#

LSH

2024-03-27 7d25794f31a059ea2bdbf0548c294ea2d671d1f4

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

@@ -4,19 +4,18 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.R;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.controller.CrnController;
import com.zy.asrs.controller.OpenController;
import com.zy.asrs.controller.SiteController;
import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.domain.enums.WorkNoType;
import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.TaskOverToWms;
import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
import com.zy.asrs.entity.param.taskCreateParam;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.CommandUtils;
import com.zy.asrs.utils.PostMesDataUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.service.CommonService;
import com.zy.common.utils.HttpHandler;
@@ -34,7 +33,6 @@
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.system.entity.Config;
import com.zy.system.service.ConfigService;
@@ -43,6 +41,7 @@
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.io.IOException;
import java.util.*;
@@ -90,6 +89,8 @@

    @Autowired
    private ApiLogService apiLogService;
    @Autowired
    private CommonService commonService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -97,25 +98,32 @@
    private String inboundTaskApplyPath;
    @Value("${wms.movePath}")
    private String movePath;
    @Value("${wms.taskStatusFeedbackPath}")
    private String taskStatusFeedbackPath;
    @Autowired
    private CrnController crnController;
    @Autowired
    private SiteController siteController;


    public void generateStoreWrkFile() throws IOException, InterruptedException {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                Short workNo = staProtocol.getWorkNo();
                Short stano = staProtocol.getStaNo();
        try {


            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历入库口
                for (DevpSlave.Sta inSta : devp.getInSta()) {
                    // 获取入库站信息
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    Short workNo = staProtocol.getWorkNo();
                    Short stano = staProtocol.getStaNo();

                    // 尺寸检测异常
                    boolean back = false;
@@ -161,9 +169,9 @@
                        }
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                        staProtocol.setWorkNo(workNo);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        staProtocol.setStaNo(inSta.getStaNo().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
                        if (taskWrk != null) {
                            taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
@@ -171,135 +179,203 @@
                        }
                        continue;
                    }
                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (workNo >= 0)
                        && staProtocol.isPakMk()) {
                    // 获取条码扫描仪信息
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                    if (barcodeThread == null) {
                        continue;
                    }
                    String barcode = barcodeThread.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        // 请求wms接口，获取工作号和目标库位
                        ToWmsDTO toWmsDTO = new ToWmsDTO(barcode,staProtocol.getSiteId());
                        String response;
                        try {
                            response = new HttpHandler.Builder()
                                    .setHeaders(null)
                                    .setUri(wmsUrl)
                                    .setPath(inboundTaskApplyPath)
                                    .setJson(JSON.toJSONString(toWmsDTO))
                                    .build()
                                    .doPost();
                        }catch (Exception e){
                            log.error("wms通讯失败,"+e.getMessage());
                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && !staProtocol.isEmptyMk() && (workNo == 9991 )
                            && staProtocol.isPakMk()) {
                        // 获取条码扫描仪信息
                        BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                        if (barcodeThread == null) {
                            continue;
                        }

                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200) && !Cools.isEmpty(jsonObject.get("data").toString())) {
                            GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
                            // 创新一个入库工作档
                            TaskWrk taskWrk = taskWrkService.selectByTaskNo(getWmsDto.getTaskNo());
                            if(Cools.isEmpty(taskWrk)) {
                                taskWrk = createTask(getWmsDto,staProtocol.getStaNo().intValue());
                                if (Cools.isEmpty(taskWrk)){
                                    log.error("库位异常，库位号：{}", getWmsDto.getTargetLocationCode());
                                }else {
                                    taskWrkService.insert(taskWrk);
                        String barcode = barcodeThread.getBarcode();
                        if(!Cools.isEmpty(barcode) && !barcode.equals("99999999")) {
                            // 请求wms接口，获取工作号和目标库位
                            ToWmsDTO toWmsDTO = new ToWmsDTO(barcode,staProtocol.getSiteId(),staProtocol.isHigh() ? 2 : 1);
                            TaskWrk taskWrk1=taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode",barcode));
                            if(!Cools.isEmpty(taskWrk1)){
                                log.info("托盘码："+barcode+"任务档存在");
                                if (taskWrk1.getIoType()==1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())){
                                    StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                            .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getStaNo().intValue()));
                                    staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                                    staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                            .eq("crn_no", taskWrk1.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId()));
                                    if (Cools.isEmpty(staDesc)){
                                        log.info("托盘码："+barcode+"任务档存在");
                                        return;
                                    }else {
                                        staProtocol.setWorkNo(taskWrk1.getWrkNo().shortValue());
                                        staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    }
                                }
                                return;
                            }
                            HashMap<String, Object> headParam = new HashMap<>();
                            headParam.put("Content-Type","application/json");
                            String response;
                            try{
                                response = new HttpHandler.Builder()
                                        // .setHeaders(headParam)
                                        .setUri(wmsUrl)
                                        .setPath(inboundTaskApplyPath)
                                        .setJson(JSON.toJSONString(toWmsDTO))
                                        .build()
                                        .doPost();
                            }catch (Exception e){
                                log.error("请求入库调用接口失败");
                                log.error("异常信息打印："+e);
                                try{
                                    BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
                                    if (Cools.isEmpty(basDevp)){
                                        log.error("站点号异常"+inSta.getStaNo());
                                    } else if (basDevp.getStaErr()!=0){
                                        basDevp.setStaErr(2);
                                        basDevpService.updateById(basDevp);
                                    }
                                }catch (Exception e1){
                                    // 退回
                                    log.error("扫码检测程序异常"+inSta.getStaNo()+"异常信息"+e1);
                                }
                                staProtocol.setWorkNo((short)9999);
                                staProtocol.setStaNo(inSta.getStaNo().shortValue());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                                    TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
//                                    if (taskWrk != null) {
//                                        taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
//                                        taskWrkMapper.updateById(taskWrk);
//                                    }
                                continue;
                            }

