getWrkSts() == 11) {
                                    waitWrkMast.setIoPri(wrkMast.getIoPri() + 1);
                                    waitWrkMast.setModiTime(new Date());
                                    if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                        News.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                    }
                                }
                                continue;
                            }
                        } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                            // 此标记避免多次执行移库任务
                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                                wrkMast.setUpdMk("Y");
                                wrkMastMapper.updateById(wrkMast);
                                // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
                                moveLocForDeepLoc(slave, shallowLoc);
                            }
                            News.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
                            continue;
                        }
                    }

                // 最外层库位，直接堆垛机出库
                if (locMastService.isOutMost(wrkMast.getSourceLocNo(), false)) {
                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        continue;
                    }

                    // 1.堆垛机开始移动
                    // 堆垛机出库 命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
@@ -1098,143 +985,105 @@
                            return true;
                        }
                    }

                } else {

                    // 最外层库位，直接堆垛机出库
                    if (locMastService.isOutMost(wrkMast.getSourceLocNo(), false)) {
                        // 已经存在吊车执行任务时，则过滤
                        if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                            continue;
                        }

                        // 堆垛机出库 命令下发区 --------------------------------------------------------------------------
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                        crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                        crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                        crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                        crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                        crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                        crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                            News.error("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 => 16.吊车出库中
                            Date now = new Date();
                            wrkMast.setWrkSts(16L);
                            wrkMast.setCrnStrTime(now);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                News.error("修改工作档状态 11.生成出库ID => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                            } else {
                                return true;
                            }
                        }
                    // 不是最外层库位，需要使用穿梭车搬运后，再堆垛机出库
                    } else {
                        // 当前组库位是否有穿梭车
                        Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo());
                        // 有小车
                        if (steNo != null) {
                            if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
                } else {
                    // 当前组库位是否有穿梭车
                    Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo());
                    // 有小车
                    if (steNo != null) {
                        if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {

                                // 给穿梭车下发命令 让其将货物挪至堆垛机搬运点
                                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                                SteProtocol steProtocol = steThread.getSteProtocol();
                                if (steProtocol == null) { continue; }
                                if (steProtocol.isIdle()) {
                            // 给穿梭车下发命令 让其将货物挪至堆垛机搬运点
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
                            if (steProtocol.isIdle()) {

                                    // 命令下发区 --------------------------------------------------------------------------
                                    SteCommand steCommand = new SteCommand();
                                    steCommand.setSteNo(steNo); // 穿梭车编号
                                    steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                                    steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式:  去近点 等待堆垛机叉取
                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
                                steCommand.setSteNo(steNo); // 穿梭车编号
                                steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                                steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式:  去近点 等待堆垛机叉取

                                    steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
                                    steCommand.setBay(steProtocol.getBay());
                                    steCommand.setLev(steProtocol.getLev());
                                steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
                                steCommand.setBay(steProtocol.getBay());
                                steCommand.setLev(steProtocol.getLev());

                                    if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                                        News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                                    } else {
                                        // 修改工作档状态 11.生成出库ID => 14.小车搬出库
                                        Date now = new Date();
                                        wrkMast.setWrkSts(14L);
                                        wrkMast.setSteNo(steNo);
                                        wrkMast.setCrnStrTime(now);
                                        wrkMast.setModiTime(now);
                                        LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
                                        Integer outCrnNo = locMastService.getOutCrnNo(locMast);
                                        wrkMast.setCrnNo(outCrnNo);
                                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                                            News.error("修改工作档状态 11.生成出库ID => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
                                        } else {
                                            return true;
                                        }
                                    }
                                }
                            }
                            if (wrkMast.getWrkSts() == 15L) {
                                // 已经存在吊车执行任务时，则过滤
                                if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                                    continue;
                                }

