#

luxiaotao1123

2022-11-01 8fb65b05c4e7abf048ef9b2f615d647226b06f1a

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

@@ -3,7 +3,6 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
@@ -44,7 +43,10 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

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

/**
@@ -641,8 +643,6 @@
                }
                // 库位移转
                this.locToLoc(crn, crnProtocol);
                // 演示任务
                this.steMoveDemo(crn, crnProtocol);
            }
        }
    }
@@ -1450,40 +1450,6 @@
    }

    /**
     * 让小车从 远点 ====>> 移动到近点
     *  等待堆垛机搬运
     */
    public void letCarBeReady(WrkCharge wrkCharge, Integer steNo) {
        // 获取穿梭车信息
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
        SteProtocol steProtocol = steThread.getSteProtocol();
        if (steProtocol == null) { return; }
        if (steProtocol.isIdle()) {

            // 命令下发区 --------------------------------------------------------------------------
            SteCommand steCommand = new SteCommand();
            steCommand.setSteNo(steNo); // 穿梭车编号
            steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
            steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式:  去近点 等待堆垛机叉取

            steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
            steCommand.setBay(steProtocol.getBay());
            steCommand.setLev(steProtocol.getLev());

            if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
            } else {
                // 修改工作档状态 绑定穿梭车
                wrkCharge.setSteNo(steNo);
                wrkCharge.setModiTime(new Date());
                if (!wrkChargeService.updateById(wrkCharge)) {
                    log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo());
                }
            }
        }
    }

    /**
     * 入出库  ===>>  堆垛机搬入小车
     */
    public void carMoveIn(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {
@@ -1670,6 +1636,20 @@
                                if (!steThread.confirmPos()) {
                                    log.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
                                }
                            }
                        } else if (wrkCharge.getWrkSts() == 27) {
                            // 堆垛机复位
                            crnThread.setResetFlag(true);
                            // 穿梭车重新定位排列层
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
                            if (steThread.confirmPos()) {
                                // 27.放至充电位 ===>> 28.充电就绪
                                wrkCharge.setWrkSts(28L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改充电任务状态 27.放至充电位 ===>> 28.充电就绪 失败！！，工作号={}", wrkCharge.getWrkNo());
                                }
                            } else {
                                log.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
                            }
                        } else if (wrkCharge.getWrkSts() == 34) {
                            // 34.吊车搬运 ===>> 35.小车就绪
@@ -1905,11 +1885,19 @@
                                } else {
                                    steThread.setResetFlag(true);
                                }
                            }  else if (wrkCharge.getWrkSts() == 32) {
                            } else if (wrkCharge.getWrkSts() == 29) {
                                // 29.开始充电 ===>> 30.完成充电
                                wrkCharge.setWrkSts(30L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改充电任务状态 29.开始充电 ===>> 30.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
                            } else if (wrkCharge.getWrkSts() == 32) {
                                // 32.小车走行 ===>> 33.小车待搬
                                wrkCharge.setWrkSts(33L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改演示任务状态 25.小车去充电 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    log.error("修改演示任务状态 32.小车走行 ===>> 33.小车待搬 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
@@ -2461,6 +2449,7 @@
    /**
     * 小车电量检测 ===>> 发起充电
     */
    @SuppressWarnings("serial")
    public synchronized void loopSteCharge() {
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        for (SteSlave ste : slaveProperties.getSte()) {
@@ -2473,6 +2462,7 @@
                if (steProtocol.getMode() == 0
                        || !steProtocol.statusType.equals(SteStatusType.IDLE)
                        || basSte.getPakMk().equals("Y")
                        || basSte.getAutoCharge().equals("N")
//                        || steProtocol.getChargeStatus() == 1
                ) {
                    continue;
@@ -2483,13 +2473,37 @@
                if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())) {
                    continue;
                }
//                WrkCharge wrkCharge = wrkChargeService.selectWorking(steProtocol.getSteNo().intValue());
                WrkCharge wrkCharge = wrkChargeService.selectWorking(null);

