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13 小时以前 826a7357f38711df1fa808f6971981ce6ab35927

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

@@ -13,6 +13,7 @@
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.common.constant.RedisConstantType;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
@@ -957,14 +958,12 @@
     * 入库  ===>>  堆垛机站到库位
     */
    public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
        News.warnNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发：执行入库");
        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
            boolean flag = false;
            // 获取堆垛机入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                News.infoNoLog("" + mark + " - 1" + " - 1" + " - 堆垛机入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
                continue;
            } else {
                staProtocol = staProtocol.clone();
@@ -972,7 +971,7 @@
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                News.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
@@ -980,33 +979,27 @@
                flag = true;
            }
            if (!flag) {
                News.errorNoLog("" + mark + " - 1" + " - 3" + " - 堆垛机入库站信息(以下需要全true):"
                        + "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
                        + "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isInEnable()
                        + "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
                continue;
            }
            // 获取工作状态为2（设备上走）的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            if (null == wrkMast) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
//                log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                continue;
            }
            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
            if (locMast == null) {
                News.error("" + mark + " - 1" + " - 5" + " - 查询库存无数据--库位号{}", wrkMast.getLocNo());
                News.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
                continue;
            }
            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
                News.error("" + mark + " - 1" + " - 6" + " - 入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
                News.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
                continue;
            }

            // 堆垛机控制过滤
            if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                News.infoNoLog(""+mark+" - 1"+" - 7"+" - 堆垛机控制过滤:堆垛机是否空闲={}，任务号={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo());
                continue;
            }

@@ -1015,89 +1008,63 @@
                continue;
            }

//            if (crnProtocol.getCrnNo() == 1) {
//                //判断堆垛机和当前任务是否处于一个巷道
//                if (Utils.getLaneByLocNo(wrkMast.getLocNo()) != crnProtocol.getCrnLane()) {
//                    //判断堆垛机所在巷道是否存在其他任务，如存在则优先执行
//                    List<WrkMast> currentWrkMasts = wrkMastService.selectLaneWrkMast(crnProtocol.getCrnLane(), false);
////                    if (!currentWrkMasts.isEmpty()) {
////                        continue;//当前堆垛机所在巷道存在任务
////                    }
//                }
//            }

            // 双深库位且浅库位有货，则需先对浅库位进行库位移转
            if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
                News.warnNoLog("" + mark + " - 1" + " - 8" + " - 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.getLocNo());
                LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                    News.warn("" + mark + " - 1" + " - 9" + " - // 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={},库位状态={}", shallowLoc.getLocNo(), shallowLoc.getLocSts());
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    if (null == waitWrkMast) {
                        News.error("" + mark + " - 1" + " - 10" + " - {}库位异常，未检索到相应工作档！", shallowLocNo);
                        News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                    } else {
                        if (waitWrkMast.getWrkSts() != 14 && waitWrkMast.getIoType() > 100) {
                            waitWrkMast.setIoPri(15D);
                            waitWrkMast.setModiTime(new Date());
                            if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                News.error("" + mark + " - 1" + " - 11" + " - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                            }
                            continue;
                        waitWrkMast.setIoPri(15D);
                        waitWrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                            News.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                        }

                        if (waitWrkMast.getWrkSts() < 5 && waitWrkMast.getIoType() < 100) {
                            continue;//有任务禁止搬运，有可能浅库位状态还未变更完成
                        }
                        continue;
                    }

                } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                    News.warn("" + mark + " - 1" + " - 12" + " - // F、D  库位={},库位状态={}", shallowLoc.getLocNo(), shallowLoc.getLocSts());
                    // 此标记避免多次执行移库任务
                    if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                        if (moveLocForDeepLoc(slave, crnProtocol, shallowLoc, mark)) {
                            wrkMast.setUpdMk("Y");
                            wrkMast.setIoPri(14D);
                            wrkMastMapper.updateById(wrkMast);
                        }
//                        wrkMast.setUpdMk("Y");
//                        wrkMast.setIoPri(14D);
//                        wrkMastMapper.updateById(wrkMast);
//                        // 生成工作档,将浅库位移转到新的库位中
//                        moveLocForDeepLoc(slave, shallowLoc,mark);
                        wrkMast.setUpdMk("Y");
                        wrkMast.setIoPri(14D);
                        wrkMastMapper.updateById(wrkMast);
                        // 生成工作档,将浅库位移转到新的库位中
                        moveLocForDeepLoc(slave, shallowLoc);
                        // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
//                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
                    }
                    continue;
                } else if (shallowLoc.getLocSts().equals("Q")) {
                    News.warn("" + mark + " - 1" + " - 13" + " - // Q  库位={},库位状态={}", shallowLoc.getLocNo(), shallowLoc.getLocSts());
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                        News.infoNoLog("" + mark + " - 1" + " - 14" + " - // F、D  工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
                        continue;
                    }
                }
            }
            News.info("" + mark + " - 1" + " - 15" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
                    , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue()
                    , locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue());