                                // 堆垛机出库 命令下发区 --------------------------------------------------------------------------
                                CrnCommand crnCommand = new CrnCommand();
                                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                                crnCommand.setSourcePosX(Utils.getGroupRow(sourceSta.getRow1(), false).shortValue());     // 源库位排
                                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                                crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                                crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                                crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                                    News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                                    News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                                } else {
                                    // 修改工作档状态 15.等待吊车 => 16.吊车出库中
                                    // 修改工作档状态 11.生成出库ID => 14.小车搬出库
                                    Date now = new Date();
                                    wrkMast.setWrkSts(16L);
                                    wrkMast.setWrkSts(14L);
                                    wrkMast.setSteNo(steNo);
                                    wrkMast.setCrnStrTime(now);
                                    wrkMast.setModiTime(now);
                                    LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
                                    Integer outCrnNo = locMastService.getOutCrnNo(locMast);
                                    wrkMast.setCrnNo(outCrnNo);
                                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                                        News.error("修改工作档状态 15.等待吊车 => 16.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 => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
                                    } else {
                                        return true;
                                    }
                                }
                            }
                        }
                        if (wrkMast.getWrkSts() == 15L) {
                            // 已经存在吊车执行任务时，则过滤
                            if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                                continue;
                            }

                        // 没有小车
                        } else {
                            if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
                                // 寻找最近的小车
                                SteThread steThread = queryIdleCar(wrkMast);
                                if (steThread != null) {
                                    // 没有其他任务
                                    if (null == wrkMastMapper.selectPakout(slave.getId(), steNo)) {
                                        // 让小车等待搬运待续
                                        this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo());
                                        return true;
                                    }
                            // 堆垛机出库 命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                            crnCommand.setSourcePosX(Utils.getGroupRow(sourceSta.getRow1(), false).shortValue());     // 源库位排
                            crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                            crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                            crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                            crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                            crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                                News.error("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 15.等待吊车 => 16.吊车出库中
                                Date now = new Date();
                                wrkMast.setWrkSts(16L);
                                wrkMast.setCrnStrTime(now);
                                wrkMast.setModiTime(now);
                                if (wrkMastMapper.updateById(wrkMast) == 0) {
                                    News.error("修改工作档状态 15.等待吊车 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                } else {
                                    return true;
                                }
                            }
                            // 堆垛机搬运小车
                            if (wrkMast.getWrkSts() == 12L) {
                                this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
                                return true;
                        }

                        // 没有小车
                    } else {
                        if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
                            // 寻找最近的小车
                            SteThread steThread = queryIdleCar(wrkMast);
                            if (steThread != null) {
                                // 没有其他任务
                                if (null == wrkMastMapper.selectPakout(slave.getId(), steNo)) {
                                    // 让小车等待搬运待续
                                    this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo());
                                    return true;
                                }
                            }
                        }
                        // 堆垛机搬运小车
                        if (wrkMast.getWrkSts() == 12L) {
                            this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
                            return true;
                        }
                    }
                }