                if (wrkCharge == null && steProtocol.getChargeStatus() == 0) {
//                    String idleLoc = basSte.getIdleLoc();
                    // 寻找空闲充电桩
                    SteChargeType steCharge = devpThread.getIdleChargeLocNo();
                    SteChargeType steCharge = null;
                    do {
                        String locNo;
                        if (!devpThread.charge0) {
                            locNo = SteChargeType.FIRST.locNo;
                            if (basSteService.hasCarOfLocNo(locNo) == null) {
                                steCharge = SteChargeType.FIRST;
                                break;
                            }
                        }
                        if (!devpThread.charge1) {
                            locNo = SteChargeType.SECOND.locNo;
                            if (basSteService.hasCarOfLocNo(locNo) == null) {
                                steCharge = SteChargeType.SECOND;
                                break;
                            }
                        }
                        if (!devpThread.charge2) {
                            locNo = SteChargeType.THIRD.locNo;
                            if (basSteService.hasCarOfLocNo(locNo) == null) {
                                steCharge = SteChargeType.THIRD;
                                break;
                            }
                        }
                        break;
                    } while (false);

                    if (steCharge == null) {
                        log.warn("{}号小车【电量：{}】充电失败，原因：没有空闲充电桩。", ste.getId(), steProtocol.getCharge());
                        continue;
@@ -2512,11 +2526,11 @@
                    if (steProtocol.getRow().intValue() == Utils.getRow(chargeLocNo)
                            && steProtocol.getBay().intValue() == Utils.getBay(chargeLocNo)
                            && steProtocol.getLev().intValue() == Utils.getLev(chargeLocNo)) {
                        // 修改工作档状态 21.准备充电 => 24.小车到达
                        wrkCharge.setWrkSts(24L);
                        // 修改工作档状态 21.准备充电 => 28.充电就绪
                        wrkCharge.setWrkSts(28L);
                        wrkCharge.setModiTime(new Date());
                        if (!wrkChargeService.updateById(wrkCharge)) {
                            log.error("修改充电任务状态 21.准备充电 => 24.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo());
                            log.error("修改充电任务状态 21.准备充电 => 28.充电就绪 失败！！，工作号={}", wrkCharge.getWrkNo());
                        }
                    } else {
                        this.letCarBeWaiting(wrkCharge, ste.getId());
@@ -2524,7 +2538,7 @@

                } else {
                    // filter
                    if (wrkCharge == null || (wrkCharge.getWrkSts() < 26 && steProtocol.getChargeStatus() == 1)) {
                    if (wrkCharge == null || (wrkCharge.getWrkSts() < 28 && steProtocol.getChargeStatus() == 1)) {
                        continue;
                    }

@@ -2540,38 +2554,45 @@
                            } else {
                                LocMast channelLoc = locMastService.selectById(channelLocNo);

                                // 堆垛机命令下发区 --------------------------------------------------------------------------
                                CrnCommand crnCommand = new CrnCommand();
                                crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
                                crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                                crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                                crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());     // 源库位排
                                crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                                crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                                crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), true).shortValue());     // 目标库位排
                                crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue());     // 目标库位列
                                crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue());     // 目标库位层
                                if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                                } else {
                                    // 修改穿梭车运行中排列层
                                    steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), true), channelLoc.getBay1(), channelLoc.getLev1());
                                    // 修改工作档状态 22.小车待搬 => 23.吊车搬运
                                    Date now = new Date();
                                    wrkCharge.setWrkSts(23L);
                                    wrkCharge.setCrnStrTime(now);
                                    wrkCharge.setModiTime(now);
                                    if (!wrkChargeService.updateById(wrkCharge)) {
                                        log.error("修改工作档状态 22.小车待搬 => 23.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
                                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
                                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                                if (crnProtocol == null) { continue; }
                                // 只有当堆垛机空闲 并且 无任务时才继续执行
                                if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                                    // 堆垛机命令下发区 --------------------------------------------------------------------------
                                    CrnCommand crnCommand = new CrnCommand();
                                    crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
                                    crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                                    crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                                    crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());     // 源库位排
                                    crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                                    crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                                    crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), true).shortValue());     // 目标库位排
                                    crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue());     // 目标库位列
                                    crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue());     // 目标库位层
                                    if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                                    } else {
                                        // 修改穿梭车运行中排列层
                                        steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), true), channelLoc.getBay1(), channelLoc.getLev1());
                                        // 修改工作档状态 22.小车待搬 => 23.吊车搬运
                                        Date now = new Date();
                                        wrkCharge.setWrkSts(23L);
                                        wrkCharge.setCrnStrTime(now);
                                        wrkCharge.setModiTime(now);
                                        if (!wrkChargeService.updateById(wrkCharge)) {
                                            log.error("修改工作档状态 22.小车待搬 => 23.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
                                        }
                                    }
                                    break;
                                }
                                break;

