联调

dubin

2025-08-26 7cf48f71577796759277ff0b413823d6131c365e

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

@@ -4,6 +4,7 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.baomidou.mybatisplus.plugins.Page;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.exception.CoolException;
@@ -94,6 +95,8 @@
    private WrkMastService wrkMastService;
    @Autowired
    private BasRgvMapService basRgvMapService;
    @Autowired
    private BasCrnOptService crnOptService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -150,19 +153,23 @@
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.getWeight() > 1000) {
                    errMsg = "超重";
                if (!back && staProtocol.getWeight() > 15000) {
                    errMsg = "超重或未读取";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeErr()) {
                    errMsg = "扫码失败";
                    back = true;
                }
//                if(staProtocol.getWeight() <= 0 ){
//                    continue;
//                }
//                if (!back && staProtocol.getWeight() == 0.0) {
//                    errMsg = "重量获取失败";
//                    back = true;
//                }

//                News.info("{}重量", staProtocol.getWeight());

                // 退回
                if (back) {
@@ -176,7 +183,7 @@
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);
                    staProtocol.setWorkNo(wrkNo);//退回 工作号:10000
                    News.info("{}PLC入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg, wrkNo);
                    wrkNo++;
                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
@@ -190,7 +197,8 @@
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && staProtocol.isPakMk()) {
                        && staProtocol.isPakMk()
                        && staProtocol.getWorkNo()==9999) {
                    if (Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
                        News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);

@@ -307,7 +315,8 @@
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//
                            log.error("输送线下发2：" + staProtocol.getWorkNo() + "," + staProtocol.getStaNo());

//                            if (ledThread != null) {
                            String errorMsg = jsonObject.getString("msg");
                            if (!Cools.isEmpty(errorMsg)) {
@@ -328,7 +337,7 @@

            }
        }
//        News.infoNoLog(""+mark+" - 0"+" - 组托  ===》执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 组托  ===》执行完成");

    }

@@ -407,11 +416,11 @@
            // 遍历拣料入库口
            for (DevpSlave.Sta pickSta : devp.getPickSta()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
//                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
//                if (barcodeThread == null) {
//                    continue;
//                }
//                String barcode = barcodeThread.getBarcode();
                // 获取拣料入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

@@ -422,87 +431,87 @@
                    continue;
                }
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                if (!back && staProtocol.isFrontErr()) {
                    errMsg = "前超限";
                    back = true;
                }
                if (!back && staProtocol.isBackErr()) {
                    errMsg = "后超限";
                    back = true;
                }
                if (!back && staProtocol.isHighErr()) {
                    errMsg = "高超限";
                    back = true;
                }
                if (!back && staProtocol.isLeftErr()) {
                    errMsg = "左超限";
                    back = true;
                }
                if (!back && staProtocol.isRightErr()) {
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.isWeightErr()) {
                    errMsg = "超重";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeErr()) {
                    errMsg = "扫码失败";
                    back = true;
                }
                if(staProtocol.getSiteId() > 400){
                    back = false;
                }
//                boolean back = false;
//                String errMsg = "";
//                if (!back && staProtocol.isFrontErr()) {
//                    errMsg = "前超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isBackErr()) {
//                    errMsg = "后超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isHighErr()) {
//                    errMsg = "高超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isLeftErr()) {
//                    errMsg = "左超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isRightErr()) {
//                    errMsg = "右超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isWeightErr()) {
//                    errMsg = "超重";
//                    back = true;
//                }
//                if (!back && staProtocol.isBarcodeErr()) {
//                    errMsg = "扫码失败";
//                    back = true;
//                }
//                if(staProtocol.getSiteId() > 400){
//                    back = false;
//                }

