zy-wcs.git - Gitblit

			@@ -21,35 +21,34 @@
			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.RgvThread;
			import com.zy.core.cache.MessageQueue;
			import com.zy.core.cache.SlaveConnection;
			import com.zy.core.enums.*;
			import com.zy.core.model.CrnSlave;
			import com.zy.core.model.DevpSlave;
			import com.zy.core.model.LedSlave;
			import com.zy.core.model.Task;
			import com.zy.core.model.*;
			import com.zy.core.model.command.CrnCommand;
			import com.zy.core.model.command.LedCommand;
			import com.zy.core.model.command.RgvCommand;
			import com.zy.core.model.protocol.CrnProtocol;
			import com.zy.core.model.protocol.RgvProtocol;
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.BarcodeThread;
			import com.zy.core.thread.LedThread;
			import com.zy.core.thread.SiemensDevpThread;
			import com.zy.core.thread.ZyRgvThread;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.beans.factory.annotation.Value;
			import org.springframework.scheduling.annotation.Async;
			import org.springframework.stereotype.Service;
			import org.springframework.transaction.annotation.Transactional;
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

			import java.util.ArrayList;
			import java.util.Date;
			import java.util.List;
			import java.util.Set;
			import java.io.IOException;
			import java.util.*;
			import java.util.stream.Collectors;

			/**
			@@ -70,6 +69,8 @@
			@Autowired
			private WrkMastMapper wrkMastMapper;
			@Autowired
			private WrkMastService wrkMastService;
			@Autowired
			private WrkDetlService wrkDetlService;
			@Autowired
			private WaitPakinMapper waitPakinMapper;
			@@ -87,17 +88,25 @@
			private BasErrLogService basErrLogService;
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			@Autowired
			private EmptyBarrelInService emptyBarrelInService;
			@Autowired
			private WrkMastStaService wrkMastStaService;
			@Autowired
			private MatnrCodeService matnrCodeService;
			@Autowired
			private WaitPakinService waitPakinService;

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

			public int workNo = 9900;

			/**
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			*/
			public void generateStoreWrkFile() {
			public synchronized void generateStoreWrkFile() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			@@ -108,14 +117,8 @@
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}



			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			@@ -125,36 +128,97 @@
			} else {
			staProtocol = staProtocol.clone();
			}
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "异常：";
			if (staProtocol.isFrontErr()) {
			errMsg = errMsg+"前超限；";
			back = true;
			}
			if (staProtocol.isBackErr()) {
			errMsg = errMsg+"后超限";
			back = true;
			}
			if (staProtocol.isHighErr()) {
			errMsg = errMsg+"高超限";
			back = true;
			}
			if (staProtocol.isLeftErr()) {
			errMsg = errMsg+"左超限";
			back = true;
			}
			if (staProtocol.isRightErr()) {
			errMsg = errMsg+"右超限";
			back = true;
			}
			if (staProtocol.isWeightErr()) {
			errMsg = errMsg+"超重";
			back = true;
			}
			if (staProtocol.isBarcodeErr()) {
			errMsg = errMsg+"扫码失败";
			back = true;
			}
			// 退回
			if (back) {
			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
			}
			continue;
			}

			// // 入出库模式判断
			// if ( inSta.getStaNo()==180 && devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

			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 {
			// led 异常显示
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			// if (ledThread != null) {
			// String errorMsg = "扫码失败，请重试";
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			// }
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() == 9999)
			&& staProtocol.isPakMk()){// && !Cools.isEmpty(barcode)) {
			&& !staProtocol.isEmptyMk()
			&& (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990)
			&& staProtocol.isPakMk()) {

			// 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
			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
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			// staProtocol.setWorkNo((short)9999);
			// staProtocol.setStaNo((short)172);
			// staProtocol.setStaNo((short)(staProtocol.getStaNo()-1));
			// 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;
			// }

			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			log.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			continue;
			}
			// // 获取入库通知档

			// 判断重复工作档
			WrkMast wrkMast = new WrkMast();
			if (barcode.length() == 8) {
			wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			log.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			continue;
			}
			}
			// 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);
			@@ -162,9 +226,7 @@
			// }

			try {

			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			@@ -177,6 +239,7 @@
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			@@ -184,79 +247,37 @@
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			ledThread.errorReset();
			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");
			}
			} else if(jsonObject.getInteger("code").equals(700)) {
			// staProtocol.setWorkNo((short) 9999);
			// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// // led 异常显示
			// if (ledThread != null) {
			// String errorMsg = barcode + "托盘识别异常，请先进行组托！";
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			// }
			log.error(barcode + "托盘识别异常，请先进行组托！");
			// led 异常显示
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			if (ledThread != null) {
			String errorMsg = barcode + "托盘识别异常，请先进行组托！";
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}


			// // 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();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			}


			}
			}
			@@ -267,7 +288,7 @@
			* 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 void generateStoreWrkFile0() {
			public synchronized void generateStoreWrkFile0() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			@@ -282,7 +303,12 @@
			}

			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
			if (inSta.getStaNo() == 101 && devpThread.ioModeOf1F1 != IoModeType.PAKOUT_MODE) {
			continue;
			}
			if (inSta.getStaNo() == 104 && devpThread.ioModeOf1F2 != IoModeType.PAKOUT_MODE) {
			continue;
			}

			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			@@ -290,7 +316,9 @@
			&& staProtocol.isPakMk()) {
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			if (wrkMast == null) { continue; }
			if (wrkMast == null) {
			continue;
			}

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

			@@ -321,7 +349,7 @@
			/**
			* 拣料、并板、盘点再入库
			*/
			public synchronized void stnToCrnStnPick(){
			public synchronized void stnToCrnStnPick() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta()) {
			@@ -331,13 +359,12 @@
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {

			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)) {
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取拣料入库站信息
			@@ -349,43 +376,47 @@
			staProtocol = staProtocol.clone();
			}

			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& staProtocol.isPakMk()
			&& staProtocol.getWorkNo() == 9999) {
			// WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			if (barcode.equals("") \|\| barcode.equals("99999999")) {
			Integer led = pickSta.getLed();
			if (ledThread != null) {
			String errorMsg = "扫码异常，请重新入库！";
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			}
			// // 更新站点信息且下发plc命令
			staProtocol.setWorkNo((short)9999);
			staProtocol.setStaNo((short)(staProtocol.getStaNo()-1));
			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());
			}
			continue;
			}

			// if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			// log.info("{}号条码扫描器检测条码信息：{}", pickSta.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;
			// }
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", barcode));

			WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			if (wrkMast == null) {
			wrkMast = wrkMastMapper.selectPickStep(barcode);
			}
			if (wrkMast == null) {
			// 无拣料数据
			continue;
			}
			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			continue;
			}
			ledThread.errorReset();

			// 拣、盘、并作业站转换
			// int stnNo = 0;
			// if (wrkMast.getStaNo() == 109) {
			// stnNo = 127;
			// } else if (wrkMast.getStaNo() == 113) {
			// stnNo = 128;
			// } else {
			// log.error("{}号任务数据异常！", wrkMast.getWrkNo());
			// }
			// 获取目标站
			Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			.eq("type_no", wrkMast.getIoType() - 50)
			@@ -407,19 +438,35 @@
			throw new CoolException("保存工作主档历史档失败");
			}

			Date now = new Date();
			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			// 更新工作档数据状态
			wrkMast.setIoTime(now);
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站