                        }else {
                            continue;
                            JSONObject jsonObject = JSON.parseObject(response);
                            apiLogService.save("wms请求入库货位接口"
                                    ,wmsUrl+inboundTaskApplyPath
                                    ,null
                                    ,"127.0.0.1"
                                    ,JSON.toJSONString(toWmsDTO)
                                    ,response
                                    ,true
                            );
                            log.info("入库请求参数{}" + JSON.toJSONString(toWmsDTO));
                            if (jsonObject.getInteger("code").equals(200) && !Cools.isEmpty(jsonObject.get("data").toString())) {
                                GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
                                try{
                                    BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
                                    if (Cools.isEmpty(basDevp)){
                                        log.error("站点号异常"+inSta.getStaNo());
                                        throw new CoolException("站点号异常"+inSta.getStaNo());
                                    }
                                    Integer staNoCrnNo = Utils.StaNoCrnNo(inSta.getStaNo());
                                    if (staNoCrnNo==0){
                                        basDevp.setStaErr(1);
                                        basDevpService.updateById(basDevp);
                                        log.error("站点号异常"+inSta.getStaNo());
                                        throw new CoolException("站点号异常"+inSta.getStaNo());
                                    }else {
                                        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                                                .eq("crn_no", staNoCrnNo.longValue())
                                                .eq("loc_no", getWmsDto.getLocNo()));
                                        if (Cools.isEmpty(locMast)){
                                            basDevp.setStaErr(1);
                                            basDevpService.updateById(basDevp);
                                            log.error("站点号异常"+inSta.getStaNo());
                                            throw new CoolException("站点号异常"+inSta.getStaNo());
                                        }
                                    }
                                } catch (Exception e){
//                                    log.error("扫码检测程序异常"+inSta.getStaNo()+"异常信息"+e);
                                    // 退回
                                    log.error("扫码检测程序异常"+inSta.getStaNo()+errMsg);
                                    log.error("扫码检测程序异常,异常信息"+e);

                                    staProtocol.setWorkNo((short)9999);
                                    staProtocol.setStaNo(inSta.getStaNo().shortValue());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                                    TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
//                                    if (taskWrk != null) {
//                                        taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
//                                        taskWrkMapper.updateById(taskWrk);
//                                    }
                                    continue;
                                }
                                //查看该库位是否为空库位
                                LocMast locMast=locMastService.selectOne(new EntityWrapper<LocMast>()
                                        .eq("loc_sts","O")
                                        .eq("loc_no",getWmsDto.getLocNo()));
                                if(Cools.isEmpty(locMast)){
                                    try{
                                        HashMap<String, Object> headParam1 = new HashMap<>();
                                        headParam1.put("taskNo",getWmsDto.getTaskNo());
                                        headParam1.put("status",6);
                                        headParam1.put("ioType",1);
                                        headParam1.put("barcode",barcode);
                                        String response2;
                                        response2 = new HttpHandler.Builder()
                                                // .setHeaders(headParam)
                                                .setUri(wmsUrl)
                                                .setPath(taskStatusFeedbackPath)
                                                .setJson(JSON.toJSONString(headParam1))
                                                .build()
                                                .doPost();
                                        JSONObject jsonObject1 = JSON.parseObject(response2);
                                        apiLogService.save("wcs派发库位不为空上报wms"
                                                ,wmsUrl+taskStatusFeedbackPath
                                                ,null
                                                ,"127.0.0.1"
                                                ,JSON.toJSONString(headParam1)
                                                ,response
                                                ,true
                                        );
                                    }catch (Exception e){
                                        log.error("wcs派发库位不为空上报wms", getWmsDto.getWrkNo());
                                        throw new CoolException("wcs派发入库任务上报wms失败，异常信息："+e);
                                    }
                                }