            }
        }
        return false;
@@ -1396,7 +1245,7 @@
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (!steProtocol.isIdle()) { continue; }
            if (steProtocol.getRow() == 1) { continue; }
//            if (steProtocol.getRow() == 1) { continue; }
            String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
            // 如果在同一个库位组
            if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
@@ -1846,7 +1695,8 @@
                if (wrkMast.getIoType() != 11) {
                    // 入库 ==>> 货物搬入库
                    if (wrkMast.getWrkSts() == 7){
                        if (!locMastService.isShuttle(wrkMast.getLocNo())) {
                        // 判断是否需要小车入库
                        if (locMastService.isOutMost(wrkMast.getLocNo(), true)) {
                            // ==> 9.入库完成
                            wrkMast.setWrkSts(9L);
                            Date now = new Date();
@@ -1860,46 +1710,30 @@
                                News.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        } else {
                            // 判断是否需要小车入库
                            if (locMastService.isOutMost(wrkMast.getLocNo(), true)) {
                                // ==> 9.入库完成
                                wrkMast.setWrkSts(9L);
                                Date now = new Date();
                                wrkMast.setCrnEndTime(now);
                                wrkMast.setModiTime(now);
                                // 修改成功后复位堆垛机
                                if (wrkMastMapper.updateById(wrkMast) > 0) {
                                    // 堆垛机复位
                                    crnThread.setResetFlag(true);
                            // 给穿梭车下发命令
                            Integer steNo = wrkMast.getSteNo();
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
                            if (steProtocol.isIdle()) {
                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
                                steCommand.setSteNo(steNo); // 穿梭车编号
                                steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                                steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 任务模式: 搬入库
                                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                                    News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                                } else {
                                    News.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo());
                                }
                            } else {
                                // 给穿梭车下发命令
                                Integer steNo = wrkMast.getSteNo();
                                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                                SteProtocol steProtocol = steThread.getSteProtocol();
                                if (steProtocol == null) { continue; }
                                if (steProtocol.isIdle()) {
                                    // 命令下发区 --------------------------------------------------------------------------
                                    SteCommand steCommand = new SteCommand();
                                    steCommand.setSteNo(steNo); // 穿梭车编号
                                    steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                                    steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 任务模式: 搬入库
                                    if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                                        News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                                    // 修改工作档状态 7.吊车入库中 => 8.小车搬入库
                                    wrkMast.setWrkSts(8L);
                                    Date now = new Date();
                                    wrkMast.setCrnEndTime(now);
                                    wrkMast.setModiTime(now);
                                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                                        // 堆垛机复位
                                        crnThread.setResetFlag(true);
                                    } else {
                                        // 修改工作档状态 7.吊车入库中 => 8.小车搬入库
                                        wrkMast.setWrkSts(8L);
                                        Date now = new Date();
                                        wrkMast.setCrnEndTime(now);
                                        wrkMast.setModiTime(now);
                                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                                            // 堆垛机复位
                                            crnThread.setResetFlag(true);
                                        } else {
                                            News.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库 失败！！，工作号={}", wrkMast.getWrkNo());
                                        }
                                        News.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库 失败！！，工作号={}", wrkMast.getWrkNo());
                                    }
                                }
                            }
@@ -2002,20 +1836,21 @@
                            }
                        }
                        // 移库 ===>> 堆垛机搬至目标库位组 完成
                    }
                // 库位移转
                } else {
                    if (!locMastService.isShuttle(wrkMast.getLocNo())) {
                        if (wrkMast.getWrkSts() == 16 && wrkMast.getIoType() == 11){
                            // 更新工作档状态为 17.出库完成
                            wrkMast.setWrkSts(17L);
                            wrkMast.setCrnEndTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast) != 0) {
                                // 复位堆垛机
                                crnThread.setResetFlag(true);
                            } else {
                                News.error("更新工作档的工作状态为 17.出库完成 失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                            }
                    } else if (wrkMast.getWrkSts() == 16) {
                        // 16.吊车出库中 ==> 17.出库完成
                        wrkMast.setWrkSts(17L);
                        Date now = new Date();
                        wrkMast.setCrnEndTime(now);
                        wrkMast.setModiTime(now);
                        LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
                        Integer outCrnNo = locMastService.getOutCrnNo(locMast);
                        wrkMast.setCrnNo(outCrnNo);
                        // 修改成功后复位堆垛机
                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            // 堆垛机复位
                            crnThread.setResetFlag(true);
                        } else {
                            News.error("修改工作档状态 16.吊车出库中 ==> 17.出库完成 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                    }
                }
@@ -2061,15 +1896,17 @@
                                } else {
                                    steThread.setResetFlag(true);
                                }
                            } else if (wrkCharge.getWrkSts() == 29) {
                                // 29.开始充电 ===>> 30.完成充电
                                wrkCharge.setWrkSts(30L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    News.error("修改充电任务状态 29.开始充电 ===>> 30.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
                            } else if (wrkCharge.getWrkSts() == 32) {
                            }
//                            else if (wrkCharge.getWrkSts() == 29) {
//                                // 29.开始充电 ===>> 30.完成充电
//                                wrkCharge.setWrkSts(30L);
//                                if (!wrkChargeService.updateById(wrkCharge)) {
//                                    News.error("修改充电任务状态 29.开始充电 ===>> 30.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo());
//                                } else {
//                                    steThread.setResetFlag(true);
//                                }
//                            }
                            else if (wrkCharge.getWrkSts() == 32) {
                                // 32.小车走行 ===>> 33.小车待搬
                                wrkCharge.setWrkSts(33L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
@@ -2668,7 +2505,7 @@
                    SteChargeType steCharge = null;
                    do {
                        String locNo;
                        if (!devpThread.charge0) {
                        if (devpThread.charge0) {
                            SteChargeType first = SteChargeType.FIRST;
                            locNo = first.locNo;
                            if (basSteService.hasCarOfLocNo(locNo) == null
@@ -2677,24 +2514,24 @@
                                break;
                            }
                        }
                        if (!devpThread.charge1) {
                            SteChargeType second = SteChargeType.SECOND;
                            locNo = second.locNo;
                            if (basSteService.hasCarOfLocNo(locNo) == null
                                && wrkChargeService.selectWorkingOfCharge(second.ssbm) == null) {
                                steCharge = second;
                                break;
                            }
                        }
                        if (!devpThread.charge2) {
                            SteChargeType third = SteChargeType.THIRD;
                            locNo = third.locNo;
                            if (basSteService.hasCarOfLocNo(locNo) == null
                                && wrkChargeService.selectWorkingOfCharge(third.ssbm) == null) {
                                steCharge = third;
                                break;
                            }
                        }
//                        if (!devpThread.charge1) {
//                            SteChargeType second = SteChargeType.SECOND;
//                            locNo = second.locNo;
//                            if (basSteService.hasCarOfLocNo(locNo) == null
//                                && wrkChargeService.selectWorkingOfCharge(second.ssbm) == null) {
//                                steCharge = second;
//                                break;
//                            }
//                        }
//                        if (!devpThread.charge2) {
//                            SteChargeType third = SteChargeType.THIRD;
//                            locNo = third.locNo;
//                            if (basSteService.hasCarOfLocNo(locNo) == null
//                                && wrkChargeService.selectWorkingOfCharge(third.ssbm) == null) {
//                                steCharge = third;
//                                break;
//                            }
//                        }
                        break;
                    } while (false);