			Integer sourceStaNo = 0;
			switch (wrkMast.getStaNo()){
			case 100:
			sourceStaNo = 101;
			break;
			case 103:
			sourceStaNo = 104;
			break;
			}

			wrkMast.setSourceStaNo(sourceStaNo); // 源站
			// wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
			wrkMast.setStaNo(staNo); // 目标站
			wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			wrkMast.setModiTime(new Date());
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档数据状态失败");
			}
			// 更新明细档io_time (历史档关联使用）
			wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
			// 修改库位状态 Q.拣料/盘点/并板再入库
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			locMast.setLocSts("Q");
			@@ -440,6 +487,8 @@
			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());
			}else {
			ledThread.errorReset();
			}

			}
			@@ -452,9 +501,11 @@
			/**
			* 堆垛机站出库到出库站
			*/
			@Async
			public void crnStnToOutStn() {
			public synchronized void crnStnToOutStn() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			if (crnSlave.getId() ==5){
			continue;
			}
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			// 获取堆垛机出库站信息
			@@ -488,16 +539,23 @@
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {

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

			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			if (crnProtocol.getCrnNo() !=5){
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			}

			// 更新工作档状态为14失败
			wrkMast.setWrkSts(14L);

			if (crnStn.getStaNo() > 1013) {
			// 更新工作档状态为13.RGV搬运中
			wrkMast.setWrkSts(13L);
			}else {
			// 更新工作档状态为14
			wrkMast.setWrkSts(14L);
			}
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位堆垛机
			@@ -516,22 +574,37 @@
			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			public synchronized void crnIoExecute(){
			public synchronized void crnIoExecute() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			if (crn.getId() == 5){
			continue;
			}
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			if (crnProtocol == null) {
			continue;
			}
			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());
			continue;
			}

			// //堆垛机回原点任务中
			// if(crnThread.isBackHpFlag()){
			// 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) {
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
			&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			if (crn.getId() == 5){
			continue;
			}
			this.crnStnToLoc(crn, crnProtocol); // 入库
			crnProtocol.setLastIo("O");
			} else if (basCrnp.getOutEnable().equals("Y")) {
			@@ -545,6 +618,10 @@
			this.locToCrnStn(crn, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {
			if (crn.getId() == 5){
			continue;
			}

			this.crnStnToLoc(crn, crnProtocol); // 入库
			crnProtocol.setLastIo("O");
			}
			@@ -552,20 +629,15 @@
			}
			// 库位移转
			this.locToLoc(crn, crnProtocol);
			// this.crnRebackHp(crnProtocol, crnThread);

			if (crnBackHp) {

			//堆垛机没有执行中任务，设备存在入库任务时叫回原点
			this.crnRebackHp(crnProtocol);

			}
			}
			}

			/**
			* 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
			*/
			public synchronized void crnRebackHp(CrnProtocol crnProtocol){
			public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) {
			// for (CrnSlave crn : slaveProperties.getCrn()) {
			// // 获取堆垛机信息
			// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			@@ -578,50 +650,51 @@
			// log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			// continue;
			// }
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			if(crnProtocol.getBay() ==1 && crnProtocol.getLevel()==1){
			return;
			}

			// 已经存在吊车执行任务时，则过滤3,12
			if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
			return;
			}

			//堆垛机有执行中任务，过滤3,4,11,12
			if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) {
			return;
			}


			//输送线没有入库任务，过滤2
			if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
			return;
			}
			// log.info("堆垛机召回原点==>>" + crn.getId() + "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
			crnCommand.setTaskNo((short) 9999); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 回原点
			crnCommand.setSourcePosX((short) 0); // 源库位排
			crnCommand.setSourcePosY((short) 0); // 源库位列
			crnCommand.setSourcePosZ((short) 0); // 源库位层
			crnCommand.setDestinationPosX((short) 0); // 目标库位排
			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));
			}
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
			return;
			}

			// 已经存在吊车执行任务时，则过滤3,12
			if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
			return;
			}

			//堆垛机有执行中任务，过滤3,4,11,12
			if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) {
			return;
			}

			//输送线没有入库任务，过滤2
			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");
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9999); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 回原点
			crnCommand.setSourcePosX((short) 0); // 源库位排
			crnCommand.setSourcePosY((short) 0); // 源库位列
			crnCommand.setSourcePosZ((short) 0); // 源库位层
			crnCommand.setDestinationPosX((short) 0); // 目标库位排
			crnCommand.setDestinationPosY((short) 0); // 目标库位列
			crnCommand.setDestinationPosZ((short) 0); // 目标库位层
			crnCommand.setLocType1((short) 0); // 货物类型
			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));
			}
			crnThread.setBackHpFlag(true);
			}
			// }
			}

			/**
			* 入库 ===>> 堆垛机站到库位
			*/
			public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
			public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			boolean flag = false;
			// 获取堆垛机入库站信息
			@@ -639,7 +712,7 @@
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			&& staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			@@ -647,7 +720,7 @@
			}
			// 获取工作状态为2（设备上走）的入库工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
			if(null == wrkMast) {
			if (null == wrkMast) {
			// log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			@@ -669,7 +742,7 @@

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

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			@@ -687,21 +760,24 @@
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			}
			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");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			// 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)
			moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			}
			continue;
			} else if (shallowLoc.getLocSts().equals("Q")){
			} else if (shallowLoc.getLocSts().equals("Q")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts()==4) {
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			}
			@@ -719,6 +795,7 @@
			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
			crnCommand.setLocType1(locMast.getLocType1().shortValue()); // 货物类型
			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));
			} else {
			@@ -749,143 +826,282 @@

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
			*/
			public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
			public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			if (wrkMast == null) {
			// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
			// 获取工作状态为14的工作档
			WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep14(slave.getId(), crnStn.getStaNo());
			if ( wrkMast1 !=null) {
			continue;
			}
			// 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());
			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());
			continue;
			}
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }


			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast == null) {
			continue;
			}
			// 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());
			continue;
			}
			// 获取源库位信息
			LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!locMast.getLocSts().equals("R") && !locMast.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(), locMast.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			break;
			// continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 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.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.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());
			}
			continue;
			// 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());
			break;
			// continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// 命令下发区 --------------------------------------------------------------------------

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

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, 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.selectByLocNo1(shallowLocNo);
			if (null == waitWrkMast) {
			log.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());
			}
			continue;
			} else {

			}
			}
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			//2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			// 此标记避免多次执行移库任务
			// if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())
			// \|\| Cools.isEmpty(waitWrkMast)) {
			if (Cools.isEmpty(waitWrkMast)) {
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			// 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);
			continue;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && (waitWrkMast.getWrkSts() == 4 \|\| waitWrkMast.getWrkSts() == 5)) {
			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);
			}
			log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
			continue;
			}
			}

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

			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(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))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("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());
			// 1.堆垛机开始移动
			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(locMast.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(locMast.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(locMast.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
			crnCommand.setLocType1(locMast.getLocType1().shortValue()); // 货物类型
			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));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("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;
			}
			}
			}
			}
			}