                                // 创新一个入库工作档
                                TaskWrk taskWrk = taskWrkService.selectByTaskNo(getWmsDto.getWrkNo());
                                if(Cools.isEmpty(taskWrk)) {
                                    taskWrk = createTask(getWmsDto,barcode);
                                    if (Cools.isEmpty(taskWrk)){
                                        log.error("库位异常，库位号：{}", getWmsDto.getTargetLocationCode());
                                    }else {
                                        taskWrkService.insert(taskWrk);
                                        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                                .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId()));
                                        staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                                        staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    }
                                }

                            }else {
                                continue;
                            }

                        } else {
                            // 退回
                            log.error("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);

                            staProtocol.setWorkNo((short)9999);
                            staProtocol.setStaNo(inSta.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
                            if (taskWrk != null) {
                                taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
                                taskWrkMapper.updateById(taskWrk);
                            }
                        }

//                        StaDescService staDescService = SpringUtils.getBean(StaDescService.class);
//
//                        ToWmsDTO toWmsDTO = new ToWmsDTO();
//                        Map<String, Object> map = new HashMap<>();
//                        map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
//                        List<Integer> list = openServiceImpl.getInEnableRoadway();
//                        TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
//
//                        if (Cools.isEmpty(taskWrk)){
//                            continue;
//                        }
//                        //StaDesc staDesc1 = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_no",inSta.getBackSta()));
//                        if (taskWrk.getTargetPoint() != null && taskWrk.getStartPoint() != null){
//                            if ( taskWrk.getWrkNo() != null && taskWrk.getWrkNo().shortValue() == workNo ){
//                                continue;
//                            }
//                            //获取堆垛机站点
//                            StaDesc staDesc = new StaDesc();
//                            if (devp.getId() <= 1){
//                                staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
//                                        .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).lt("stn_no", 200));
//                            }else {
//                                staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
//                                        .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).lt("stn_no", 400).ge("stn_no", 250));
//                            }
//                            staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
//                            staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
//                            Thread.sleep(500);
//                        }else {
//                            //TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
//                            toWmsDTO.setWarehouseId("1688469798893297665");
//                            toWmsDTO.setContainerCode(barcode);
//                            toWmsDTO.setApplyType("TUNNEL_LOCATION");
//                            toWmsDTO.setTaskTunnel(taskWrk.getCrnNo());
//                            toWmsDTO.setCanInboundTunnels(list);
//                            String response = null;
//                            try {
//                                response = new HttpHandler.Builder()
//                                        .setHeaders(map)
//                                        .setUri(wmsUrl)
//                                        .setPath(inboundTaskApplyPath)
//                                        .setJson(JSON.toJSONString(toWmsDTO))
//                                        .build()
//                                        .doPost();
//                            }catch (Exception e){
//                                log.error("wms通讯失败,"+e.getMessage());
//                                continue;
//                            }
//                            apiLogService.save("wms请求入库货位接口"
//                                    ,wmsUrl+"wcsManager/wcsInterface/inboundTaskApply"
//                                    ,null
//                                    ,"127.0.0.1"
//                                    ,JSON.toJSONString(toWmsDTO)
//                                    ,response
//                                    ,true
//                            );
//                            JSONObject jsonObject = JSON.parseObject(response);
//                            if (jsonObject.getInteger("code").equals(200)) {
//                                GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
//                                taskWrk.setOriginTargetPoint(getWmsDto.getTargetLocationCode());
//                                taskWrk.setTargetPoint(Utils.getWcsLocNo(getWmsDto.getTargetLocationCode()));
//                                taskWrk.setStartPoint(String.valueOf(inSta.getBackSta()));
//                                if (!taskWrkService.updateById(taskWrk)){
//                                    log.error("保存wms库位号失败");
//                                }
//
//                            }else {
//                                log.error("wms通讯失败,"+jsonObject.get("msg"));
//
//                            }
//                        }

                    }


                }


            }
        } catch (Exception e) {
            log.error("generateStoreWrkFile e", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }

@@ -327,44 +403,10 @@
                        if (taskWrk == null) {
                            continue;
                        }
                        // 判断工作档条件
                        if (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 2) {
                            // 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, taskWrk.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.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(taskWrk.getWrkNo().shortValue())
                                    && crnProtocol.getTaskFinish() == 0
                                    && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                                // 命令下发区 --------------------------------------------------------------------------

                                //取出输送线命令
                                List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
                                if (commandInfos.isEmpty()) {
                                    continue;//命令空
                                }

//                                CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
//                                CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
                                Integer commandStep = taskWrk.getCommandStep();
                                CommandInfo commandInfo = commandInfos.get(commandStep);
                                CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
                                //StaProtocol staProtocol1 = JSON.parseObject(commandInfo.getCommand(), StaProtocol.class);
                                StaProtocol staProtocol1 = JSON.parseObject(commandPackage.getCommand().toString(), StaProtocol.class);
                                if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol1))) {
                                    log.error("输送线命令下方失败！！！ [工作号:{}]", taskWrk.getWrkNo());
                                    continue;//命令下发失败
                                }

                                // 复位堆垛机
                                crnThread.setResetFlag(true);

                            }
                        }
                        siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()),taskWrk.getWrkNo().shortValue(),(short)0,"Y",false,false);
                        taskWrk.setStatus(5);
                        taskWrk.setWrkSts(14);
                        taskWrkService.updateById(taskWrk);
                    }
                }

@@ -446,6 +488,7 @@
                if (!flag) {
                    continue;
                }

                // 获取工作状态为2（设备上走）的入库工作档
                TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
                if(null == taskWrk) {
@@ -461,6 +504,16 @@
                if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
                    continue;
                }

                int workNo = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号
                taskWrk.setWrkNo(workNo);//工作号
                taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
                taskWrk.setAssignTime(new Date());//派发时间
                taskWrk.setWrkSts(3);//工作状态 3.吊车入库
                taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号
                taskWrk.setModiTime(new Date());
                taskWrk.setModiUser(9988L);
                taskWrkService.updateById(taskWrk);

//                //取出命令
//                List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
@@ -495,31 +548,53 @@

                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand.setCrnNo(staDesc.getCrnNo()); // 堆垛机编号
                crnCommand.setTaskNo(taskWrk.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.getBay().shortValue());     // 源库位列
                crnCommand.setSourcePosY(crnStn.getLev().shortValue());     // 源库位层
                crnCommand.setSourcePosZ(crnStn.getRow().shortValue());     // 源库位排
                crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位列
                crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位层
                crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位列
                crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位层
                crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位排
                crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位列
                crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位层
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand.setCommand((short)1);
                if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.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();
                    taskWrk.setWrkSts(3);
                    taskWrk.setModiTime(now);
                    if (taskWrkMapper.updateById(taskWrk) == 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={}", taskWrk.getWrkNo());
                if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) {
                    log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                    throw new CoolException("堆垛机命令生成失败");
                }else{
                    try{
                        HashMap<String, Object> headParam = new HashMap<>();
                        headParam.put("taskNo",taskWrk.getTaskNo());
                        headParam.put("status",taskWrk.getStatus());
                        headParam.put("ioType",taskWrk.getIoType());
                        headParam.put("barcode",taskWrk.getBarcode());
                        String response;
                        response = new HttpHandler.Builder()
                                // .setHeaders(headParam)
                                .setUri(wmsUrl)
                                .setPath(taskStatusFeedbackPath)
                                .setJson(JSON.toJSONString(headParam))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        apiLogService.save("wcs派发入库任务上报wms"
                                ,wmsUrl+taskStatusFeedbackPath
                                ,null
                                ,"127.0.0.1"
                                ,JSON.toJSONString(headParam)
                                ,response
                                ,true
                        );
                    }catch (Exception e){
                        log.error("wcs派发入库任务上报wms失败", taskWrk);
                        throw new CoolException("wcs派发入库任务上报wms失败");
                    }

                }
            }

           // return;
            // return;
        }
    }

@@ -577,78 +652,108 @@
                            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, taskWrk.getStartPoint())) {