@@ -2708,7 +2545,7 @@
                    wrkCharge.setCharge(steCharge.ssbm);
                    wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
                    wrkCharge.setWrkSts(21L);   // 21.准备充电
                    wrkCharge.setCrnNo(2);  // 固定2号堆垛机
                    wrkCharge.setCrnNo(1);  // 固定1号堆垛机
                    wrkCharge.setIoPri((double) 10);
                    wrkCharge.setLocNo(chargeLocNo);
                    wrkCharge.setMemo("charge");
@@ -2718,49 +2555,15 @@
                        continue;
                    }

                    // 小车处于通道
                    List<String> channel = slaveProperties.getChannel();
                    for (String channelLocNo : channel) {
                        if (steProtocol.getRow().intValue() == Utils.getRow(channelLocNo)
                                && steProtocol.getBay().intValue() == Utils.getBay(channelLocNo)
                                && steProtocol.getLev().intValue() == Utils.getLev(channelLocNo)) {
                            Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
                            if (null != otherSte) {
                                News.warn("{}号小车充电阻断，原因：通道存在{}号穿梭车！", wrkCharge.getSteNo(), otherSte);
                            } else {
                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
                                steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
                                steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                                steCommand.setTaskMode(SteTaskModeType.GO_ORIGIN);  // 去右端

                                steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
                                steCommand.setBay(steProtocol.getBay());
                                steCommand.setLev(steProtocol.getLev());
                                if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                                    News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                                } else {
                                    // 修改工作档状态 21.准备充电 ===> 25.小车走行
                                    wrkCharge.setWrkSts(25L);
                                    Date now = new Date();
                                    wrkCharge.setModiTime(now);
                                    if (!wrkChargeService.updateById(wrkCharge)) {
                                        News.error("修改充电任务状态 21.准备充电 ===> 25.小车走行 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    }
                                }
                            }
                        }
                    }