                // 退回
                if (back) {
                    log.info("errmsg: " + errMsg);
//                if (back) {
//                    log.info("errmsg: " + errMsg);
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                    MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
                    if (!staProtocol.isLoading()) {
                        continue;
                    }
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);
                    News.info("{}入库回退：{}，任务号：{}", pickSta.getStaNo(), errMsg, wrkNo);
                    wrkNo++;
                    staProtocol.setStaNo(pickSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发1：" + 9999 + "," + pickSta.getBackSta());
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());

                    // led 异常显示
                    if (ledThread != null) {
                        MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
                    }
                    continue;
                }
                if(staProtocol.getSiteId() < 400){
                    if (!Cools.isEmpty(barcode)) {
                        News.infoNoLog("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                            continue;
                        }
                    } else {
                        continue;
                    }


                    if (!Cools.isEmpty(barcode)) {
//                    MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
//                    if (!staProtocol.isLoading()) {
//                        continue;
//                    }
//                    if (!staProtocol.isPakMk()) {
//                        continue;
//                    }
//                    staProtocol.setWorkNo(wrkNo);
//                    News.info("{}入库回退：{}，任务号：{}", pickSta.getStaNo(), errMsg, wrkNo);
//                    wrkNo++;
//                    staProtocol.setStaNo(pickSta.getBackSta().shortValue());
//                    devpThread.setPakMk(staProtocol.getSiteId(), false);
//                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                    log.error("输送线下发1：" + 9999 + "," + pickSta.getBackSta());
//                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
//
//                    // led 异常显示
//                    if (ledThread != null) {
//                        MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
//                    }
//                    continue;
//                }
//                if(staProtocol.getSiteId() < 400){
//                    if (!Cools.isEmpty(barcode)) {
//                        News.infoNoLog("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                            continue;
//                        }
//                    } else {
//                        continue;
//                    }
//
//
//                    if (!Cools.isEmpty(barcode)) {
//                    News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                            continue;
                        }
                    } else {
                        continue;
                    }

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


                if (staProtocol == null) {
@@ -511,15 +520,16 @@
                    staProtocol = staProtocol.clone();
                }

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

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");
                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    if(staProtocol.getSiteId() > 400){
                        wrkMast = wrkMastMapper.selectPickStep3(staProtocol.getWorkNo());
                    }
//                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
//                    if(staProtocol.getSiteId() > 400){
//                        wrkMast = wrkMastMapper.selectPickStep3(staProtocol.getWorkNo());
//                    }
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                    if (wrkMast == null) {
                        // 无拣料数据
@@ -546,12 +556,12 @@
                            .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                    StaDesc staDesc = staDescService.selectOne(wrapper);
                    if (Cools.isEmpty(staDesc)) {
                        News.error("" + mark + " - 2" + " - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
                        staProtocol.setWorkNo(wrkNo++);
                        staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue() - (short) 1));
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发4：" + 9989 + "," + (pickSta.getStaNo().shortValue() - (short) 1));
//                        News.error("" + mark + " - 2" + " - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
//                        staProtocol.setWorkNo(wrkNo++);
//                        staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue() - (short) 1));
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        log.error("输送线下发4：" + 9989 + "," + (pickSta.getStaNo().shortValue() - (short) 1));
                        //LED
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                        // led 异常显示
@@ -604,9 +614,9 @@

                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                    if(staProtocol.getSiteId() < 400){
//                    if(staProtocol.getSiteId() < 400){
                        staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString()));
                    }
//                    }
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发5：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
@@ -622,7 +632,7 @@
            }

        }
//        News.infoNoLog(""+mark+" - 0"+" - 拣料、并板、盘点再入库  ===》执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 拣料、并板、盘点再入库  ===》执行完成");
    }


@@ -938,7 +948,7 @@
            }
            // 库位移转
            //mark - 3 - ....
//            this.locToLoc(crn, crnProtocol, mark);
            this.locToLoc(crn, crnProtocol, mark);
//            this.crnRebackHp(crnProtocol, crnThread);