                            taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
                        // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                        Date now = new Date();
                        taskWrk.setWrkSts(12);
                        taskWrk.setStatus(2);
                        taskWrk.setModiTime(now);
                        if (taskWrkMapper.updateById(taskWrk) == 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={}", taskWrk.getWrkNo());
                        }
                        CrnCommand command = new CrnCommand();
                        command.setCrnNo(taskWrk.getCrnNo()); // 堆垛机编号
                        command.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
                        command.setAckFinish((short) 0);  // 任务完成确认位
                        command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
                        command.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位排
                        command.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位列
                        command.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位层
                        command.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                        command.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                        command.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                        command.setCommand((short)1);
                        if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command),false)) {
                            log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(command));
                            throw new CoolException("堆垛机命令生成失败");
                        }else{
                            try{
                                HashMap<String, Object> headParam = new HashMap<>();
                                headParam.put("taskNo",taskWrk.getTaskNo());
                                headParam.put("status",taskWrk.getStatus());
                                headParam.put("ioType",taskWrk.getIoType());
                                headParam.put("barcode",taskWrk.getBarcode());
                                String response;
                                response = new HttpHandler.Builder()
                                        // .setHeaders(headParam)
                                        .setUri(wmsUrl)
                                        .setPath(taskStatusFeedbackPath)
                                        .setJson(JSON.toJSONString(headParam))
                                        .build()
                                        .doPost();
                                JSONObject jsonObject = JSON.parseObject(response);
                                apiLogService.save("wcs派发入库任务上报wms"
                                        ,wmsUrl+taskStatusFeedbackPath
                                        ,null
                                        ,"127.0.0.1"
                                        ,JSON.toJSONString(headParam)
                                        ,response
                                        ,true
                                );
                            }catch (Exception e){
                                log.error("wcs派发出库任务上报wms失败", taskWrk);
                                throw new CoolException("wcs派发入库任务上报wms失败");
                            }

                            List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
                            if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
                                continue;
                            }
                            String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
                            TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
                            if (!Cools.isEmpty(hallowLocNoTask)){
//                                if (!Cools.isEmpty(hallowLocNoTask.getTargetPoint())){
//                                    continue;
//                                }
////                            new PostMesDataUtils().postMesData("移库任务分配库位",wmsUrl,movePath,hallowLocNoTask);
//                                try {
//                                    String response = new HttpHandler.Builder()
//                                            .setUri(wmsUrl)
//                                            .setPath(movePath)
//                                            .setJson(JSON.toJSONString(hallowLocNoTask))
//                                            .build()
//                                            .doPost();
//                                    System.out.println("response:"+response);
//                                    JSONObject jsonObject = JSON.parseObject(response);
//                                    if (jsonObject.getInteger("code").equals(200)) {
//                                        //解析
//                                    }
//                                }catch (Exception e){
//                                    log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/"+movePath, JSON.toJSONString(hallowLocNoTask), "请求移库任务分配库位");
//                                }
                                continue;
                            }
                        }

                        //取出命令
                        List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
                        Integer commandStep = taskWrk.getCommandStep();
                        if (commandInfos.isEmpty()) {
                            continue;//命令空
                        }

                        //判断末端命令是否执行
                        CommandInfo commandInfo2 = commandInfos.get(commandInfos.size() - 1);
                        if (commandInfo2.getCommandStatus() != CommandStatusType.CREATE.id) {
                            continue;//指令已执行
                        }

                        CommandInfo commandInfo = commandInfos.get(commandStep);
                        CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
                        CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);

                        if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
                            log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.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();
                            taskWrk.setWrkSts(12);
                            taskWrk.setModiTime(now);
                            if (taskWrkMapper.updateById(taskWrk) == 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={}", taskWrk.getWrkNo());
                            }
                            //开始运行
                            String response = CrnStartRunning(taskWrk);
                            JSONObject jsonObject = JSON.parseObject(response);
                            if (jsonObject.getInteger("code").equals(200)) {

                            }else {
                                log.error("出库开始运行通讯失败,"+jsonObject.get("msg"));

                            }
                        }
//                        // 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, taskWrk.getStartPoint())) {
//
//                            taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
//
//                            List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
//                            if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
//                                continue;
//                            }
//                            String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
//                            TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
//                            if (!Cools.isEmpty(hallowLocNoTask)){
//                                continue;
//                            }
//                        }
//
//                        //取出命令
//                        List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
//                        Integer commandStep = taskWrk.getCommandStep();
//                        if (commandInfos.isEmpty()) {
//                            continue;//命令空
//                        }
//
//                        //判断末端命令是否执行
//                        CommandInfo commandInfo2 = commandInfos.get(commandInfos.size() - 1);
//                        if (commandInfo2.getCommandStatus() != CommandStatusType.CREATE.id) {
//                            continue;//指令已执行
//                        }
//
//                        CommandInfo commandInfo = commandInfos.get(commandStep);
//                        CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
//                        CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
//
//                        if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
//                            log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
//                        } else {
//
//                            //开始运行
//                            String response = CrnStartRunning(taskWrk);
//                            JSONObject jsonObject = JSON.parseObject(response);
//                            if (jsonObject.getInteger("code").equals(200)) {
//
//                            }else {
//                                log.error("出库开始运行通讯失败,"+jsonObject.get("msg"));
//
//                            }
//                        }