            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
//            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
            crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层\
            crnCommand.setBarcode(wrkMast.getBarcode());//托盘码
            log.error("768 堆垛机命令下发" + crnCommand);
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                News.error("" + mark + " - 1" + " - 16" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            } else {
                log.error("772 堆垛机命令下发成功" + crnCommand);
                News.info("772 堆垛机命令下发成功" + crnCommand);

//                long startTime = System.currentTimeMillis();
//                while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
@@ -1112,16 +1079,19 @@
//                }

                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                log.error("787 修改工作档状态2.设备上走 => 3.吊车入库中 " + wrkMast);
                News.info("787 修改工作档状态2.设备上走 => 3.吊车入库中 " + wrkMast);
                Date now = new Date();
                wrkMast.setWrkSts(3L);
                wrkMast.setCrnStrTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    News.error("" + mark + " - 1" + " - 17" + " - 修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                    News.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                }
                log.error("795 修改工作档状态成功2.设备上走 => 3.吊车入库中" + wrkMast);
                News.info("795 修改工作档状态成功2.设备上走 => 3.吊车入库中" + wrkMast);
            }
        }
        News.infoNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发 ： 入库执行完毕");
    }

    /**
@@ -1129,35 +1099,6 @@
     * 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
     */
    public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
        News.warnNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发：执行出库");

//        int devpTaskStackOver = 20;
//        Config config = configService.selectOne(new EntityWrapper<Config>()
//                .eq("code", "devpTaskStackOver"));
//        if (config != null) {
//            devpTaskStackOver = Integer.parseInt(config.getValue());
//        }
//        int devpCheckTaskStackOver = 2;
//        Config config2 = configService.selectOne(new EntityWrapper<Config>()
//                .eq("code", "devpCheckTaskStackOver"));
//        if (config2 != null) {
//            devpCheckTaskStackOver = Integer.parseInt(config2.getValue());
//        }
//
//        int outNumber = 13;
//        Config config3 = configService.selectOne(new EntityWrapper<Config>()
//                .eq("code", "fullBoardOutboundNumber"));
//        if (config3 != null) {
//            outNumber = Integer.parseInt(config3.getValue());
//        }
//
//
//        Integer devpWorkingCount = commonService.queryDevpWorkingCount();
//        if (devpWorkingCount > devpTaskStackOver) {
//            News.warn("" + mark + " - 2" + " - 0" + " - 输送线任务过载，当前输送线承载数量:{}", devpWorkingCount);
//            return;
//        }

        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
            // 获取工作状态为11（生成出库ID）的出库工作档
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
@@ -1168,106 +1109,68 @@
                }
                // 工作档状态判断
                if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
                    News.error("" + mark + " - 2" + " - 1" + " - 查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                    News.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                    continue;
                }
                // 获取源库位信息
                LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
                if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
                    News.error("" + mark + " - 2" + " - 2" + " - 出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                    News.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                    continue;
                }
                // 获取堆垛机出库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
                if (staProtocol == null) {
                    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();
                }

//                if (wrkMast.getStaNo() == 1003 || wrkMast.getStaNo() == 1007 || wrkMast.getStaNo() == 1004) {
//                    //检测是否有入库任务
//                    List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
//                            .in("io_type", 1, 53, 57)
//                            .notIn("wrk_sts", 3, 4, 5)
//                            .in("source_sta_no", 1002, 1007)
//                    );
//                    if (!inWrkMasts.isEmpty()) {
//                        News.error("" + mark + " - 2" + " - 检测存在入库任务，等待入库任务执行完成再出库，工作号={}" + wrkMast.getWrkNo());
//                        continue;
//                    }
//                }