                    // 处于充电库位组
                    if (steProtocol.getRow().intValue() == Utils.getRow(chargeLocNo)
                            && steProtocol.getBay().intValue() == Utils.getBay(chargeLocNo)
                            && steProtocol.getLev().intValue() == Utils.getLev(chargeLocNo)) {
                        // 修改工作档状态 21.准备充电 => 28.充电就绪
                        wrkCharge.setWrkSts(28L);
                        // 修改工作档状态 21.准备充电 => 24.小车到达
                        wrkCharge.setWrkSts(24L);
                        wrkCharge.setModiTime(new Date());
                        if (!wrkChargeService.updateById(wrkCharge)) {
                            News.error("修改充电任务状态 21.准备充电 => 28.充电就绪 失败！！，工作号={}", wrkCharge.getWrkNo());
                            News.error("修改充电任务状态 21.准备充电 => 24.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo());
                        }
                    } else {
                        this.letCarBeWaiting(wrkCharge, ste.getId());
@@ -2798,6 +2601,7 @@
            return;
        }
        if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())) {
            MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 999));//充电标记
            wrkCharge.setWrkSts(30L);
            wrkChargeMapper.updateById(wrkCharge);
            return;
@@ -2816,49 +2620,39 @@
                    return;
                }

                LocMast locMast = locMastService.selectById(basSte.getIdleLoc());

                // 搬小车至小车走向通道
                List<String> channel = slaveProperties.getChannel();
                for (String channelLocNo : channel) {
                    Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
                    if (null != otherSte) {
                        News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) { return; }
                // 只有当堆垛机空闲 并且 无任务时才继续执行
                if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                    // 堆垛机命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());     // 源库位排
                    crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                    crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                    crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        LocMast channelLoc = locMastService.selectById(channelLocNo);

                        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
                        CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                        if (crnProtocol == null) { continue; }
                        // 只有当堆垛机空闲 并且 无任务时才继续执行
                        if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                            // 堆垛机命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
                            crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                            crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                            crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());     // 源库位排
                            crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                            crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                            crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), true).shortValue());     // 目标库位排
                            crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue());     // 目标库位列
                            crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue());     // 目标库位层
                            if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                                News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                            } else {
                                // 修改穿梭车运行中排列层
                                steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), true), channelLoc.getBay1(), channelLoc.getLev1());
                                // 修改工作档状态 22.小车待搬 => 23.吊车搬运
                                Date now = new Date();
                                wrkCharge.setWrkSts(23L);
                                wrkCharge.setCrnStrTime(now);
                                wrkCharge.setModiTime(now);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    News.error("修改工作档状态 22.小车待搬 => 23.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
                                }
                            }
                            break;
                        // 修改穿梭车运行中排列层
                        steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
                        // 修改工作档状态 22.小车待搬 => 23.吊车搬运
                        Date now = new Date();
                        wrkCharge.setWrkSts(23L);
                        wrkCharge.setCrnStrTime(now);
                        wrkCharge.setModiTime(now);
                        if (!wrkChargeService.updateById(wrkCharge)) {
                            News.error("修改工作档状态 22.小车待搬 => 23.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
                        }

                    }
                }

@@ -2870,7 +2664,7 @@
                    SteCommand steCommand = new SteCommand();
                    steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
                    steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                    steCommand.setTaskMode(SteTaskModeType.GO_ORIGIN);  // 去右端
                    steCommand.setTaskMode(SteTaskModeType.BACK_ORIGIN);  // 去右端

                    steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
                    steCommand.setBay(steProtocol.getBay());
@@ -2889,49 +2683,6 @@
                    }
                }
            } else if (wrkCharge.getWrkSts() == 26) {
                // 固定堆垛机
                int crnNo = 1;
                // 入出库任务优先
                if (null != wrkMastMapper.selectWorkingByCrn(crnNo)) {
                    return;
                }