			// /**
			// * 出库 ===>> 库位到堆垛机站
			// */
			// public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
			// for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// // 获取工作状态为11（生成出库ID）的出库工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			// if (wrkMast == null) {
			// continue;
			// }
			// // 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());
			// 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());
			// continue;
			// }
			// // 获取堆垛机出库站信息
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			// StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			//
			//// // 入出库模式判断
			//// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
			//
			//
			// // 查询站点详细信息
			// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			// if (staDetl == null) {
			// log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			// continue;
			// }
			// // 判断堆垛机出库站状态
			// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
			// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// // 命令下发区 --------------------------------------------------------------------------
			//
			// // 堆垛机控制过滤
			// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			// }
			//
			// // 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.selectByLocNo(shallowLocNo);
			// if (null == waitWrkMast) {
			// log.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());
			// }
			// continue;
			// } else {
			//
			// }
			// }
			// } 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);
			// }
			// log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
			// continue;
			// }
			// }
			//
			// // 已经存在吊车执行任务时，则过滤
			// if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			// return;
			// }
			//
			// // 1.堆垛机开始移动
			// 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
			// crnCommand.setLocType1(locMast.getLocType1().shortValue()); // 货物类型
			// 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));
			// } else {
			// // 修改工作档状态 11.生成出库ID => 12.吊车出库中
			// Date now = new Date();
			// wrkMast.setWrkSts(12L);
			// wrkMast.setCrnStrTime(now);
			// wrkMast.setModiTime(now);
			// if (wrkMastMapper.updateById(wrkMast) == 0) {
			// log.error("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());
			// }
			// }
			// }
			// }
			// }

			/**
			* 库位移转
			*/
			public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
			public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
			// 获取工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
			if (null == wrkMast) {
			return;
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (null == sourceSta) {
			LocMast sourceLocMast = locMastService.selectById(wrkMast.getSourceLocNo());
			if (null == sourceLocMast) {
			log.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			return;
			}
			// 源库位库位状态判断
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) {
			if (!sourceLocMast.getLocSts().equals("R") && !sourceLocMast.getLocSts().equals("S")) {
			return;
			}
			// 获取目标库位信息
			LocMast sta = locMastService.selectById(wrkMast.getLocNo());
			if (null == sta) {
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			if (null == locMast) {
			log.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
			return;
			}
			@@ -911,12 +1127,13 @@
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 目标库位层
			crnCommand.setSourcePosX(sourceLocMast.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceLocMast.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceLocMast.getLev1().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
			crnCommand.setLocType1(locMast.getLocType1().shortValue()); // 货物类型
			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));
			} else {
			@@ -935,19 +1152,20 @@
			/**
			* 执行对工作档的完成操作
			*/
			@Async
			public void storeFinished() {
			public synchronized void storeFinished() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			if (crnProtocol == null) {
			continue;
			}
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			if(crnProtocol.getTaskNo()==9999){
			if (crnProtocol.getTaskNo() == 9999) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			}else {
			} else {
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			@@ -977,8 +1195,7 @@
			/**
			* 堆垛机异常信息记录
			*/
			@Async
			public void recCrnErr(){
			public synchronized void recCrnErr() {
			Date now = new Date();
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			@@ -1000,7 +1217,7 @@
			continue;
			}
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			@@ -1039,7 +1256,7 @@
			}
			}
			}
			// 无任务
			// 无任务
			} else {
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			@@ -1047,7 +1264,7 @@
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			null, // 工作号
			@@ -1062,7 +1279,7 @@
			null, // 源站
			null, // 源库位
			null, // 条码
			(int)crnProtocol.getAlarm(), // 异常码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			@@ -1075,7 +1292,7 @@
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			// 无异常
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			@@ -1099,27 +1316,32 @@
			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			@Async
			public void storeEmptyPlt(){
			public synchronized void storeEmptyPlt() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			// 获取空板入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

			// 站点条件判断
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() == 9999 \|\| staProtocol.getWorkNo() == 9990 \|\| staProtocol.getWorkNo() == 9997) && staProtocol.isPakMk()) {

			&& (staProtocol.isEmptyMk() \|\| staProtocol.getStaNo() == 9999)
			// && (staProtocol.getWorkNo() >= 9990 && staProtocol.getWorkNo() <= 9999)
			&& staProtocol.isPakMk()) {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.eq("sta_no", emptyInSta.getStaNo())
			.eq("io_type", 10)
			.eq("wrk_sts", 2));
			if (!Cools.isEmpty(wrkMasts)){
			continue;
			}
			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			@@ -1136,7 +1358,7 @@
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			ledThread.errorReset();
			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			@@ -1146,68 +1368,12 @@
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}




			// // 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();
			// }

			}

			@@ -1219,8 +1385,7 @@
			/**
			* 出库 ===>> 工作档信息写入led显示器
			*/
			@Async
			public void ledExecute() {
			public synchronized void ledExecute() {
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			@@ -1243,6 +1408,7 @@
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(wrkMast.getWrkNo());
			ledCommand.setIoType(wrkMast.getIoType());
			// 出库模式
			switch (wrkMast.getIoType()) {
			case 101:
			@@ -1262,14 +1428,25 @@
			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("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			break;
			}
			ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			ledCommand.setStaNo(wrkMast.getStaNo());
			ledCommand.setBarcode(wrkMast.getBarcode());
			if (wrkMast.getIoType() != 110) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatNo(), wrkDetl.getMatName(), wrkDetl.getQty())));
			wrkDetls.forEach(wrkDetl -> {
			if (wrkMast.getIoType() == 101) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme()));
			}
			if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() \|\| 0 == wrkDetl.getInspect())) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme()));
			}
			if (wrkMast.getIoType() == 107) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme()));
			}
			});
			}
			commands.add(ledCommand);
			}
			@@ -1283,10 +1460,8 @@
			// 命令下发 -------------------------------------------------------------------------------
			if (!commands.isEmpty()) {
			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("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			} else {
			ledThread.setLedMk(false);
			}
			}

			@@ -1314,35 +1489,7 @@
			/**
			* 其他 ===>> LED显示器复位，显示默认信息
			*/
			@Async
			public void ledReset() {
			// for (LedSlave led : slaveProperties.getLed()) {
			// // 获取输送线plc线程
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// // 命令集合
			// boolean reset = true;
			// for (Integer staNo : led.getStaArr()) {
			// // 获取叉车站点
			// StaProtocol staProtocol = devpThread.getStation().get(staNo);
			// if (staProtocol == null) {
			// continue;
			// } 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() {
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			@@ -1351,10 +1498,8 @@
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			}
			if (staProtocol.getWorkNo() != 0) {
			if (staProtocol == null) { continue; }
			if (staProtocol.getWorkNo() != 0 \|\| staProtocol.isErr()) {
			reset = false;
			break;
			}
			@@ -1362,12 +1507,9 @@
			// 获取led线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
			// led显示默认内容
			if (reset && !ledThread.isLedMk()) {
			ledThread.setLedMk(true);
			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());
			} else {

			News.error("{}号LED命令下发失败1565！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			}
			}
			}
			@@ -1378,15 +1520,16 @@
			* tip：同步
			*/
			@Transactional
			public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast){
			public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast) {
			LocMast loc = locMastService.selectById(pakinWrkMast.getLocNo());

