zy-wcs.git - Gitblit

			@@ -1,46 +1,47 @@
			package com.zy.asrs.service.impl;

			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.baomidou.mybatisplus.mapper.Wrapper;
			import com.core.common.Cools;
			import com.core.exception.CoolException;
			import com.zy.asrs.controller.CrnController;
			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.mapper.WaitPakinMapper;
			import com.zy.asrs.mapper.WrkMastMapper;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.*;
			import com.zy.common.model.MatDto;
			import com.zy.common.model.StartupDto;
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.CollectionUtils;
			import com.zy.core.cache.MessageQueue;
			import com.zy.core.cache.SlaveConnection;
			import com.zy.common.utils.HttpHandler;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			import com.zy.core.cache.*;
			import com.zy.core.enums.*;
			import com.zy.core.model.CrnSlave;
			import com.zy.core.model.DevpSlave;
			import com.zy.core.model.LedSlave;
			import com.zy.core.model.Task;
			import com.zy.core.model.*;
			import com.zy.core.model.command.CrnCommand;
			import com.zy.core.model.command.LedCommand;
			import com.zy.core.model.protocol.CrnProtocol;
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.model.protocol.*;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.BarcodeThread;
			import com.zy.core.thread.CrnThread;
			import com.zy.core.thread.DevpThread;
			import com.zy.core.thread.LedThread;
			import com.zy.core.thread.RgvThread;
			import com.zy.core.thread.SiemensDevpThread;
			import lombok.extern.slf4j.Slf4j;
			import org.apache.poi.ss.formula.functions.T;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.jdbc.core.JdbcTemplate;
			import org.springframework.scheduling.annotation.Async;
			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.util.ArrayList;
			import java.util.Date;
			import java.util.List;
			import java.util.Set;
			import java.io.IOException;
			import java.time.LocalDateTime;
			import java.util.*;
			import java.util.concurrent.ConcurrentHashMap;
			import java.util.stream.Collectors;

			/**
			@@ -53,343 +54,601 @@
			public class MainServiceImpl {

			@Autowired
			private RowLastnoService rowLastnoService;

			public void test(){
			try {
			// 工作号
			int workNo = commonService.getWorkNo(0);
			System.out.println(workNo);
			if (workNo > 0) {
			throw new CoolException("21321");
			}
			RowLastno rowLastno = rowLastnoService.selectById(1);
			rowLastno.setCurrentRow(rowLastno.getCurrentRow() + 1);
			rowLastnoService.updateById(rowLastno);
			System.out.println(rowLastno.getCurrentRow());
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			@Autowired
			private CommonService commonService;
			@Autowired
			private SlaveProperties slaveProperties;
			@Autowired
			private WrkMastMapper wrkMastMapper;
			@Autowired
			private WrkDetlService wrkDetlService;
			@Autowired
			private WaitPakinMapper waitPakinMapper;
			@Autowired
			private LocMastService locMastService;
			@Autowired
			private StaDescService staDescService;
			@Autowired
			private BasCrnpService basCrnpService;
			@Autowired
			private BasDevpService basDevpService;
			@Autowired
			private JdbcTemplate jdbcTemplate;
			private BasErrLogService basErrLogService;
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			@Autowired
			private TaskWrkMapper taskWrkMapper;
			@Autowired
			private TaskWrkService taskWrkService;
			@Autowired
			private StaDescMapper staDescMapper;
			@Autowired
			private StaDescService staDescService;
			@Autowired
			private ApiLogService apiLogService;
			@Autowired
			private CommonService commonService;
			@Autowired
			private CrnController crnController;
			@Autowired
			private BasDevpPositionService basDevpPositionService;

			/**
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			*/
			@Async
			@Value("${wms.url}")
			private String wmsUrl;
			@Value("${wms.inboundTaskApplyPath}")
			private String inboundTaskApplyPath;
			@Value("${wms.taskStatusFeedbackPath}")
			private String taskStatusFeedbackPath;

			@Value("${wms.rgvOpen}")
			private boolean rgvOpen;

			@Value("${constant-parameters.trackEntireLength}")
			private Long trackEntireLength;

			@Value("${constant-parameters.trackBenchmark}")
			private Long trackBenchmark;

			@Value("${constant-parameters.trackProportion}")
			private Long trackProportion;

