#

zjj

2024-05-20 774af73065b7623a36d384fc6a63b30535868d75

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

@@ -92,6 +92,10 @@
    private EmptyBarrelInService emptyBarrelInService;
    @Autowired
    private WrkMastStaService wrkMastStaService;
    @Autowired
    private MatnrCodeService matnrCodeService;
    @Autowired
    private WaitPakinService waitPakinService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -545,7 +549,7 @@
                        }


                        if (crnStn.getStaNo() == 1016 || crnStn.getStaNo() == 1019) {
                        if (crnStn.getStaNo() > 1013) {
                            // 更新工作档状态为13.RGV搬运中
                            wrkMast.setWrkSts(13L);
                        }else {
@@ -1328,8 +1332,9 @@

                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() >= 9990
                        && staProtocol.getWorkNo() <= 9999) && 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)
@@ -2062,10 +2067,14 @@
                    List<StaDesc> staDescs = staDescService.selectList(new EntityWrapper<StaDesc>().eq("type_no", 10).eq("stn_no", sta.getStaNo()));
                    for (StaDesc staDesc:staDescs){

                        BasDevp basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", staDesc.getCrnStn()));
                        BasDevp basDevp = new BasDevp();

                        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("crn_no", staDesc.getCrnNo()).gt("io_type", 100));
                        if (!Cools.isEmpty(wrkMast)){
                        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;
                        }

@@ -2143,11 +2152,19 @@
//                        && staProtocol.isEmptyMk()
                        && staProtocol.getWorkNo() == 0
                ) {
                    WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(sta.getStaNo());
                    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", sta.getStaNo()));

                    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){
@@ -2156,6 +2173,7 @@
                        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)
@@ -2262,7 +2280,7 @@
            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()==9?(short)4:(short)5);     // 目标库位排
            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
@@ -2407,7 +2425,7 @@
                    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()==9?(short)4:(short)5);     // 源库位排
                    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
@@ -2489,7 +2507,7 @@
        }
    }

    public synchronized void RGVTaskPut(){
    public synchronized void RGVTaskCreate(){
        for (RgvSlave rgvSlave:slaveProperties.getRgv()){
            ZyRgvThread rgvThread = (ZyRgvThread)SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
@@ -2497,6 +2515,10 @@
                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;
@@ -2507,32 +2529,48 @@
                short sta1 = 0;
                short souSta2 = 0;
                short sta2 = 0;
                short matnr = 0;
                short matnr2 = 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;
//                        break;
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){
                        if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() <9900){
                    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(),wrkMast.getSourceStaNo());
                            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());
@@ -2540,58 +2578,95 @@
                            sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2103);
                        } else if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 2) {
                            sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2002);
                        }else {
                        } 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){
                        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);

                        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)){

                //工位二任务
                for (RgvSlave.Sta inStn :  rgvSlave.getInStn()){
                    if (souSta1 == inStn.getSourceStaNo()){
                        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()){
                        if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() <9900){
                            WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
                            if (Cools.isEmpty(wrkMast)){
                                log.error("未找到工作档");
                                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 = wrkMast.getWrkNo();
                            souSta2 = inStn.getSourceStaNo().shortValue();
                            sta2 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
                            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;
                        }
                        workNo2 = workNo++;
                        souSta2 = inStn.getSourceStaNo().shortValue();
                        sta2 = inStn.getStaNo().shortValue();
                        work2 = true;
                        if (inStn.getSourcePlcId() == 4){
                            matnr2 = staProtocol.getMatnr();
                        }
                        devpThread.setPakMk(inStn.getSourceStaNo(),false);
                        break;


                    }
                }


                if (work1 || work2){
                    //rgv任务下发--------------------------------------------------------------
@@ -2611,6 +2686,16 @@

                    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
@@ -2636,6 +2721,9 @@

    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)){
@@ -2646,12 +2734,125 @@

            //工位一任务完成
            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING && rgvProtocol.getLoaded1() == 0) {
                WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo1());

                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{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                    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) {
@@ -2659,29 +2860,31 @@
                    } else {
                        staProtocol = staProtocol.clone();
                    }

                    if (staProtocol.isAutoing() && staProtocol.isLoading()  && staProtocol.isPakMk()){
                    if (staProtocol.isAutoing() && !staProtocol.isLoading()  && staProtocol.isPakMk()){
                        staProtocol.setWorkNo(wrkMastSta.getWrkNo().shortValue());
                        staProtocol.setStaNo(wrkMastSta.getWrkEnd().shortValue());
                        if (!MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol))) {
                            continue;
                        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));
                    }

                }

                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(),wrkMastSta.getWrkNo());
            }

            //工位二任务完成
            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING2 && rgvProtocol.getLoaded1() == 0) {
            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) {
@@ -2689,18 +2892,12 @@
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    if (staProtocol.isAutoing() && staProtocol.isLoading()  && staProtocol.isPakMk()){
//                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
////                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
//                        if (!MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol))) {
//                            continue;
//                        }
                    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));
                    }

                }

                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(),wrkMastSta.getWrkNo2());
            }
        }
    }
@@ -2727,6 +2924,9 @@
                    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) {
@@ -2738,8 +2938,12 @@
                    if (outStn.getStaPlcId() == 2){
                        if (staProtocol.isAutoing() && !staProtocol.isLoading()  && staProtocol.isPakMk()){
                            staProtocol.setWorkNo(wrkMastSta.getWrkNo().shortValue());
                            staProtocol.setStaNo((short) 2106);
                            staProtocol.setMatnr(wrkMastSta.getMatnr1().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;
@@ -2751,13 +2955,16 @@
            }

            //工位二任务完成
            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN8 && rgvProtocol.getLoaded1() == 1) {
                WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo2());
            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) {
@@ -2768,8 +2975,13 @@
                    if (outStn.getStaPlcId() == 2){
                        if (staProtocol.isAutoing() && !staProtocol.isLoading()  && staProtocol.isPakMk()){
                            staProtocol.setWorkNo(wrkMastSta.getWrkNo2().shortValue());
                            staProtocol.setStaNo((short) 2106);
                            staProtocol.setMatnr(wrkMastSta.getMatnr2().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;
@@ -2797,26 +3009,118 @@
            //工位一任务完成
            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING && rgvProtocol.getLoaded1() == 0) {

                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());
                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.getLoaded1() == 0) {
            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);
                            }
                        }

                    }


                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());
                }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());
        WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
        if (!Cools.isEmpty(wrkMastSta1)){
            wrkMastStaService.delete(wrkMastStaWrapper);
//        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()));
@@ -2830,9 +3134,211 @@
        wrkMastSta.setUpdateTime(now);
        wrkMastSta.setWrkCrn(command.getRgvNo());
        wrkMastSta.setWrkType(command.getTaskMode().intValue());
        wrkMastSta.setMatnr1(command.getMatnr().intValue());
        wrkMastSta.setMatnr2(command.getMatnr2().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);
        }
    }

}