        }
@@ -1165,7 +1175,7 @@
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            for (WrkMast wrkMast : wrkMasts) {
                if (wrkMast == null) {
                 if (wrkMast == null) {
                    continue;
                }
                // 工作档状态判断
@@ -1185,9 +1195,30 @@
                if (staProtocol == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
                    break;
//                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                StaProtocol staProtocol1 = staProtocol.getSiteId()==101?devpThread.getStation().get(crnStn.getStaNo() + 1):devpThread.getStation().get(crnStn.getStaNo() - 1);
//                StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() - 1);
//                StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() + 1);
                if (staProtocol1 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
                    break;
                } else {
                    staProtocol1 = staProtocol1.clone();
                }
                StaProtocol staProtocol2 = staProtocol.getSiteId()==101?devpThread.getStation().get(crnStn.getStaNo() + 2):devpThread.getStation().get(crnStn.getStaNo());
//                StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() - 2);
//                StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() + 2);
                if (staProtocol2 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
                    break;
                } else {
                    staProtocol2 = staProtocol2.clone();
                }
                //出入口输送线只允许存在一个托盘
                if(staProtocol.isLoading() || staProtocol1.isLoading() || staProtocol2.isLoading() || staProtocol.getWorkNo() != 0 || staProtocol1.getWorkNo() != 0 || staProtocol2.getWorkNo() != 0) {
                    break;
                }

//            // 入出库模式判断
@@ -1215,54 +1246,54 @@
                        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())) {
//                        News.warnNoLog("" + mark + " - 2" + " - 6" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}", wrkMast.getWrkNo());
//                        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")) {
//                            News.warnNoLog("" + mark + " - 2" + " - 7" + " - // 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！库位状态={}", shallowLoc.getLocSts());
                    // 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())) {
                        News.warnNoLog("" + mark + " - 2" + " - 6" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}", wrkMast.getWrkNo());
                        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")) {
                            News.warnNoLog("" + mark + " - 2" + " - 7" + " - // 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！库位状态={}", shallowLoc.getLocSts());
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            if (null == waitWrkMast) {
                                News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                            } else {
                                if (waitWrkMast.getWrkSts() == 11) {
                                    waitWrkMast.setIoPri(15D);
                                    waitWrkMast.setModiTime(new Date());
                                    if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                        News.error("" + mark + " - 2" + " - 8" + " - 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")) {
                            News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F、D  库位状态={}", shallowLoc.getLocSts());
//                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
//                            if (null == waitWrkMast) {
//                                News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
//                            } else {
//                                if (waitWrkMast.getWrkSts() == 11) {
//                                    waitWrkMast.setIoPri(15D);
//                                    waitWrkMast.setModiTime(new Date());
//                                    if (wrkMastMapper.updateById(waitWrkMast) == 0) {
//                                        News.error("" + mark + " - 2" + " - 8" + " - 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")) {
//                            News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F、D  库位状态={}", shallowLoc.getLocSts());
////                            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, mark);
//                            }
//                            News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
//                            continue;
//                        } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
//                            News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q、S  库位状态={}", shallowLoc.getLocSts());
//                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
//                            if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
//                                News.infoNoLog("" + mark + " - 2" + " - 11" + " - // F、D  工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
//                                continue;
//                            }
//                        }
//                    }
                            //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, mark);
                            }
                            News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                            continue;
                        } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
                            News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q、S  库位状态={}", shallowLoc.getLocSts());
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                            if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                                News.infoNoLog("" + mark + " - 2" + " - 11" + " - // F、D  工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
                                continue;
                            }
                        }
                    }

                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
@@ -1517,7 +1548,10 @@
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

                if (crnProtocol.getTaskNo() == 9999){
                    crnThread.setResetFlag(true);
                    continue;
                }
                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                if (wrkMast == null) {
@@ -1744,7 +1778,7 @@
                                LedCommand ledCommand = new LedCommand();
                                ledCommand.setWorkNo(dto.getWorkNo());
                                ledCommand.setIoType(1);
                                ledCommand.setTitle("全板入库");
                                ledCommand.setTitle("空板入库");
                                ledCommand.setLocNo(dto.getLocNo());
                                ledCommand.setStaNo(dto.getStaNo());
                                commands.add(ledCommand);
@@ -1781,7 +1815,7 @@
                }
            }
        }
//        News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成");
    }