                //zhangc
//                if (wrkMast.getIoType() == 103 || wrkMast.getIoType() == 107) {
//                    if (wrkMast.getStaNo() == 1058) {
//                        List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
//                                .in("wrk_sts", 12, 14)
//                                .eq("sta_no", 1058)
//                        );
//                        if (!Cools.isEmpty(inWrkMasts) && inWrkMasts.size() >= devpCheckTaskStackOver) {
//                            News.error("" + mark + " - 2" + " - 检测存在1058站点，存在两笔工作中的任务，工作号={}" + wrkMast.getWrkNo());
//                            continue;
//                        }
//                    } else if (wrkMast.getStaNo() == 1062) {
//                        List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
//                                .in("wrk_sts", 12, 14)
//                                .eq("sta_no", 1062)
//                        );
//                        if (!Cools.isEmpty(inWrkMasts) && inWrkMasts.size() >= devpCheckTaskStackOver) {
//                            News.error("" + mark + " - 2" + " - 检测存在1062站点，存在两笔工作中的任务，工作号={}" + wrkMast.getWrkNo());
//                            continue;
//                        }
//                    }
//                }else if (wrkMast.getIoType() == 101) {
//                    List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
//                            .in("wrk_sts", 12, 14)
//                    );
//                    if (!Cools.isEmpty(inWrkMasts) && inWrkMasts.size() >= outNumber) {
//                        News.error("" + mark + " - 4" + " - 检测到全板出库的任务已经到达上线，工作号={}" + wrkMast.getWrkNo());
//                        continue;
//                    }
//                }

//            // 入出库模式判断
//            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
//                if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
//                    News.infoNoLog(""+mark+" - 2"+" - 4"+" - 入出库模式（此处出库方法，出库模式继续=="+devpThread.ioModeOf2F);
//                    continue;
//                }

                // 查询站点详细信息
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    News.error("" + mark + " - 2" + " - 5" + " - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    News.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    break;
//                    continue;
                }
                //查询在库信息
                LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                        .eq("loc_sts", "R")
                        .eq("loc_no", wrkMast.getSourceLocNo()));
                if (Cools.isEmpty(locMast)) {
                    News.error("出库 ===>> 库位中没有这笔资料", wrkMast.getSourceLocNo());
                    continue;
                }
                //堆垛机接驳站点没有空料架
                if(!staProtocol.isEmptyOutType()&&(Cools.isEmpty(wrkMast.getCtnType())||wrkMast.getCtnType()==0)){
                    //请求wms下发agv搬运空料架到堆垛机接驳站点任务
                    try {
                        HashMap<String,Object> hashMap=new HashMap<>();
                        hashMap.put("wrkNo",wrkMast.getWrkNo());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/createAGVMoveTask")
                                .setJson(JSON.toJSONString(wrkMast))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            wrkMast.setCtnType(1);//已生成AGV搬运空料架任务
                            wrkMastService.updateById(wrkMast);
                        } else {
                            continue;
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }
                }

                // 判断堆垛机出库站状态
                if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {

                    //根据参数判断是否校验可出信号
//                    String crnOutVerifyOut = "Y";
//                    Config crnOutVerifyOutEnableConfig = configService.selectOne(new EntityWrapper<Config>()
//                            .eq("code", "crnOutVerifyOutEnable"));
//                    if (crnOutVerifyOutEnableConfig != null) {
//                        crnOutVerifyOut = crnOutVerifyOutEnableConfig.getValue();
//                    }
//
//                    if (crnOutVerifyOut.equals("Y")) {
//                        if (!staProtocol.isOutEnable()) {
//                            continue;
//                        }
//
//                        if (staProtocol.getWorkNo() > 0) {
//                            continue;
//                        }
//                    }


                if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                        && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable() && staProtocol.isEmptyOutType()) {
                    // 命令下发区 --------------------------------------------------------------------------

                    // 堆垛机控制过滤
@@ -1276,35 +1179,12 @@
                        break;
                    }

//                    if (crnProtocol.getCrnNo() == 1) {
//                        String turnCrnExecuteCurrentChannel = "Y";
//                        Config turnCrnExecuteCurrentChannelConfig = configService.selectOne(new EntityWrapper<Config>()
//                                .eq("code", "turnCrnExecuteCurrentChannel")
//                        );
//                        if (turnCrnExecuteCurrentChannelConfig != null) {
//                            turnCrnExecuteCurrentChannel = turnCrnExecuteCurrentChannelConfig.getValue();
//                        }
//
//                        if (turnCrnExecuteCurrentChannel.equals("Y")) {
//                            //判断堆垛机和当前任务是否处于一个巷道
//                            if (Utils.getLaneByLocNo(wrkMast.getSourceLocNo()) != crnProtocol.getCrnLane()) {
//                                //判断堆垛机所在巷道是否存在其他任务，如存在则优先执行
//                                List<WrkMast> currentWrkMasts = wrkMastService.selectLaneWrkMast(crnProtocol.getCrnLane(), false);
//                                if (!currentWrkMasts.isEmpty()) {
//                                    continue;//当前堆垛机所在巷道存在任务
//                                }
//                            }
//                        }
//                    }