                // 充电位
                LocMast chargeLoc = locMastService.selectById(wrkCharge.getLocNo());

                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) { return; }
                // 只有当堆垛机空闲 并且 无任务时才继续执行
                if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                    // 堆垛机命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(crnNo); // 堆垛机编号
                    crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());     // 源库位排
                    crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                    crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                    crnCommand.setDestinationPosX(chargeLoc.getRow1().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(chargeLoc.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(chargeLoc.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
                        News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(crnCommand));
                    } else {
                        // 修改穿梭车运行中排列层
                        steThread.modifyPos(chargeLoc.getRow1(), chargeLoc.getBay1(), chargeLoc.getLev1());
                        // 修改工作档状态 26.等待充电 => 27.放至充电位
                        Date now = new Date();
                        wrkCharge.setWrkSts(27L);
                        wrkCharge.setCrnStrTime(now);
                        wrkCharge.setModiTime(now);
                        if (!wrkChargeService.updateById(wrkCharge)) {
                            News.error("修改工作档状态 26.等待充电 => 27.放至充电位 失败！！，工作号={}", wrkCharge.getWrkNo());
                        }
                    }
                }
            } else if (wrkCharge.getWrkSts() == 28L) {
                // 穿梭车下发充电任务
                SteCommand steCommand = new SteCommand();
                steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
@@ -2946,6 +2697,19 @@
                        News.error("修改充电任务状态 28.充电就绪 ===>> 29.开始充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                    }
                }
            } else if (wrkCharge.getWrkSts() == 29) {
                Float idle2 = steProtocol.isIdle2();
                String chargeLine = SpringUtils.getBean(BasSteService.class).selectById(1).getChargeLine();
                if (idle2<(Float.parseFloat(chargeLine)+2)){
                    MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 666));//充电标记
                }else if (idle2 > 70f){
                    MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 999));//充电标记
                    // 29.开始充电 ===>> 30.完成充电
                    wrkCharge.setWrkSts(30L);
                    if (!wrkChargeService.updateById(wrkCharge)) {
                        News.error("修改充电任务状态 29.开始充电 ===>> 30.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                    }
                }
            }
        } catch (Exception e) {
            News.error("executeSteCharge fail", e);
@@ -2955,6 +2719,7 @@
    /**
     * 轮询充电桩是否有空闲小车
     */
    @Deprecated
    public synchronized void queryChargeLocOfComplete() {
        // 与充电任务不同步进行
        if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) { return; }
@@ -3031,6 +2796,7 @@
    /**
     * 小车从充电桩 至 待机库位
     */
    @Deprecated
    public synchronized void steFromChargeToIdleLoc() {
        WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.reset);
        if (wrkCharge == null) { return; }
@@ -3468,6 +3234,63 @@
        }

    }
    /**
     * 出入库模式切换
     */
    public synchronized void outAndIn() {
        try {
            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
                for (DevpSlave.Sta inSta : devp.getInSta()) {
                    Thread.sleep(500);
                    boolean a=true,b=true;
                    List<WrkMast> wrkMasts = wrkMastMapper.selectAll(inSta.getStaNo());
                    if (Cools.isEmpty(wrkMasts)){
                        b=false;
                    }else {
                        for (WrkMast wrkMast:wrkMasts){
                            if (wrkMast.getSourceStaNo()!=wrkMast.getStaNo()){
                                a=false;
                                break;
                            }
                        }
                    }
                    switch (inSta.getStaNo()) {
                        case 102://1F
                            if (a && b){
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 11));
                            }else if (b){
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 12));
                            }else {
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 10));
                            }
                            break;
                        case 202://2F
                            if (a && b){
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 21));
                            }else if (b){
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 22));
                            }else {
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 20));
                            }
                            break;
                        case 302://3F
                            if (a && b){
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 31));
                            }else if (b){
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 32));
                            }else {
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 30));
                            }
                            break;
                    }
                }
            }

        } catch (Exception e) {
            e.printStackTrace();
        }
    }


}