                            }
                        }

                    } else if (wrkCharge.getWrkSts() == 24L) {
                        // 小车行驶至充电位
                        // 小车行驶通道
                        if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
                            if (steProtocol.getChargeStatus() == 1) { continue; }
                            // 命令下发区 --------------------------------------------------------------------------
@@ -2579,6 +2600,10 @@
                            steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
                            steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                            steCommand.setTaskMode(SteTaskModeType.GO_ORIGIN);  // 去右端

                            steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
                            steCommand.setBay(steProtocol.getBay());
                            steCommand.setLev(steProtocol.getLev());
                            if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                                log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                            } else {
@@ -2593,33 +2618,56 @@
                            }
                        }
                    } else if (wrkCharge.getWrkSts() == 26) {
                        // 27.放至充电位
                        // 固定堆垛机
                        int crnNo = 1;
                        // 充电位
                        LocMast chargeLoc = locMastService.selectById(wrkCharge.getLocNo());

                        // 堆垛机命令下发区 --------------------------------------------------------------------------
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
                        crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                        crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                        crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());     // 源库位排
                        crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                        crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                        crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), true).shortValue());     // 目标库位排
                        crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue());     // 目标库位层
                        if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                            log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
                        CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                        if (crnProtocol == null) { continue; }
                        // 只有当堆垛机空闲 并且 无任务时才继续执行
                        if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                            // 堆垛机命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(crnNo); // 堆垛机编号
                            crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                            crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                            crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());     // 源库位排
                            crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                            crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                            crnCommand.setDestinationPosX(chargeLoc.getRow1().shortValue());     // 目标库位排
                            crnCommand.setDestinationPosY(chargeLoc.getBay1().shortValue());     // 目标库位列
                            crnCommand.setDestinationPosZ(chargeLoc.getLev1().shortValue());     // 目标库位层
                            if (!MessageQueue.offer(SlaveType.Crn, 1, new Task(2, crnCommand))) {
                                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(crnCommand));
                            } else {
                                // 修改穿梭车运行中排列层
                                steThread.modifyPos(chargeLoc.getRow1(), chargeLoc.getBay1(), chargeLoc.getLev1());
                                // 修改工作档状态 26.等待充电 => 27.放至充电位
                                Date now = new Date();
                                wrkCharge.setWrkSts(27L);
                                wrkCharge.setCrnStrTime(now);
                                wrkCharge.setModiTime(now);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改工作档状态 26.等待充电 => 27.放至充电位 失败！！，工作号={}", wrkCharge.getWrkNo());
                                }
                            }
                        }
                    } else if (wrkCharge.getWrkSts() == 28L) {
                        // 穿梭车下发充电任务
                        SteCommand steCommand = new SteCommand();
                        steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
                        steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                        steCommand.setTaskMode(SteTaskModeType.CHARGE_LEFT); // 任务模式: 充电
                        if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                            log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                        } else {
                            // 修改穿梭车运行中排列层
                            steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), true), channelLoc.getBay1(), channelLoc.getLev1());
                            // 修改工作档状态 22.小车待搬 => 23.吊车搬运
                            Date now = new Date();
                            wrkCharge.setWrkSts(23L);
                            wrkCharge.setCrnStrTime(now);
                            wrkCharge.setModiTime(now);
                            // 28.充电就绪 ===>> 29.开始充电
                            wrkCharge.setWrkSts(29L);
                            if (!wrkChargeService.updateById(wrkCharge)) {
                                log.error("修改工作档状态 22.小车待搬 => 23.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
                                log.error("修改充电任务状态 28.充电就绪 ===>> 29.开始充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                            }
                        }
                    }
@@ -2630,206 +2678,117 @@
        }
    }