                    // 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={},库位状态={}", shallowLoc.getLocNo(), 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);
@@ -1313,7 +1193,7 @@
                                    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());
                                        News.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                    }
                                    continue;
                                } else {
@@ -1321,31 +1201,20 @@
                                }
                            }
                        } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                            News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F、D  库位={},库位状态={}", shallowLoc.getLocNo(), 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);
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(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)) {
                                if (moveLocForDeepLoc(slave, crnProtocol, shallowLoc, mark)) {
                                    wrkMast.setUpdMk("Y");
//                                    wrkMast.setIoPri(14D);
                                    wrkMastMapper.updateById(wrkMast);
                                }
//                                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);
                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
                                    || 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);
                            }
                            News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                            News.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
                            continue;
                        } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
                            News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q、S  库位={},库位状态={}", shallowLoc.getLocNo(), shallowLoc.getLocSts());
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(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;
                            }
                        }
@@ -1357,15 +1226,11 @@
//                        return;
                    }

                    News.warnNoLog("" + mark + " - 2" + " - 12" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
                            , sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue()
                            , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue());

                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
//                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                    crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
@@ -1373,8 +1238,9 @@
                    crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                    crnCommand.setBarcode(wrkMast.getBarcode());
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                        News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                        Date now = new Date();
@@ -1382,14 +1248,14 @@
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                            News.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                        break;
                    }
                }

            }
        }
        News.infoNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发 ： 出库执行完毕");
    }

//    /**
@@ -2467,21 +2333,15 @@
     * 因双深库位阻塞，对浅库位进行移转（立即执行版)
     * tip：同步
     */
    private synchronized boolean moveLocForDeepLoc(CrnSlave crn, CrnProtocol crnProtocol, LocMast shallowLoc, Integer mark) {
    private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
        try {
            News.warnNoLog("" + mark + "moveLocForDeepLoc" + " - 0" + " - 开始执行:因双深库位阻塞，对浅库位进行移转（立即执行版)");
            List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
            LocMast loc = null;
            for (Integer row : rows) {
                if (Utils.isDeepLoc(slaveProperties, row)) {
                    loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
                    if (loc != null) {
                        if (crn.getId() == 1) {
                            if (Utils.getLaneByLocNo(loc.getLocNo()) != crnProtocol.getCrnLane()) {
                                continue;
                            }
                        }

                    if (loc != null) {
                        if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
                            String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
                            LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
@@ -2501,12 +2361,6 @@
                        loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

                        if (null != loc) {//对应深库位非在库状态,不能移库
                            if (crn.getId() == 1) {
                                if (Utils.getLaneByLocNo(loc.getLocNo()) != crnProtocol.getCrnLane()) {
                                    continue;
                                }
                            }

                            String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
                            LocMast deepLoc1 = locMastService.selectById(deepLoc);
                            if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) {
@@ -2522,107 +2376,76 @@
            }

            if (null == loc) {
                News.error("" + mark + "moveLocForDeepLoc" + " - 1" + " - 双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
                return false;
                log.error("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
                return;
//                throw new CoolException("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
            } else {
                String deepLoc2 = Utils.getDeepLoc2(slaveProperties, loc.getLocNo());
                if (deepLoc2 != null) {
                    LocMast locnew = locMastService.selectById(deepLoc2);
                    if (locnew != null && locnew.getLocSts().equals("O")) {
                        loc = locnew;
                    }
                }


                try {
                    // 获取工作号
                    int workNo = commonService.getWorkNo(0);
                    // 保存工作档
                    WrkMast wrkMast = new WrkMast();
                    wrkMast.setWrkNo(workNo);
                    wrkMast.setIoTime(new Date());
                    wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
                    wrkMast.setIoType(11); // 入出库状态： 11.库格移载
                    wrkMast.setIoPri(13D);
                    wrkMast.setCrnNo(crn.getId());
                    wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
                    wrkMast.setLocNo(loc.getLocNo()); // 目标库位
//                    wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
                    wrkMast.setFullPlt(shallowLoc.getLocSts().equals("D") ? "N" : "Y"); // 满板
                    wrkMast.setPicking("N"); // 拣料
                    wrkMast.setExitMk("N"); // 退出
                    wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
                    wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
                    wrkMast.setLinkMis("N");
                    wrkMast.setAppeTime(new Date());
                    wrkMast.setModiTime(new Date());
                    int res = wrkMastMapper.insert(wrkMast);
                    if (res == 0) {
                        News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 2" + " - 保存工作档失败");
//                        throw new CoolException("保存工作档失败");
                        return true;
                    }
                    // 工作档明细保存
                    if (shallowLoc.getLocSts().equals("F")) {
                        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));