                    }
                }
@@ -669,13 +774,13 @@
            for (TaskWrk taskWrk : taskWrks){

                // 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, taskWrk.getStartPoint())) {
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
                    TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
                    if (!Cools.isEmpty(hallowLocNoTask)){
                        continue;
                    }
                }
//                if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
//                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
//                    TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
//                    if (!Cools.isEmpty(hallowLocNoTask)){
//                        continue;
//                    }
//                }
                // 堆垛机控制过滤
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                    continue;
@@ -685,44 +790,7 @@
                if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
                    continue;
                }
                if (Cools.isEmpty(taskWrk.getTargetPoint())){
                    List<Integer> list = openServiceImpl.getInEnableRoadway();
                    Map<String, Object> map = new HashMap<>();
                    map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
                    ToWmsDTO toWmsDTO = new ToWmsDTO();
                    toWmsDTO.setWarehouseId("1688469798893297665");
                    toWmsDTO.setContainerCode(taskWrk.getBarcode());
                    toWmsDTO.setApplyType("TUNNEL_LOCATION");
                    toWmsDTO.setTaskTunnel(taskWrk.getCrnNo());
                    toWmsDTO.setCanInboundTunnels(list);
                    String response = null;
                    try {
                        response = new HttpHandler.Builder()
                                .setHeaders(map)
                                .setUri(wmsUrl)
                                .setPath("wcsManager/wcsInterface/inboundTaskApply")
                                .setJson(JSON.toJSONString(toWmsDTO))
                                .build()
                                .doPost();
                    }catch (Exception e){
                        log.error("wms通讯失败,"+e.getMessage());
                        continue;
                    }
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)) {
                        GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
                        taskWrk.setOriginTargetPoint(getWmsDto.getTargetLocationCode());
                        taskWrk.setTargetPoint(Utils.getWcsLocNo(getWmsDto.getTargetLocationCode()));
                        if (!taskWrkService.updateById(taskWrk)){
                            log.error("保存wms库位号失败");
                        }
                        continue;
                    }else {
                        log.error("wms通讯失败,"+jsonObject.get("msg"));
                        continue;
                    }

                }
                if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("") || taskWrk.getWrkNo() == null) {
                    continue;
                }
@@ -743,12 +811,12 @@
                crnCommand.setTaskNo(taskWrk.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.setSourcePosZ(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位排
                crnCommand.setSourcePosX(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位列
                crnCommand.setSourcePosY(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位层
                crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位列
                crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位层
                crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位排
                crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位列
                crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位层
                crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位列
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位层
                crnCommand.setCommand((short) 1);
                if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
@@ -756,20 +824,39 @@
                    // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                    Date now = new Date();
                    taskWrk.setWrkSts(12);
                    taskWrk.setStatus(2);
                    taskWrk.setModiTime(now);
                    if (taskWrkMapper.updateById(taskWrk) == 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={}", taskWrk.getWrkNo());
                    }
                    //开始运行
                    String response = CrnStartRunning(taskWrk);
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)) {

                    }else {
                        log.error("移库任务开始运行通讯失败,"+jsonObject.get("msg"));
                        continue;
                    try{
                        HashMap<String, Object> headParam = new HashMap<>();
                        headParam.put("taskNo",taskWrk.getTaskNo());
                        headParam.put("status",taskWrk.getStatus());
                        headParam.put("ioType",taskWrk.getIoType());
                        headParam.put("barcode",taskWrk.getBarcode());
                        String response;
                        response = new HttpHandler.Builder()
                                // .setHeaders(headParam)
                                .setUri(wmsUrl)
                                .setPath(taskStatusFeedbackPath)
                                .setJson(JSON.toJSONString(headParam))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        apiLogService.save("wcs派发移库任务上报wms"
                                ,wmsUrl+taskStatusFeedbackPath
                                ,null
                                ,"127.0.0.1"
                                ,JSON.toJSONString(headParam)
                                ,response
                                ,true
                        );
                    }catch (Exception e){
                        log.error("wcs派发出库任务上报wms失败", taskWrk);
                        throw new CoolException("wcs派发入库任务上报wms失败");
                    }
                    break;