    public List<String> crn1DemoLocs = new ArrayList<String>(); public String crn1LastLoc = "";
    public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";
    public List<String> crn3DemoLocs = new ArrayList<String>(); public String crn3LastLoc = "";
    public synchronized void demo() {
        if (Cools.isEmpty(crn1DemoLocs)) {
            crn1DemoLocs = locMastService.getDemoNextLoc(1);
        }
        if (Cools.isEmpty(crn2DemoLocs)) {
            crn2DemoLocs = locMastService.getDemoNextLoc(2);
        }
        if (Cools.isEmpty(crn3DemoLocs)) {
            crn3DemoLocs = locMastService.getDemoNextLoc(3);
        }
        for (CrnSlave crn : slaveProperties.getCrn()) {
            if (!crn.getDemo()) {
                continue;
            }   // 必须为演示状态

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

            // 只有当堆垛机空闲 并且 无任务时才继续执行
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {

                // filter
                if (wrkChargeService.selectCount(new EntityWrapper<WrkCharge>()
                        .eq("crn_no", crn.getId()).between("wrk_sts", 31, 36)) > 0) {
                    continue;
                }

                int steNo = crn.getId();
    /**
     * 小车从充电桩 至 待机库位
     */
    public synchronized void steFromChargeToIdleLoc() {
        // 与充电任务不同步进行
        if (null != wrkChargeService.selectWorking(null)) { return; }
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        // 检索充电桩
        for (SteChargeType value : SteChargeType.values()) {
            Integer steNo = basSteService.hasCarOfLocNo(value.locNo);
            if (steNo != null) {
                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                SteProtocol steProtocol = steThread.getSteProtocol();
                BasSte basSte = basSteService.selectById(steNo);
                if (Cools.isEmpty(steProtocol, basSte)) { continue; }
                if (Cools.isEmpty(steProtocol, basSte)) {
                    continue;
                }
                // 1号充电桩
                if (value.equals(SteChargeType.FIRST) && devpThread.charge0) {
                    continue;
                }
                // 2号充电桩
                if (value.equals(SteChargeType.SECOND) && devpThread.charge1) {
                    continue;
                }
                // 3号充电桩
                if (value.equals(SteChargeType.THIRD) && devpThread.charge2) {
                    continue;
                }
                // 小车是否处于充电状态
                if (steProtocol.getChargeStatus() == 1) {
                    continue;
                }
                // case 1 : 自动充电开   馈电      ×
                // case 2 : 自动充电开   满电      ✔
                // case 3 : 自动充电关   馈电      ✔
                // case 4 : 自动充电关   满电      ✔
                if (basSte.getAutoCharge().equals("Y")
                    && steProtocol.getCharge() < Float.parseFloat(basSte.getChargeLine())) {
                    continue;
                }
                // 开始穿梭车复位任务
                WrkCharge wrkCharge = new WrkCharge();
                wrkCharge.setSteNo(steNo);
                wrkCharge.setWrkNo(commonService.getChargeWorkNo(6));
                wrkCharge.setWrkSts(41L);   // 41.小车准备复位
                wrkCharge.setCrnNo(2);  // 固定2号堆垛机
                wrkCharge.setIoPri((double) 10);
                wrkCharge.setSourceLocNo(value.locNo);
                wrkCharge.setLocNo(basSte.getIdleLoc());
                wrkCharge.setMemo("reset");
                if (!wrkChargeService.insert(wrkCharge)) {
                    log.error("保存{}号穿梭车复位任务失败!!!", steNo);
                    continue;
                }