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			Date now = new Date();
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setIoTime(now);
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(15D);
			@@ -1396,12 +1539,12 @@
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D")?"Y":"N"); // 空板
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setCtnNo("Y"); // 入库阻塞库位移转标记
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			wrkMast.setAppeTime(now);
			wrkMast.setModiTime(now);
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			@@ -1412,11 +1555,11 @@
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setQty(locDetl.getQty());
			wrkDetl.setIoTime(now);
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			wrkDetl.setAppeTime(now);
			wrkDetl.setModiTime(now);
			if (!wrkDetlService.insert(wrkDetl)) {
			throw new CoolException("保存工作档明细失败");
			}
			@@ -1425,8 +1568,8 @@
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("S"); // S.入库预约，入库阻塞库位移转
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)){
			shallowLoc.setModiTime(now);
			if (!locMastService.updateById(shallowLoc)) {
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			@@ -1452,151 +1595,181 @@
			* 因双深库位阻塞，对浅库位进行移转（立即执行版)
			* tip：同步
			*/
			private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){
			List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
			LocMast loc = null;
			for (Integer row : rows) {
			if (Utils.isDeepLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
			private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
			try {
			List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
			LocMast loc = null;
			for (Integer row : rows) {
			if (Utils.isDeepLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

			if (loc !=null) {
			if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())){
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
			LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
			if(!shallowLoc1.getLocSts().equals("O")){
			loc = null;
			if (loc != null) {
			if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
			LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
			if (!shallowLoc1.getLocSts().equals("O")) {
			loc = null;
			}
			}
			}
			if (null != loc) {
			break;
			}
			}
			}
			if (null == loc) {
			for (Integer row : rows) {
			if (Utils.isShallowLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

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

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


			if (null != loc) { break; }
			}
			}
			if (null == loc) {
			for (Integer row : rows) {
			if (Utils.isShallowLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
			if (null != loc) { break; }

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

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			throw new CoolException("保存工作档明细失败");
			}
			}
			}
			}
			if (null == loc) {
			throw new CoolException("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			}

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D")?"Y":"N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setQty(locDetl.getQty());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			throw new CoolException("保存工作档明细失败");
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)) {
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			}
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)){
			throw new CoolException("更新源库位状态失败");
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			throw new CoolException("移转失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			} catch (Exception e) {
			log.error("双深库位阻塞，对浅库位进行移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			throw new CoolException("移转失败");
			}

			}

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

			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }

			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 获取移库工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
			if (null != wrkMast) { continue; }

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

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

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(sourceLocNo); // 源库位
			wrkMast.setLocNo(locNo); // 目标库位
			wrkMast.setFullPlt("N"); // 满板：Y
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D")?"Y":"N"); // 空板
			wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			// 工作档明细保存

			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 获取移库工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
			if (null != wrkMast) {
			continue;
			}

			LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
			if (null == sourceLoc ) {
			continue;
			}
			LocMast loc = locMastService.queryDemoLoc0(crn.getId(),sourceLoc.getLocType1());
			if ( null == loc) {
			continue;
			}

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

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(sourceLocNo); // 源库位
			wrkMast.setLocNo(locNo); // 目标库位
			wrkMast.setFullPlt("N"); // 满板：Y
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
			// for (LocDetl locDetl : locDetls) {
			// WrkDetl wrkDetl = new WrkDetl();
			@@ -1610,36 +1783,145 @@
			// throw new CoolException("保存工作档明细失败");
			// }
			// }
			// 修改源库位状态
			if (sourceLoc.getLocSts().equals("D")) {
			sourceLoc.setLocSts("R"); // R.出库预约
			sourceLoc.setModiTime(new Date());
			if (!locMastService.updateById(sourceLoc)){
			throw new CoolException("更新源库位状态失败");
			// 修改源库位状态
			if (sourceLoc.getLocSts().equals("D")) {
			sourceLoc.setLocSts("R"); // R.出库预约
			sourceLoc.setModiTime(new Date());
			if (!locMastService.updateById(sourceLoc)) {
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			throw new CoolException("移转失败");
			}
			} else {
			throw new CoolException("移转失败");
			}

			}
			}
			} catch (Exception e) {
			log.error("堆垛机演示 ===>> 库位移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			/**
			* 堆垛机演示 ===>> 所有库位轮询
			*/
			public synchronized void crnDemoOfLocMove2() {
			try {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			if (!crn.getDemo()) {
			continue;
			} // 必须为演示状态

			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}

			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 获取移库工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
			if (null != wrkMast) {
			continue;
			}


			LocMast sourceLoc = locMastService.queryDemoSourceLoc1(crn.getId());
			if (null == sourceLoc ) {
			continue;
			}
			LocMast loc = locMastService.queryDemoLoc2(crn.getId(),sourceLoc.getLocType1());
			if ( null == loc) {
			continue;
			}

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

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(sourceLocNo); // 源库位
			wrkMast.setLocNo(locNo); // 目标库位
			wrkMast.setFullPlt("N"); // 满板：Y
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
			// for (LocDetl locDetl : locDetls) {
			// WrkDetl wrkDetl = new WrkDetl();
			// wrkDetl.setWrkNo(workNo);
			// wrkDetl.setIoTime(new Date());
			// wrkDetl.setAnfme(locDetl.getAnfme());
			// VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			// wrkDetl.setAppeTime(new Date());
			// wrkDetl.setModiTime(new Date());
			// if (!wrkDetlService.insert(wrkDetl)) {
			// throw new CoolException("保存工作档明细失败");
			// }
			// }
			// 修改源库位状态
			if (sourceLoc.getLocSts().equals("D")) {
			sourceLoc.setLocSts("R"); // R.出库预约
			sourceLoc.setModiTime(new Date());
			if (!locMastService.updateById(sourceLoc)) {
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setCtnKind(1);
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			throw new CoolException("移转失败");
			}

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

			/**
			* 堆垛机命令下发后，异步修改工作档状态
			*/
			public synchronized void crnIoWrkMast(){
			public synchronized void crnIoWrkMast() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			@@ -1652,7 +1934,9 @@
			if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 获取工作档
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) { continue; }
			if (wrkMast == null) {
			continue;
			}
			// 入库
			if (wrkMast.getWrkSts() == 1 \|\| wrkMast.getWrkSts() == 2) {
			log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
			@@ -1663,7 +1947,7 @@
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			}
			// 出库、移库
			if (wrkMast.getWrkSts() == 11) {
			@@ -1675,7 +1959,7 @@
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			}


			@@ -1687,28 +1971,66 @@
			/**
			* 入出库模式切换函数
			*/
			public void ioConvert() {
			public synchronized void ioConvert() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

			WrkMast pakout = wrkMastMapper.selectWorkingPakout();
			if (pakout != null) {
			if (devpThread.ioMode != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioMode = IoModeType.PAKOUT_BOOTING;

			WrkMast pakin = wrkMastMapper.selectWorkingPakin();
			if (pakin == null) {
			// 出库模式
			devpThread.ioMode = IoModeType.PAKOUT_MODE;
			}
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// if (inSta.getStaNo() == 2) {
			// continue;
			// }
			Integer staNo = 0;
			switch (inSta.getStaNo()){
			case 101:
			staNo = 102;
			break;
			case 104:
			staNo = 105;
			break;
			}
			} else {
			// 入库模式
			devpThread.ioMode = IoModeType.PAKIN_MODE;
			WrkMast pakout = wrkMastMapper.selectWorkingPakout(staNo);
			switch (inSta.getStaNo()) {
			case 101: // 1F1
			if (pakout != null) {
			if (devpThread.ioModeOf1F1 != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioModeOf1F1 = IoModeType.PAKOUT_BOOTING;
			WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			&& !devpThread.getStation().get(inSta.getStaNo() - 1).isLoading()
			&& devpThread.getStation().get(inSta.getStaNo() - 1).getWorkNo() == 0) {
			// 出库模式
			devpThread.ioModeOf1F1 = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf1F1 = IoModeType.PAKIN_MODE;
			}
			break;
			case 104: // 1F2
			if (pakout != null) {
			if (devpThread.ioModeOf1F2 != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioModeOf1F2 = IoModeType.PAKOUT_BOOTING;
			WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			&& !devpThread.getStation().get(inSta.getStaNo() - 1).isLoading()
			&& devpThread.getStation().get(inSta.getStaNo() - 1).getWorkNo() == 0) {
			// 出库模式
			devpThread.ioModeOf1F2 = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf1F2 = IoModeType.PAKIN_MODE;
			}
			break;
			}
			}