                }
                return;
            }
@@ -828,42 +915,105 @@
    /**
     * 执行对工作档的完成操作
     */
    public void storeFinished() {
    public void storeFinished() throws InterruptedException {
        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; }

            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
                // 获取入库待确认工作档
                //获取入库待确认工作档
                TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
                if (Cools.isEmpty(taskWrk)) {
                if (Cools.isEmpty(taskWrk)&&crnProtocol.getTaskNo() !=999) {
                    log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                    continue;
                }
                // 入库 + 库位转移  ==> 4.入库完成
                if ((taskWrk.getWrkSts() == 3 && taskWrk.getIoType() == 1) || (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 3)) {
                    taskWrk.setWrkSts(4);
                } else {
                    continue;
                }
                Date now = new Date();
                taskWrk.setModiTime(now);
                Integer integerTaskWrk = taskWrkMapper.updateById(taskWrk);
                // 修改成功后复位堆垛机
                if (integerTaskWrk > 0) {
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
                Thread.sleep(300);
                //确认完成信号
                CrnOperatorParam crnOperatorParam=new CrnOperatorParam();
                crnOperatorParam.setCrnNo(crn.getId());

                    //更新库位状态
                    LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
                    locMast.setLocSts("F");//F.在库
                    locMast.setBarcode(taskWrk.getBarcode());//托盘码
                    locMast.setModiTime(now);
                    locMast.setModiUser(9999L);
                    locMastService.updateById(locMast);
                crnController.crnTaskComplete(crnOperatorParam);
                if(!Cools.isEmpty(taskWrk)){
                    if(taskWrk.getIoType()==1&&taskWrk.getWrkSts()==3){
                        taskWrk.setWrkSts(4);//入库完成
                        taskWrk.setStatus(5);//完结
                        //更新库位状态
                        LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
                        locMast.setLocSts("F");//F.在库
                        locMast.setBarcode(taskWrk.getBarcode());//托盘码
                        locMast.setModiTime(new Date());
                        locMast.setModiUser(9999L);
                        locMastService.updateById(locMast);
                    }else if(taskWrk.getIoType()==2&&taskWrk.getWrkSts()==12){
                        taskWrk.setWrkSts(13);//出库完成
                        taskWrk.setStatus(5);//完结
                        //更新库位状态
                        LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
                        locMast.setLocSts("O");//O.空库位
                        locMast.setBarcode("");//托盘码
                        locMast.setModiTime(new Date());
                        locMast.setModiUser(9999L);
                        locMastService.updateById(locMast);
                    }else if(taskWrk.getIoType()==3&&taskWrk.getWrkSts()==12){
                        taskWrk.setWrkSts(4);//入库完成
                        taskWrk.setStatus(5);//完结
                        //更新库位状态
                        LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
                        locMast.setLocSts("F");//F.在库
                        locMast.setBarcode(taskWrk.getBarcode());//托盘码
                        locMast.setModiTime(new Date());
                        locMast.setModiUser(9999L);
                        locMastService.updateById(locMast);

                        LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
                        locMast1.setLocSts("O");//O.空库位
                        locMast1.setBarcode("");//托盘码
                        locMast1.setModiTime(new Date());
                        locMast1.setModiUser(9999L);
                        locMastService.updateById(locMast1);
                    }
                    taskWrkService.updateById(taskWrk);


                    try{
                        HashMap<String, Object> headParam = new HashMap<>();
                        headParam.put("taskNo",taskWrk.getTaskNo());
                        headParam.put("status",taskWrk.getStatus());
                        headParam.put("ioType",taskWrk.getIoType());
                        headParam.put("barcode",taskWrk.getBarcode());
                        String response;
                        log.error("wcs完结任务上报wms==》", headParam);

                        response = new HttpHandler.Builder()
                                // .setHeaders(headParam)
                                .setUri(wmsUrl)
                                .setPath(taskStatusFeedbackPath)
                                .setJson(JSON.toJSONString(headParam))
                                .build()
                                .doPost();
                        log.error("wcs完结任务上报wms==》", response);

//                        JSONObject jsonObject = JSON.parseObject(response);
//                        log.error("wcs完结任务上报wms==》", jsonObject);

                        apiLogService.save("wcs派发入库任务上报wms"
                                ,wmsUrl+taskStatusFeedbackPath
                                ,null
                                ,"127.0.0.1"
                                ,JSON.toJSONString(headParam)
                                ,response
                                ,true
                        );
                    }catch (Exception e){
                        log.error("wcs完结任务上报wms失败", taskWrk);
                        log.error("wcs完结任务上报wms失败,报错信息：", e);
//                        throw new CoolException("wcs派发入库任务上报wms失败");
                    }
                }