                // 只有当穿梭车空闲 并且 无任务时才继续执行
                if (steProtocol.isIdle()) {

                    String locNo = null;
                    Iterator<String> iterator = crn1DemoLocs.iterator();
                    if (crn.getId() == 1) {
                        iterator = crn1DemoLocs.iterator();
                    } else if (crn.getId() == 2) {
                        iterator = crn2DemoLocs.iterator();
                    } else if (crn.getId() == 3) {
                        iterator = crn3DemoLocs.iterator();
                    }
                    while (iterator.hasNext()) {
                        String next = iterator.next();
                        String lastLoc = "";
                        if (crn.getId() == 1) {
                            lastLoc = crn1LastLoc;
                        } else if (crn.getId() == 2) {
                            lastLoc = crn2LastLoc;
                        } else if (crn.getId() == 3) {
                            lastLoc = crn3LastLoc;
                        }
                        if (!Cools.isEmpty(lastLoc)) {
                            if (!lastLoc.substring(2, 7).equals(next.substring(2, 7)) || !Utils.getGroupRow(lastLoc).equals(Utils.getGroupRow(next))) {
                                locNo = next;
                                iterator.remove();
                                break;
                            } else {
                                iterator.remove();
                            }
                // 1.搬运至固定通道
                if (wrkCharge.getWrkSts() == 41L) {
                    // 搬小车至小车走向通道
                    List<String> channel = slaveProperties.getChannel();
                    for (String channelLocNo : channel) {
                        Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
                        if (null != otherSte) {
                            log.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
                        } else {
                            locNo = next;
                            iterator.remove();
                            break;
                        }
                            // 固定堆垛机
                            int crnNo = 1;
                            LocMast channelLoc = locMastService.selectById(channelLocNo);

                    }
                    if (!Cools.isEmpty(locNo)) {
                        if (crn.getId() == 1) {
                            crn1LastLoc = locNo;
                        } else if (crn.getId() == 2) {
                            crn2LastLoc = locNo;
                        } else if (crn.getId() == 3) {
                            crn3LastLoc = locNo;
                            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
                            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                            if (crnProtocol == null) { continue; }
                            // 只有当堆垛机空闲 并且 无任务时才继续执行
                            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                                // 堆垛机命令下发区 --------------------------------------------------------------------------
                                CrnCommand crnCommand = new CrnCommand();
                                crnCommand.setCrnNo(crnNo); // 堆垛机编号
                                crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                                crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                                crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());     // 源库位排
                                crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                                crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                                crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), false).shortValue());     // 目标库位排
                                crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue());     // 目标库位列
                                crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue());     // 目标库位层
                                if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                                } else {
                                    // 修改穿梭车运行中排列层
                                    steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), true), channelLoc.getBay1(), channelLoc.getLev1());
                                    // 修改工作档状态 41.小车准备复位 => 42.吊车搬运
                                    Date now = new Date();
                                    wrkCharge.setWrkSts(42L);
                                    wrkCharge.setCrnStrTime(now);
                                    wrkCharge.setModiTime(now);
                                    if (!wrkChargeService.updateById(wrkCharge)) {
                                        log.error("修改工作档状态 41.小车准备复位 => 42.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    }
                                }
                                break;
                            }

                        }
                    }

                    log.info("{}号堆垛机对{}库位进行演示", crn.getId(), locNo);

                    String sourceLocNo = Utils.getLocNo(steProtocol.getRow(), steProtocol.getBay(), steProtocol.getLev());