			}

			} catch (Exception e) {
			@@ -1720,18 +2042,1303 @@



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




			/**
			* 扫描碟盘机自动入库空托盘
			*/
			public synchronized void autoEmptyIn() {
			for (DevpSlave slave : slaveProperties.getDevp()) {
			for (DevpSlave.Sta sta : slave.getAutoEmptyIn()) {
			// 获取空板入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, slave.getId());
			StaProtocol staProtocol = devpThread.getStation().get(sta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 站点条件判断
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.isEmptyInPalletRequire() && staProtocol.getWorkNo() == 0) {
			List<StaDesc> staDescs = staDescService.selectList(new EntityWrapper<StaDesc>().eq("type_no", 10).eq("stn_no", sta.getStaNo()));
			for (StaDesc staDesc:staDescs){

			BasDevp basDevp = new BasDevp();

			if (staDesc.getCrnNo() == 1){
			basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", 1004));
			} else if (staDesc.getCrnNo() == 2) {
			basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", 1008));
			}
			if (Cools.isEmpty(basDevp)){
			continue;
			}

			if (basDevp.getAutoing().equals("Y") && basDevp.getLoading().equals("N")
			&& basDevp.getWrkNo() == 0 && basDevp.getCanining().equals("Y")){
			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo((short) 9997);
			staProtocol.setStaNo(basDevp.getDevNo().shortValue());
			// staProtocol.setStaNo((short) 1013);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			return;
			}

			}


			// try {
			// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			//
			// SearchLocParam param = new SearchLocParam();
			// param.setIoType(10);
			// param.setSourceStaNo(sta.getStaNo());
			// param.setLocType1(locTypeDto.getLocType1());
			// String response = new HttpHandler.Builder()
			// .setUri(wmsUrl)
			// .setPath("/rpc/pakin/loc/v1")
			// .setJson(JSON.toJSONString(param))
			// .build()
			// .doPost();
			// JSONObject jsonObject = JSON.parseObject(response);
			// if (jsonObject.getInteger("code").equals(200)) {
			// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			//
			// // 更新站点信息且下发plc命令
			// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			// staProtocol.setStaNo(dto.getStaNo().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }
			// } else {
			// log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			}
			}
			}
			}

			/**
			* 扫描拆盘机自动出库空托盘
			*/
			public synchronized void autoEmptyOut() {
			for (DevpSlave slave : slaveProperties.getDevp()) {
			for (DevpSlave.Sta sta : slave.getAutoEmptyOut()) {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, slave.getId());
			StaProtocol staProtocol = devpThread.getStation().get(sta.getStaNo());
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing() //自动
			&& !staProtocol.isLoading() //无物
			&& staProtocol.isEmptyOutPalletRequire() //空托盘需求信号
			// && staProtocol.isEmptyMk()
			&& staProtocol.getWorkNo() == 0
			) {
			Integer staNo = sta.getStaNo();
			switch (staProtocol.getSiteId()){
			case 4007:
			staNo = 4002;break;
			case 4016:
			staNo = 4011;break;
			}
			WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(staNo);
			if (null != pakoutEmpty) {
			return;
			}

			List<StaDesc> staDescs = staDescService.selectList(new EntityWrapper<StaDesc>().eq("stn_no", staNo));
			for (StaDesc staDesc: staDescs){
			BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", staDesc.getCrnNo()));
			if (!basCrnp.getCrnSts().equals(3) \|\| basCrnp.getCrnErr() != 0){
			continue;
			}
			try {
			HashMap<String, Object> map = new HashMap<>();
			map.put("crnNo", staDesc.getCrnNo());//目标站
			map.put("staNo",staDesc.getStnNo());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setParams(map)
			.setPath("/rpc/auto/emptyOut/v1")
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			JSONObject data = (JSONObject) jsonObject.get("data");
			log.info((String) data.get("msg"));
			return;
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			}
			}

			}

			}

			public synchronized void crn5InTask(){
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			if (crnSlave.getId() != 5){
			continue;
			}
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crnSlave.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crnSlave.getId());
			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
			&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {

			// Crn5InTaskSta(crnSlave,crnProtocol);

			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			this.Crn5InTaskSta(crnSlave,crnProtocol);
			crnProtocol.setLastIo("O");
			} else if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrn5Stn(crnSlave, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrn5Stn(crnSlave, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {

			this.Crn5InTaskSta(crnSlave,crnProtocol);
			crnProtocol.setLastIo("O");
			}
			}

			}

			}
			}
			public void Crn5InTaskSta(CrnSlave slave, CrnProtocol crnProtocol){
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectCrn5Task2();
			if (wrkMast == null) {
			return;
			}
			// 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());
			return;
			}
			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());
			return;
			}
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			return;
			}

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(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
			crnCommand.setLocType1(locMast.getLocType1().shortValue()); // 货物类型
			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));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			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());
			}
			}
			}




			}


			public synchronized void crn5StnToOutStn() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			if (crnSlave.getId() != 5){
			continue;
			}
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(crnStn.getStaNo());
			if (wrkMast == null) {
			continue;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			continue;
			}
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			continue;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {

			// 更新工作档状态为14
			wrkMast.setWrkSts(14L);

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

			}

			// }
			}
			}
			}


			public synchronized void locToCrn5Stn(CrnSlave slave, CrnProtocol crnProtocol) {
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
			// 获取工作状态为14的工作档
			WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep14(slave.getId(), crnStn.getStaNo());
			if ( wrkMast1 !=null) {
			continue;
			}
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast == null) {
			continue;
			}
			// 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());
			continue;
			}
			// 获取源库位信息
			LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!locMast.getLocSts().equals("R") && !locMast.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(), locMast.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			break;
			// continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isOutEnable()) {
			// 命令下发区 --------------------------------------------------------------------------

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


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

			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(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(locMast.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(locMast.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(locMast.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
			crnCommand.setLocType1(locMast.getLocType1().shortValue()); // 货物类型
			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));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("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;
			}
			}
			}
			}
			}

			public synchronized void crn5TaskCreate() throws IOException {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			if (crnSlave.getId() != 5){
			continue;
			}
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnInStn()) {
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			break;
			// continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){

			EmptyBarrelIn emptyBarrelIn = emptyBarrelInService.selectOne(new EntityWrapper<>());
			if (Cools.isEmpty(emptyBarrelIn)){
			continue;
			}

			FullStoreParam fullStoreParam = new FullStoreParam();
			fullStoreParam.setDevpNo(crnStn.getStaNo());
			FullStoreParam.MatCodeStore matCodeStore = new FullStoreParam.MatCodeStore();
			matCodeStore.setMatnr(emptyBarrelIn.getMatnr());
			matCodeStore.setBatch(emptyBarrelIn.getBatch());
			if (staProtocol.isForce()){
			log.info("空桶强制入库："+staProtocol.getAmount());
			matCodeStore.setAnfme(Double.valueOf(staProtocol.getAmount()));
			}else {
			matCodeStore.setAnfme(8d) ;
			}
			ArrayList<FullStoreParam.MatCodeStore> matCodeStores = new ArrayList<>();
			matCodeStores.add(matCodeStore);
			fullStoreParam.setList(matCodeStores);
			try {
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/full/store/put/start")
			.setJson(JSON.toJSONString(fullStoreParam))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			devpThread.setPakMk(crnStn.getStaNo(),false);
			}
			}catch (CoolException e){