			@Value("${constant-parameters.avoidDistance}")
			private Long avoidDistance;

			public void generateStoreWrkFile() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			String barcode = barcodeThread.getBarcode();
			// 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;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
			&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			log.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			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 \|\| !staProtocol.isLoading()) {
			continue;
			}
			// 获取入库通知档
			List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
			if (waitPakins.isEmpty()) {
			log.error("无此入库条码数据。条码号={}", barcode);
			continue;
			}

			try {
			// 工作号
			int workNo = commonService.getWorkNo(0);
			// 检索库位
			List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
			StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos);
			// 插入工作明细档
			wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);

			// 插入工作主档
			wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			wrkMast.setIoType(1); // 入出库状态：1.入库
			wrkMast.setIoPri(10D); // 优先级：10
			wrkMast.setCrnNo(startupDto.getCrnNo());
			wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
			wrkMast.setStaNo(startupDto.getStaNo());
			wrkMast.setLocNo(startupDto.getLocNo());
			wrkMast.setBarcode(barcode); // 托盘码
			wrkMast.setFullPlt("Y"); // 满板：Y
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk("N"); // 空板
			wrkMast.setLinkMis("N");
			// wrkMast.setCtnType(sourceStaNo.getCtnType()); // 容器类型
			// 操作人员数据
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			Integer insert = wrkMastMapper.insert(wrkMast);
			if (insert == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 更新目标库位状态
			LocMast locMast = locMastService.selectById(startupDto.getLocNo());
			locMast.setLocSts("S"); // S.入库预约
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)){
			throw new CoolException("改变库位状态失败");
			}
			// 将入库通知档修改为已启动
			if (wrkMastMapper.updateWaitPakInStep1(barcode) == 0) {
			throw new CoolException("修改入库通知档状态为已启动失败");
			}

			// 命令下发区 --------------------------------------------------------------------------

			// 更新站点信息且下发plc命令
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo((short) workNo);
			staProtocol.setStaNo(startupDto.getStaNo().shortValue());
			staProtocol.setPakMk(false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}

			} catch (Exception e) {
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			}


			}
			}

			}

			/**
			* wms入库
			* 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
			*/
			@Async
			public void generateStoreWrkFile0() {
			// 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; }
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
			&& staProtocol.isPakMk()) {
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			if (wrkMast == null) { continue; }

			// 命令下发区 --------------------------------------------------------------------------

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			staProtocol.setPakMk(false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (result) {
			// 更新工作主档
			wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			}
			} else {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			staProtocol = staProtocol.clone();
			}
			Integer workNo = staProtocol.getWorkNo();
			if (workNo!=9998){
			continue;
			}
			Integer stano = staProtocol.getStaNo();

			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			if (staProtocol.getGrossWt()>=600){
			errMsg = "超重";
			back = true;
			}
			if (staProtocol.isFrontErr()) {
			errMsg = "前超限";
			back = true;
			}
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "高超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			back = true;
			}
			// 退回
			if (back) {
			if (stano == inSta.getBackSta().shortValue()) {
			continue;
			}
			if (workNo == 0 && stano == 0) {
			continue;
			}
			if (!staProtocol.isPakMk()) {
			continue;
			}
			System.out.println("扫码入库失败，{"+inSta.getStaNo()+"}入库站因{"+errMsg+"}异常，托盘已被退回");
			// 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(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			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
			taskWrk.setModiTime(new Date());
			taskWrkMapper.updateById(taskWrk);
			}
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& workNo == 9998
			&& staProtocol.isPakMk()
			&& staProtocol.isPakMkWalk()
			) {
			// 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) && !barcode.equals("99999999")) {
			// 请求wms接口，获取工作号和目标库位
			ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, 0);
			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", 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());
			staProtocol.setStaNo(staProtocol.getSiteId());
			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(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			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));
			log.info("入库请求返回参数{}" + JSON.toJSONString(response));
			if (jsonObject.getInteger("code").equals(200)) {
			try {
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			} catch (Exception 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(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}

			}
			} 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(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			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
			taskWrk.setModiTime(new Date());
			taskWrkMapper.updateById(taskWrk);
			}
			}
			}


			}


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

			}

			/**
			* 拣料、并板、盘点再入库
			*/
			@Async
			public void stnToCrnStnPick(){
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta()) {
			// 获取拣料入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) { continue; }
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.getWorkNo() > 0 && staProtocol.isPakMk()){
			WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo().intValue());
			if (wrkMast == null) {
			// 无拣料数据
			public void generateStoreWrkFileIsEmptyMk() {
			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 \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Integer workNo = staProtocol.getWorkNo();
			if (workNo!=9997){
			continue;
			}
			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
			continue;
			}
			// 获取目标站
			Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			.eq("type_no", wrkMast.getIoType() - 50)
			.eq("stn_no", wrkMast.getStaNo()) // 作业站点 = 拣料出库的目标站
			.eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (Cools.isEmpty(staDesc)) {
			log.error("入库路径不存在");
			continue;
			}
			Integer stano = staProtocol.getStaNo();