            }
        }
    }
@@ -932,7 +1082,7 @@
                            }
                        }
                    }
                // 无任务
                    // 无任务
                } else {
                    BasErrLog latest = basErrLogService.findLatest(crn.getId());
                    // 有异常
@@ -968,7 +1118,7 @@
                                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) {
@@ -998,6 +1148,7 @@
        }

        for (TaskWrk taskWrk : taskWrkService.selectReceive()) {

            try {
                taskWrkService.distribute(taskWrk.getTaskNo(), 9527L);
            } catch (CoolException e) {
@@ -1006,7 +1157,64 @@
        }
    }

    //自动完成任务
    //agv取放货任务完成
    public synchronized void autoCompleteAGV() {
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        try{
            Thread.sleep(500);
        }catch (Exception e){

        }

        for (BasDevp basDevp:basDevps){
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            if (basDevp.getWrkNo()!=0){
                if (basDevp.getAgvTargetPick()!=0){//取货
                    staProtocol.setAgvTypeSign((short)0);
                    staProtocol.setStaNo(basDevp.getDevNo().shortValue());
                    MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
                }
                boolean sign = true;
                if (basDevp.getAgvTargetPlace()!=0){
                    sign = false;
                    basDevp.setAgvTargetPlace(0);
                    basDevpService.updateById(basDevp);
                    staProtocol.setAgvTypeSign((short)3);//1
                    staProtocol.setStaNo(basDevp.getDevNo().shortValue());
                    MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
                }
            }else {
                if (basDevp.getAgvTargetPlace()!=0){
                    if (basDevp.getLoading().equals("Y")){
                        staProtocol.setAgvTypeSign((short)1);
                        staProtocol.setStaNo(basDevp.getDevNo().shortValue());
                        MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
                    }else {
                        log.error("AGV放货完成但输送线无物，复位信号 ===>> [staNo:{}] [basDevp:{}]", basDevp.getDevNo(), basDevp);
                        basDevp.setAgvTargetPlace(0);
                        basDevpService.updateById(basDevp);
                        staProtocol.setAgvTypeSign((short)3);//1
                        staProtocol.setStaNo(basDevp.getDevNo().shortValue());
                        MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
                    }

                }
                if (basDevp.getAgvTargetPick()!=0){
                    basDevp.setAgvTargetPick(0);
                    basDevpService.updateById(basDevp);
                    staProtocol.setAgvTypeSign((short)2);//0
                    staProtocol.setStaNo(basDevp.getDevNo().shortValue());
                    MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
                }
            }
        }
    }
    public synchronized void autoCompleteTask() {
        List<TaskWrk> taskWrks = taskWrkMapper.selectWorkingTask();
        for (TaskWrk taskWrk : taskWrks) {
@@ -1121,27 +1329,28 @@
        return response;
    }

    private TaskWrk createTask(GetWmsDto dto, Integer staNo){
        String wcsLocNo = Utils.getWcsLocNo(dto.getTargetLocationCode());
    private TaskWrk createTask(GetWmsDto dto, String barcode){
        String wcsLocNo = dto.getLocNo();
        if(Cools.isEmpty(wcsLocNo)){
            return null;
        }
        Date now = new Date();
        TaskWrk taskWrk = new TaskWrk();
        taskWrk.setTaskNo(dto.getTaskNo());//任务号
        int workNo1 = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号
        taskWrk.setTaskNo(dto.getWrkNo());//任务号
        taskWrk.setWrkNo(workNo1);
        taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收
        taskWrk.setCreateTime(now);
        taskWrk.setIoType(1);//任务类型
        taskWrk.setIoPri(Cools.isEmpty(dto.getTaskPriority()) ? 300 : Integer.parseInt(dto.getTaskPriority()));//优先级
        taskWrk.setBarcode(dto.getContainerCode());//条码
        taskWrk.setBarcode(barcode);//条码
        LocMast locMast = locMastService.selectByLocNo(wcsLocNo);
        taskWrk.setCrnNo(locMast.getCrnNo());
        taskWrk.setTargetPoint(dto.getTargetLocationCode());
        taskWrk.setStartPoint(staNo.toString());
        taskWrk.setTargetPoint(wcsLocNo);
        taskWrk.setStartPoint(dto.getStaNo().toString());
        if(taskWrk.getIoType() == 1){
            taskWrk.setWrkSts(2);
            if (!Cools.isEmpty(taskWrk.getTargetPoint())) {
                taskWrk.setTargetPoint(wcsLocNo);//终点
                taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint());
            }