			}

			}

			}
			}
			}

			public synchronized void RGVTaskCreate(){
			for (RgvSlave rgvSlave:slaveProperties.getRgv()){
			ZyRgvThread rgvThread = (ZyRgvThread)SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (Cools.isEmpty(rgvProtocol)){
			continue;
			}else {
			rgvProtocol = rgvProtocol.clone();
			}
			List<WrkMastSta> wrkMastStas = wrkMastStaService.selectRGVTask1(rgvSlave.getId());
			if (!Cools.isEmpty(wrkMastStas)){
			continue;
			}
			if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getLoaded1() == 0){
			boolean work1 = false;
			boolean work2 = false;
			int workNo1 = 0;
			int workNo2 = 0;
			short souSta1 = 0;
			short sta1 = 0;
			short souSta2 = 0;
			short sta2 = 0;
			Integer matnr = 0;
			Integer matnr2 = 0;
			String batch = "";
			String batch2 = "";
			short type = 0;
			short type2 = 0;
			short anfme = 0;
			short anfme2 = 0;
			Double weight = 0d;
			Double weight2 = 0d;

			//工位一任务
			for (RgvSlave.Sta inStn : rgvSlave.getInStn()){
			if (rgvSlave.getId() == 1 && inStn.getSourceStaNo() == 2114){
			continue;
			}
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, inStn.getSourcePlcId());
			StaProtocol staProtocol = devpThread.getStation().get(inStn.getSourceStaNo());
			if (staProtocol == null) {
			// break;
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && (staProtocol.getWorkNo()>0 && staProtocol.getWorkNo()<9900)){

			WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
			if (Cools.isEmpty(wrkMast)){
			log.error("未找到工作档");
			continue;
			}
			workNo1 = wrkMast.getWrkNo();
			souSta1 = Utils.getRgvStaNo(rgvSlave.getId(),staProtocol.getSiteId());
			sta1 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
			work1 = true;
			devpThread.setPakMk(inStn.getSourceStaNo(),false);
			break;


			} else if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && (staProtocol.getWorkNo()>=9900 \|\| staProtocol.getWorkNo()==0)) {
			if (rgvSlave.getId() != 2 ){
			continue;
			}
			workNo1 = workNo++;
			souSta1 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getSourceStaNo());
			if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 1){
			sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2103);
			} else if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 2) {
			sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2002);
			} else if (inStn.getSourceStaNo() == 2102 && staProtocol.isFullPlt()) {
			sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2301);
			} else {
			sta1 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getStaNo());
			}

			if (inStn.getSourceStaNo() == 2102 && staProtocol.isEmptyMk()){ //区分空板
			type = 1;
			}
			if(inStn.getSourceStaNo() == 2102){
			weight = staProtocol.getWeight().doubleValue()/10;
			}

			work1 = true;
			if (inStn.getSourcePlcId() == 4 \|\| inStn.getSourcePlcId() ==5){ //灌装站需要获取输送线物料代码
			matnr = staProtocol.getMatnr();
			}

			devpThread.setPakMk(inStn.getSourceStaNo(),false);
			break;
			}
			}

			if (rgvSlave.getId() != 3){
			//工位二任务
			for (RgvSlave.Sta inStn : rgvSlave.getInStn()){
			if (souSta1 == inStn.getSourceStaNo()){
			continue;
			}
			if (rgvSlave.getId() == 1 && inStn.getSourceStaNo() == 1014){
			continue;
			}
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, inStn.getSourcePlcId());
			StaProtocol staProtocol = devpThread.getStation().get(inStn.getSourceStaNo());
			if (staProtocol == null) {
			// break;
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()&& staProtocol.isPakMk() && (staProtocol.getWorkNo()>0 && staProtocol.getWorkNo()<9900)){

			WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
			if (Cools.isEmpty(wrkMast)){
			log.error("未找到工作档");
			continue;
			}
			workNo2 = wrkMast.getWrkNo();
			souSta2 = Utils.getRgvStaNo(rgvSlave.getId(),staProtocol.getSiteId());
			sta2 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
			work2 = true;
			devpThread.setPakMk(inStn.getSourceStaNo(),false);
			break;
			} else if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && (staProtocol.getWorkNo()>=9900 \|\| staProtocol.getWorkNo()==0)) {
			if (rgvSlave.getId() != 2 ){
			continue;
			}
			workNo2 = workNo++;
			souSta2 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getSourceStaNo());
			if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 1){
			sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2103);
			} else if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 2) {
			sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2002);
			}else if (inStn.getSourceStaNo() == 2102 && staProtocol.isFullPlt()) {
			sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2301);
			} else {
			sta2 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getStaNo());
			}

			if (inStn.getSourceStaNo() == 2102 && staProtocol.isEmptyMk()){ //区分空板
			type2 = 1;
			}

			if(inStn.getSourceStaNo() == 2102){
			weight2 = staProtocol.getWeight().doubleValue()/10;
			}

			work2 = true;
			if (inStn.getSourcePlcId() == 4){
			matnr2 = staProtocol.getMatnr();
			}
			devpThread.setPakMk(inStn.getSourceStaNo(),false);
			break;
			}


			}
			}


			if (work1 \|\| work2){
			//rgv任务下发--------------------------------------------------------------
			RgvCommand command = new RgvCommand();
			command.setRgvNo(rgvSlave.getId()); // RGV编号
			//工位1
			command.setTaskNo1(workNo1); // 工作号
			command.setSourceStaNo1(souSta1); // 源站
			command.setDestinationStaNo1(sta1); // 目标站
			command.setAckFinish1(false); // 任务完成确认位

			//工位2
			command.setTaskNo2(workNo2); // 工作号
			command.setSourceStaNo2(souSta2); // 源站
			command.setDestinationStaNo2(sta2); // 目标站
			command.setAckFinish2(false); // 任务完成确认位

			command.setMatnr(matnr);
			command.setMatnr2(matnr2);
			command.setBatch(batch);
			command.setBatch2(batch2);
			command.setAnfme(anfme);
			command.setAnfme2(anfme2);

			command.setType(type);
			command.setType2(type2);

			command.setWeight(weight);
			command.setWeight2(weight2);

			if (workNo1 == 0 && workNo2 !=0){
			command.setTaskMode(RgvTaskModeType.FETCH_PUT2); // 任务模式: 2取放货
			} else if (workNo1 != 0 && workNo2 ==0) {
			command.setTaskMode(RgvTaskModeType.FETCH_PUT1); // 任务模式: 1取放货
			}else {
			command.setTaskMode(RgvTaskModeType.FETCH_PUT_ALL); // 任务模式: all取放货
			}
			command.setCommand(false);
			rgvTaskSave(command);
			MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(2, command));
			log.info("rgv任务下发："+JSON.toJSONString(command));
			}
			}





			}
			}


			public synchronized void RGVTaskOver() {
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			if (rgvSlave.getId() ==2){
			continue;
			}
			ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (Cools.isEmpty(rgvProtocol)){
			continue;
			}else {
			rgvProtocol = rgvProtocol.clone();
			}

			//工位一任务完成
			if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING && rgvProtocol.getLoaded1() == 0) {

			try {
			boolean offer = MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(3, new RgvCommand()));
			log.info("{}号rgv工位一工作完成复位,工作号:{}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
			if (offer){
			//完成rgv任务
			Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvSlave.getId()).eq("wrk_no", rgvProtocol.getTaskNo1());
			WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
			if (Cools.isEmpty(wrkMastSta1)){
			log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
			}else {
			if (wrkMastSta1.getWrkType() == 8 ){
			wrkMastSta1.setWrkSts(3);
			wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
			}
			}