    /**
@@ -1862,14 +1896,14 @@
                        } else {
                            total = locDetl.getAnfme();
                        }
                        if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(), total));
                        if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1 || wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(), total));
                        }
                        if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(), total));
                        if (wrkMast.getIoType() == 103 ) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(), total));
                        }
                        if (wrkMast.getIoType() == 107) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(), total));
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(), total));
                        }
                    });
                }
@@ -2383,10 +2417,8 @@
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        List<Integer> list = new ArrayList<>();
        list.add(101);
        list.add(112);
        Map<Integer, Integer> map = new HashMap<>();
        map.put(101, 102);
        map.put(112, 111);
        for (Integer site : list) {
            WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", map.get(site)));
            if (!Cools.isEmpty(wrkMast)) {
@@ -2410,7 +2442,7 @@
                }
                Short loctype1 = 1;
                if (site == 101) {
                    loctype1 = 2;
                    loctype1 = 1;
                }
                LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
                locTypeDto.setSiteId(site);
@@ -3171,4 +3203,90 @@
        }
    }

    public synchronized void crnMove() {
        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;
            }
            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;
            }

            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {

//                if ((crnProtocol.getCrnNo()==3 || crnProtocol.getCrnNo()==4) && crnProtocol.getBay()==0 && crnProtocol.getLevel() == 1) {
//                    continue;
//                }
//                if ((crnProtocol.getCrnNo()==1 || crnProtocol.getCrnNo()==2) && crnProtocol.getBay()==1 && crnProtocol.getLevel() == 1) {
//                    continue;
//                }
                if (crnProtocol.getCrnNo()==1 && crnProtocol.getBay()==1 && crnProtocol.getLevel() == 1) {
                    continue;
                }
                Page<BasCrnOpt> basCrnOptPage = crnOptService.selectPage(new Page<>(1, 1), new EntityWrapper<BasCrnOpt>().eq("crn_no", crn.getId()).orderBy("send_time", false));
                if (basCrnOptPage != null && basCrnOptPage.getRecords() != null && basCrnOptPage.getRecords().size() > 0) {
                    if (System.currentTimeMillis() - basCrnOptPage.getRecords().get(0).getSendTime().getTime() < 1000 * 60 * 3) {
                        continue;
                    }
                } else {
                    if (System.currentTimeMillis() - crnProtocol.getLastCommandTime() < 1000 * 60 * 2) {
                        continue;
                    }
                }
                List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                        .eq("crn_no", crn.getId())
                        .notIn("wrk_sts", 5, 14, 15)
                );
                if (!wrkMasts.isEmpty()) {
                    continue;
                }

                CrnSlave.CrnStn crnStn = crn.getCrnInStn().get(0);

                News.info("堆垛机无任务自动回入库口待机==>>" + crnProtocol.getCrnNo() + "号堆垛机");
                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
//                if (crnProtocol.getCrnNo()==3 || crnProtocol.getCrnNo()==4){
//                    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:  堆垛机移动
//                    crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
//                    crnCommand.setSourcePosY((short) 0);     // 源库位列
//                    crnCommand.setSourcePosZ((short) 1);     // 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.setCommand((short) 1);
//                }else {
                    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:  堆垛机移动
                    crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);//余姚锐麒回原点任务模式:  站位转移
                    crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                    crnCommand.setSourcePosY((short) 1);     // 源库位列
                    crnCommand.setSourcePosZ((short) 1);     // 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.setCommand((short) 1);
//                }
                if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
                    News.error("堆垛机移动命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
                }
                crnThread.setBackHpFlag(true);
                try {
                    Thread.sleep(500);
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        }
    }
}