                        for (LocDetl locDetl : locDetls) {
                            WrkDetl wrkDetl = new WrkDetl();
                            wrkDetl.sync(locDetl);
                            wrkDetl.setWrkNo(workNo);
                            wrkDetl.setIoTime(new Date());
                            wrkDetl.setAnfme(locDetl.getAnfme());
//                            VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
                            wrkDetl.setAppeTime(new Date());
                            wrkDetl.setModiTime(new Date());
                            if (!wrkDetlService.insert(wrkDetl)) {
                                News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 3" + " - 保存工作档明细失败");
//                                throw new CoolException("保存工作档明细失败");
                                return true;
                            }
                        }
                    }
                    // 修改源库位状态
                    if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
                        shallowLoc.setLocSts("R"); // R.出库预约
                        shallowLoc.setModiTime(new Date());
                        if (!locMastService.updateById(shallowLoc)) {
                            News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 4" + " - 更新源库位状态失败");
//                            throw new CoolException("更新源库位状态失败");
                            return true;
                        }
                    } else {
                        News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 5" + " - 源库位出库失败");
//                        throw new CoolException("源库位出库失败");
                        return true;
                    }
                    // 修改目标库位状态
                    if (loc.getLocSts().equals("O")) {
                        loc.setLocSts("S"); // S.入库预约
                        loc.setModiTime(new Date());
                        if (!locMastService.updateById(loc)) {
                            News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 6" + " - 更新目标库位状态失败");
//                            throw new CoolException("更新目标库位状态失败");
                            return true;
                        }
                    } else {
                        News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 7" + " - 移转失败");
//                        throw new CoolException("移转失败");
                        return true;
                    }
                } catch (Exception e) {
                    News.error("" + mark + "moveLocForDeepLoc" + " - 8" + " - 双深库位阻塞，对浅库位进行移转失败", e);
                }
            }


            // 获取工作号
            int workNo = commonService.getWorkNo(0);
            // 保存工作档
            WrkMast wrkMast = new WrkMast();
            wrkMast.setWrkNo(workNo);
            wrkMast.setIoTime(new Date());
            wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
            wrkMast.setIoType(11); // 入出库状态： 11.库格移载
            wrkMast.setIoPri(13D);
            wrkMast.setCrnNo(crn.getId());
            wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
            wrkMast.setLocNo(loc.getLocNo()); // 目标库位
            wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
            wrkMast.setPicking("N"); // 拣料
            wrkMast.setExitMk("N"); // 退出
            wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
            wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
            wrkMast.setLinkMis("N");
            wrkMast.setAppeTime(new Date());
            wrkMast.setModiTime(new Date());
            int res = wrkMastMapper.insert(wrkMast);
            if (res == 0) {
                throw new CoolException("保存工作档失败");
            }
            // 工作档明细保存
            if (shallowLoc.getLocSts().equals("F")) {
                List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
                for (LocDetl locDetl : locDetls) {
                    WrkDetl wrkDetl = new WrkDetl();
                    wrkDetl.setWrkNo(workNo);
                    wrkDetl.setIoTime(new Date());
                    wrkDetl.setAnfme(locDetl.getAnfme());
                    VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
                    wrkDetl.setAppeTime(new Date());
                    wrkDetl.setModiTime(new Date());
                    if (!wrkDetlService.insert(wrkDetl)) {
                        throw new CoolException("保存工作档明细失败");
                    }
                }
            }
            // 修改源库位状态
            if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
                shallowLoc.setLocSts("R"); // R.出库预约
                shallowLoc.setModiTime(new Date());
                if (!locMastService.updateById(shallowLoc)) {
                    throw new CoolException("更新源库位状态失败");
                }
            } else {
                throw new CoolException("源库位出库失败");
            }
            // 修改目标库位状态
            if (loc.getLocSts().equals("O")) {
                loc.setLocSts("S"); // S.入库预约
                loc.setModiTime(new Date());
                if (!locMastService.updateById(loc)) {
                    throw new CoolException("更新目标库位状态失败");
                }
            } else {
                throw new CoolException("移转失败");
            }
        } catch (Exception e) {
            News.error("" + mark + "moveLocForDeepLoc" + " - 8" + " - 双深库位阻塞，对浅库位进行移转失败", e);
//            e.printStackTrace();
//            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
            log.error("双深库位阻塞，对浅库位进行移转失败", e);
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
        return true;
    }

    /**