			//完成工作档任务
			if (rgvSlave.getId() != 1){
			WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo1());
			if (Cools.isEmpty(wrkMast)){
			log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
			}else {
			if (wrkMast.getIoType() == 110 \|\| wrkMast.getIoType() == 101){
			Date date = new Date();
			wrkMast.setWrkSts(14L);
			wrkMast.setModiTime(date);
			wrkMastService.updateById(wrkMast);
			}
			}
			}
			}


			}catch (Exception e){
			log.error("完成{}号车工位一任务出错!!!!!!!!!!!!!!!!,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
			continue;
			}



			}

			//工位二任务完成
			if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING2 && rgvProtocol.getLoaded2() == 0) {
			try {
			boolean offer = MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(4, new RgvCommand()));
			log.info("{}号rgv工位二工作完成复位,工作号:{}",rgvSlave.getId(),rgvProtocol.getTaskNo2());
			if (offer){
			//完成rgv任务
			Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvProtocol.getRgvNo()).eq("wrk_no2", rgvProtocol.getTaskNo2());
			WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
			if (Cools.isEmpty(wrkMastSta1)){
			log.error("完成{}号车工位二任务未找到对应工作任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
			}else {
			if (wrkMastSta1.getWrkType() == 9 ){
			wrkMastSta1.setWrkSts(3);
			wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
			}else if (wrkMastSta1.getWrkType() == 1){
			wrkMastSta1.setWrkSts(3);
			wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
			}
			}

			//完成工作档任务
			if (rgvSlave.getId() != 1){
			WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo2());
			if (Cools.isEmpty(wrkMast)){
			log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
			}else {
			if (wrkMast.getIoType() == 110 \|\| wrkMast.getIoType() == 101){
			Date date = new Date();
			wrkMast.setWrkSts(14L);
			wrkMast.setModiTime(date);
			wrkMastService.updateById(wrkMast);
			}
			}
			}

			}

			}catch (Exception e){
			log.error("完成{}号车工位一任务出错!!!!!!!!!!!!!!!!,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
			continue;
			}




			}
			}
			}

			//二号rgv输送线命令下发
			public synchronized void RGVTaskput() {
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			if (rgvSlave.getId() ==2){
			continue;
			}
			ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (Cools.isEmpty(rgvProtocol)){
			continue;
			}else {
			rgvProtocol = rgvProtocol.clone();
			}

			//工位一任务完成
			if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN1 && rgvProtocol.getLoaded1() == 1) {
			WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo(rgvSlave.getId(), rgvProtocol.getTaskNo1());
			WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo1());
			if (Cools.isEmpty(wrkMastSta)){
			log.error("未查询到rgv工作任务，rgv编号{},工作号{}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
			continue;
			}
			for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
			if (!Objects.equals(Utils.getStaNo(rgvSlave.getId(), wrkMastSta.getWrkEnd()), outStn.getStaNo())){
			continue;
			}
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isPakMk()){
			staProtocol.setWorkNo(wrkMastSta.getWrkNo().shortValue());
			if (rgvSlave.getId() == 3 && outStn.getStaPlcId() == 6){
			staProtocol.setStaNo((short)2401);
			}else {
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			}

			MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol));
			}
			}
			}

			//工位二任务完成
			if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN8 && rgvProtocol.getLoaded2() == 1) {
			WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo2(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo2());
			WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo2());
			if (Cools.isEmpty(wrkMastSta)){
			log.error("未查询到rgv工作任务，rgv编号{},工作号{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
			continue;
			}
			for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
			if (!Objects.equals(Utils.getStaNo(rgvSlave.getId(), wrkMastSta.getStaEnd()), outStn.getStaNo())){
			continue;
			}//判断是否为工作档站点
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isPakMk()){
			staProtocol.setWorkNo(wrkMastSta.getWrkNo2().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol));
			}
			}
			}
			}
			}

			//二号rgv输送线命令下发
			public synchronized void RGV2Taskput() {
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			if (rgvSlave.getId() !=2){
			continue;
			}
			ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (Cools.isEmpty(rgvProtocol)){
			continue;
			}else {
			rgvProtocol = rgvProtocol.clone();
			}

			//工位一任务完成
			if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN1 && rgvProtocol.getLoaded1() == 1) {
			WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo1());
			if (Cools.isEmpty(wrkMastSta)){
			log.error("未查询到rgv工作任务，rgv编号{},工作号{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
			continue;
			}
			for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
			if (!Objects.equals(Utils.getStaNo(rgvSlave.getId(), wrkMastSta.getWrkEnd()), outStn.getStaNo())){
			continue;
			}
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (outStn.getStaPlcId() == 2){
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isPakMk()){
			staProtocol.setWorkNo(wrkMastSta.getWrkNo().shortValue());
			if (wrkMastSta.getType() == 1){
			staProtocol.setStaNo((short) 9999);
			}else {
			staProtocol.setStaNo((short) 2106);
			}
			staProtocol.setMatnr(wrkMastSta.getMatnr1());

			if (!MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			}
			}

			}
			}

			//工位二任务完成
			if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN8 && rgvProtocol.getLoaded2() == 1) {
			WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo2(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo2());
			if (Cools.isEmpty(wrkMastSta)){
			log.error("未查询到rgv工作任务，rgv编号{},工作号{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
			continue;
			}
			for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
			if (!Objects.equals(Utils.getStaNo(rgvSlave.getId(), wrkMastSta.getStaEnd()), outStn.getStaNo())){
			continue;
			}
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (outStn.getStaPlcId() == 2){
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isPakMk()){
			staProtocol.setWorkNo(wrkMastSta.getWrkNo2().shortValue());
			if (wrkMastSta.getType2() == 1){
			staProtocol.setStaNo((short) 9999);
			}else {
			staProtocol.setStaNo((short) 2106);
			}

			staProtocol.setMatnr(wrkMastSta.getMatnr2());

			if (!MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			}
			}
			}
			}
			}
			}

			public synchronized void RGV2TaskOver() {
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			if (rgvSlave.getId() !=2){
			continue;
			}
			ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (Cools.isEmpty(rgvProtocol)){
			continue;
			}else {
			rgvProtocol = rgvProtocol.clone();
			}

			//工位一任务完成
			if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING && rgvProtocol.getLoaded1() == 0) {

			try {
			boolean offer = MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(3, new RgvCommand()));
			log.info("{}号rgv工位一工作完成复位,工作号:{}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
			if (offer){

			Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvProtocol.getRgvNo()).eq("wrk_no", rgvProtocol.getTaskNo1());
			WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
			if (Cools.isEmpty(wrkMastSta1)){
			log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
			}else {
			if (wrkMastSta1.getWrkType() == 8 ){
			wrkMastSta1.setWrkSts(3);
			wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
			}
			}

			//完成工作档任务
			WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo1());
			if (Cools.isEmpty(wrkMast)){
			log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
			}else {
			if (wrkMast.getIoType() == 110 \|\| wrkMast.getIoType() == 101){
			Date date = new Date();
			wrkMast.setWrkSts(14L);
			wrkMast.setModiTime(date);
			wrkMastService.updateById(wrkMast);
			}
			}


			}


			}catch (Exception e){
			log.error("完成{}号车工位一任务出错!!!!!!!!!!!!!!!!,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
			continue;
			}