                    WrkCharge wrkCharge = new WrkCharge();
                    wrkCharge.setCrnNo(crn.getId());
                    wrkCharge.setSteNo(steNo);
                    wrkCharge.setWrkNo(commonService.getChargeWorkNo(5));
                    wrkCharge.setWrkSts(31L);   // 31.生成演示ID
                    wrkCharge.setIoPri((double) 10);
                    wrkCharge.setSourceLocNo(sourceLocNo);
                    wrkCharge.setLocNo(locNo);
                    wrkCharge.setMemo("demo");
                    if (!wrkChargeService.insert(wrkCharge)) {
                        log.error("生成演示任务失败，堆垛机号：{}，小车：{}，源库位：{}，目标库位：{}", crn.getId(), steNo, sourceLocNo, locNo);
                    }
                }
            }
        }
    }

    /**
     * 演示取货
     */
    private void steMoveDemo(CrnSlave slave, CrnProtocol crnProtocol) {
        // 获取工作档信息
        WrkCharge wrkCharge = wrkChargeService.selectOne(new EntityWrapper<WrkCharge>().eq("crn_no", slave.getId())
                .in("wrk_sts", 31, 33, 35));
        if (null == wrkCharge) {
            return;
        }
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
        SteProtocol steProtocol = steThread.getSteProtocol();
        if (null == steProtocol) { return; }
        if (steProtocol.isIdle()) {
            // 31.生成演示ID
            if (wrkCharge.getWrkSts() == 31L) {
                this.letCarBeReady(wrkCharge, steProtocol.getSteNo().intValue());
                wrkCharge.setWrkSts(32L);
                wrkCharge.setModiTime(new Date());
                if (!wrkChargeService.updateById(wrkCharge)) {
                    log.error("修改演示任务{}工作档 31.生成演示ID ==>> 32.小车走行 失败!", wrkCharge.getWrkNo());
                }
            // 33.小车待搬
            } else if (wrkCharge.getWrkSts() == 33L) {
                LocMast locMast = locMastService.selectById(wrkCharge.getLocNo());
                // 堆垛机命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排
                crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).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
                if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改穿梭车运行中排列层
                    steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());
                    // 修改工作档状态 33.小车待搬 => 34.吊车搬运
                    Date now = new Date();
                    wrkCharge.setWrkSts(34L);
                    wrkCharge.setCrnStrTime(now);
                    wrkCharge.setModiTime(now);
                    if (!wrkChargeService.updateById(wrkCharge)) {
                        log.error("修改演示任务{}工作档 33.小车待搬 => 34.吊车搬运 失败!", wrkCharge.getWrkNo());
                    }
                }
            // 35.小车就绪
            } else if (wrkCharge.getWrkSts() == 35L) {

                int steNo = steProtocol.getSteNo().intValue();
                if (!basSteService.updatePakMk(steNo, "Y")) {
                    log.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);
                    return;
                }

                // 命令下发区 --------------------------------------------------------------------------
                SteCommand steCommand = new SteCommand();
                steCommand.setSteNo(steNo); // 穿梭车编号
                steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                SteTaskModeType originByLoc = SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue());
                if (originByLoc.equals(SteTaskModeType.GO_ORIGIN)) {
                    originByLoc = SteTaskModeType.BACK_ORIGIN;
                } else if (originByLoc.equals(SteTaskModeType.BACK_ORIGIN)) {
                    originByLoc = SteTaskModeType.GO_ORIGIN;
                } else {
                    return;
                }
                steCommand.setTaskMode(originByLoc);

                steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
                steCommand.setBay(steProtocol.getBay());
                steCommand.setLev(steProtocol.getLev());

                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                } else {
                    // 修改工作档状态 35.小车就绪 => 36.小车走行
                    wrkCharge.setWrkSts(36L);
                    wrkCharge.setModiTime(new Date());
                    if (!wrkChargeService.updateById(wrkCharge)) {
                        log.error("修改演示任务{}工作档 35.小车就绪 => 36.小车走行 失败!", wrkCharge.getWrkNo());
                    }
                }
            }
        }

    }

    /**
     * 因双深库位阻塞，对浅库位进行移转（出库版)