			}

			//工位二任务完成
			if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING2 && rgvProtocol.getLoaded2() == 0) {
			try {
			boolean offer = MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(4, new RgvCommand()));
			log.info("{}号rgv工位二工作完成复位,工作号:{}",rgvSlave.getId(),rgvProtocol.getTaskNo2());
			if (offer){
			Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvProtocol.getRgvNo()).eq("wrk_no2", rgvProtocol.getTaskNo2());
			WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
			if (Cools.isEmpty(wrkMastSta1)){
			log.error("完成{}号车工位二任务未找到对应工作任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
			}else {
			if (wrkMastSta1.getWrkType() == 9 ){
			wrkMastSta1.setWrkSts(3);
			wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
			}else if (wrkMastSta1.getWrkType() == 1){
			wrkMastSta1.setWrkSts(3);
			wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
			}
			}

			//完成工作档任务
			WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo2());
			if (Cools.isEmpty(wrkMast)){
			log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
			}else {
			if (wrkMast.getIoType() == 110 \|\| wrkMast.getIoType() == 101){
			Date date = new Date();
			wrkMast.setWrkSts(14L);
			wrkMast.setModiTime(date);
			wrkMastService.updateById(wrkMast);
			}
			}

			}


			}catch (Exception e){
			log.error("完成{}号车工位一任务出错!!!!!!!!!!!!!!!!,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
			continue;
			}




			}
			}
			}

			public boolean rgvTaskSave(RgvCommand command){
			// Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", command.getRgvNo()).eq("wrk_no", command.getTaskNo1());
			if (command.getTaskNo1() > 0){
			List<WrkMastSta> wrkMastSta1 = wrkMastStaService.selectBywrkNoHistoricalTasks(command.getRgvNo(),command.getTaskNo1());
			if (!Cools.isEmpty(wrkMastSta1)){
			for (WrkMastSta wrkMastSta :wrkMastSta1){
			wrkMastStaService.deleteById(wrkMastSta);
			}

			}
			}
			if (command.getTaskNo2() > 0){
			List<WrkMastSta> wrkMastSta1 = wrkMastStaService.selectBywrkNoHistoricalTasks2(command.getRgvNo(),command.getTaskNo2());
			if (!Cools.isEmpty(wrkMastSta1)){
			for (WrkMastSta wrkMastSta :wrkMastSta1){
			wrkMastStaService.deleteById(wrkMastSta);
			}

			}
			}


			WrkMastSta wrkMastSta = new WrkMastSta();
			wrkMastSta.setWrkNo(Long.valueOf(command.getTaskNo1()));
			wrkMastSta.setWrkNo2(Long.valueOf(command.getTaskNo2()));
			wrkMastSta.setWrkStart(command.getSourceStaNo1().intValue());
			wrkMastSta.setWrkEnd(command.getDestinationStaNo1().intValue());
			wrkMastSta.setStaStart(command.getSourceStaNo2().intValue());
			wrkMastSta.setStaEnd(command.getDestinationStaNo2().intValue());
			wrkMastSta.setWrkSts(1);
			Date now = new Date();
			wrkMastSta.setCreateTime(now);
			wrkMastSta.setUpdateTime(now);
			wrkMastSta.setWrkCrn(command.getRgvNo());
			wrkMastSta.setWrkType(command.getTaskMode().intValue());
			wrkMastSta.setMatnr1(command.getMatnr());
			wrkMastSta.setMatnr2(command.getMatnr2());
			wrkMastSta.setType(command.getType().intValue());
			wrkMastSta.setType2(command.getType2().intValue());
			wrkMastSta.setBatch(command.getBatch());
			wrkMastSta.setBatch2(command.getBatch2());
			wrkMastSta.setAnfme(command.getAnfme().intValue());
			wrkMastSta.setAnfme2(command.getAnfme2().intValue());
			wrkMastSta.setWeight(command.getWeight());
			wrkMastSta.setWeight2(command.getWeight2());

			return wrkMastStaService.insert(wrkMastSta);
			}

			//二期组托
			public synchronized void generateStoreWrkFile2() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			if (devp.getId() != 2){
			continue;
			}
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			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 {
			// led 异常显示
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			// if (ledThread != null) {
			// String errorMsg = "扫码失败，请重试";
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			// }
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& staProtocol.getStaNo() != 9999
			&& staProtocol.isPakMk()) {

			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
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			continue;
			}

			// 判断重复工作档
			WrkMast wrkMast = new WrkMast();
			if (barcode.length() == 8) {
			wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			log.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			continue;
			}
			}
			// 获取入库通知档
			WaitPakin waitPakin = waitPakinService.selectOne(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
			if (Cools.isEmpty(waitPakin)) {
			try {
			CreateComb(barcode, staProtocol.getMatnr(),staProtocol.getWorkNo().intValue(),staProtocol.getBatch());
			}catch (IOException e) {
			throw new CoolException(e);
			}
			} else if (waitPakin.getWeight() == null) {
			WrkMastSta wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no", staProtocol.getWorkNo().intValue()));
			if (Cools.isEmpty(wrkMastSta)){
			wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no2", staProtocol.getWorkNo().intValue()));
			if (Cools.isEmpty(wrkMastSta)){
			throw new CoolException("未找到对应的任务信息");
			}
			waitPakin.setWeight(wrkMastSta.getWeight2());
			}else {
			waitPakin.setWeight(wrkMastSta.getWeight());
			}
			waitPakinService.update(waitPakin,new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
			} else {
			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			ledThread.errorReset();
			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");
			}
			} else if(jsonObject.getInteger("code").equals(700)) {
			log.error(barcode + "托盘识别异常，请先进行组托！");
			// led 异常显示
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			if (ledThread != null) {
			String errorMsg = barcode + "托盘识别异常，请先进行组托！";
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}

			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}


			}

			}
			}

			}

			public void CreateComb(String barcode,Integer code,Integer wrkNo,String batch) throws IOException {
			Double anfme = 0d;
			Double weight = 0d;

			WrkMastSta wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkNo));
			if (Cools.isEmpty(wrkMastSta)){
			wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no2", wrkNo));
			if (Cools.isEmpty(wrkMastSta)){
			if (code >0 && !Cools.isEmpty(batch)){
			anfme = 1d;
			}else {
			throw new CoolException("未找到对应的任务信息");
			}
			}else {
			batch = wrkMastSta.getBatch2();
			anfme = wrkMastSta.getAnfme2().doubleValue();
			code = wrkMastSta.getMatnr2();
			weight = wrkMastSta.getWeight2();
			}
			}else {
			batch = wrkMastSta.getBatch();
			anfme = wrkMastSta.getAnfme().doubleValue();
			code = wrkMastSta.getMatnr1();
			weight = wrkMastSta.getWeight();
			}
			MatnrCode matnrCode = matnrCodeService.selectByCode(code);
			if (Cools.isEmpty(matnrCode)){
			throw new CoolException("未找到对应的物料信息");
			}
			CombParam combParam = new CombParam();
			ArrayList<CombParam.CombMat> combMats = new ArrayList<>();
			CombParam.CombMat combMat = new CombParam.CombMat();
			combParam.setBarcode(barcode);
			combMat.setMatnr(matnrCode.getMatnr());
			combMat.setBatch(batch);
			combMat.setAnfme(anfme);

			combMats.add(combMat);
			combParam.setCombMats(combMats);

			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/mobile/comb/auth")
			.setJson(JSON.toJSONString(combParam))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {

			}else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/mobile/comb/auth", JSON.toJSONString(combParam), response);
			}
			}

			}