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			staProtocol.setPakMk(false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			continue;
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			if (staProtocol.isFrontErr()) {
			errMsg = "前超限";
			back = true;
			}

			try {
			// 保存工作明细档历史档
			if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作明细档历史档失败");
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "高超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			back = true;
			}
			// 退回
			if (back) {
			if (stano == inSta.getBackSta().shortValue()) {
			continue;
			}
			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作主档历史档失败");
			if (workNo == 0 && stano == 0) {
			continue;
			}
			if (!staProtocol.isPakMk()) {
			continue;
			}
			System.out.println("扫码入库失败，{"+inSta.getStaNo()+"}入库站因{"+errMsg+"}异常，托盘已被退回");
			// 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(9999);
			staProtocol.setStaNo(inSta.getStaNo());
			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
			taskWrk.setModiTime(new Date());
			taskWrkMapper.updateById(taskWrk);
			}
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& (workNo == 9997)
			&& staProtocol.isPakMk()
			&& staProtocol.isPakMkWalk()
			) {
			// 请求wms接口，获取工作号和目标库位
			ToWmsDTO toWmsDTO = new ToWmsDTO("", staProtocol.getSiteId(), 1);

			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(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			continue;
			}

			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			// 更新工作档数据状态
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
			wrkMast.setStaNo(staNo); // 目标站
			wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档数据状态失败");
			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));
			log.info("入库请求返回参数{}" + JSON.toJSONString(response));
			if (jsonObject.getInteger("code").equals(200)) {
			try {
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			} 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(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			} else {
			continue;
			}
			// 修改库位状态 Q.拣料/盘点/并板再入库
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException("修改库位状态失败");
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			} catch (Exception e) {
			log.error("generateStoreWrkFile e", e);
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}


			public void generateStoreWrkFileWalk() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInWalkSta()) {
			// 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();
			}
			Integer workNo = staProtocol.getWorkNo();

			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			// && staProtocol.isInEnable()
			// && (workNo == 0 \|\| (workNo>9000 && workNo<10000))
			&& staProtocol.isPakMkWalk()
			) {
			if (inSta.isBarcodeSign()){
			// 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) && !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(), 0);
			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", 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());
			staProtocol.setStaNo(staDesc.getCrnStn());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}
			return;
			}
			} else {
			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>());

			if (!Cools.isEmpty(taskWrk1)) {
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));

			if (Cools.isEmpty(staDesc)) {
			return;
			} else {
			staProtocol.setWorkNo(taskWrk1.getWrkNo());
			staProtocol.setStaNo(staDesc.getCrnStn());
			devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}
			return;
			}
			}
			} else {
			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("IO_TYPE",1).eq("WRK_STS",1).eq("START_POINT",staProtocol.getSiteId().toString()));

			if (!Cools.isEmpty(taskWrk1)) {
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));

			if (Cools.isEmpty(staDesc)) {
			return;
			} else {
			staProtocol.setWorkNo(taskWrk1.getWrkNo());
			staProtocol.setStaNo(BarcodeUtils.getStaNo(staProtocol.getSiteId()));
			devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			Date now = new Date();
			// taskWrk1.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
			// taskWrk.setAssignTime(now);//派发时间
			taskWrk1.setExecuteTime(now);
			taskWrk1.setWrkSts(2);//工作状态 3.吊车入库
			taskWrk1.setCrnNo(staDesc.getCrnNo());//堆垛机号
			taskWrk1.setModiTime(now);
			taskWrk1.setModiUser(9988L);
			taskWrkService.updateById(taskWrk1);


			}
			}
			return;
			}
			}
			}


			}

			}

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

			/**
			* 堆垛机站出库到出库站
			*/
			@Async
			public void crnStnToOutStn() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			for (CrnSlave crn : slaveProperties.getCrn()) {

			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}

			CrnSlave crnSlave = new CrnSlave(crn);

			if (!crn.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			crnSlave.updateCrnInStn(crnOther);
			}
			}
			}
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) { continue; }
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
			if (wrkMast == null) {
			continue;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			continue;
			}
			// 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, wrkMast.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.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {

			// 命令下发区 --------------------------------------------------------------------------

			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("CRN_NO", crnProtocol.getLaneNo()).eq("CRN_STN", crnStn.getStaNo()));
			for (StaDesc staDesc : staDescs) {
			try {
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			}

			// 更新工作档状态为14失败
			wrkMast.setWrkSts(14L);
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位堆垛机
			crnThread.setResetFlag(true);
			} else {
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == 0)) {
			// 查询工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnProtocol.getLaneNo(), staDesc.getStnNo().toString());
			if (taskWrk == null) {
			continue;
			}
			log.info("下发输送线任务：taskWrk:" + JSON.toJSONString(taskWrk));
			// R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
			staProtocol.setWorkNo(taskWrk.getWrkNo());
			staProtocol.setStaNo(BarcodeUtils.getStaNo(staProtocol.getSiteId()));
			boolean offer = false;
			try {
			offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			} catch (Exception e) {
			log.error("下发输送线任务失败：异常:" + e);
			log.error("下发输送线任务失败：异常:offer:" + offer);
			}
			// JSONObject jsonObject = JSON.parseObject(JSON.toJSONString(r));
			if (offer) {
			log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk));
			Date now = new Date();
			taskWrk.setStatus(TaskStatusType.OVER3.id);
			taskWrk.setWrkSts(14);
			taskWrk.setModiTime(now);
			taskWrk.setCompleteTime(now);
			taskWrkService.updateById(taskWrk);
			} else {
			log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(taskWrk));
			// log.error("下发输送线任务失败：异常信息:"+JSON.toJSONString(r));
			}
			}
			} catch (Exception e) {
			log.error("出库到出库站异常:异常信息：" + e);
			}

			}

			}
			}
			}
			@@ -397,20 +656,36 @@
			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			@Async
			public void crnIoExecute(){
			for (CrnSlave crn : slaveProperties.getCrn()) {
			public synchronized void crnIoExecute() throws IOException {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crnSlave.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crnSlave.getId());
			continue;
			}

			CrnSlave crn = new CrnSlave(crnSlave);

			if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			crn.updateCrnInStn(crnOther);
			}
			}
			}

			// 库位移转
			this.locToLoc(crn, crnProtocol);

			// 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) {
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
			&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			@@ -432,148 +707,277 @@
			}
			}
			}
			// 库位移转
			this.locToLoc(crn, crnProtocol);

			}
			}

			/**
			* 入库 ===>> 堆垛机站到库位
			*/
			@Async
			public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
			public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) throws IOException {
			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) { continue; }
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.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
			&& staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			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());
			if(null == wrkMast) {
			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) {
			log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
			continue;
			}
			if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
			log.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;
			}
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("CRN_NO", crnProtocol.getLaneNo()).eq("CRN_STN", crnStn.getStaNo()));

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			continue;
			}

			// 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.setTaskMode(CrnTaskModeType.PAKIN); // 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
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.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 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 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={}", wrkMast.getWrkNo());
			for (StaDesc staDesc : staDescs) {
			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) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			}
			}
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.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()
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			continue;
			}

			/**
			* 出库 ===>> 库位到堆垛机站
			*/
			@Async
			public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
			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());
			if (wrkMast == null) {
			continue;
			}
			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null){
			log.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")) {
			log.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
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) { continue; }
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0) {
			// 命令下发区 --------------------------------------------------------------------------
			// 获取工作状态为2（设备上走）的入库工作档
			TaskWrk taskWrk = taskWrkMapper.selectPakIn(crnProtocol.getLaneNo(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
			if (null == taskWrk) {
			continue;
			}

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			continue;
			}

			// 1.堆垛机开始移动
			// 已经存在吊车执行任务时，则过滤
			if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
			continue;
			}

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

			// //取出命令
			// List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
			// Integer commandStep = taskWrk.getCommandStep();
			// if (commandInfos.isEmpty()) {
			// continue;//命令空
			// }
			// 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 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());
			// }
			// //开始运行
			// String response = CrnStartRunning(taskWrk);
			// JSONObject jsonObject = JSON.parseObject(response);
			// if (jsonObject.getInteger("code").equals(200)) {
			//
			// }else {
			// log.error("入库开始运行通讯失败,"+jsonObject.get("msg"));
			//
			// }
			// }

			// 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.setCrnNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
			crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.PAKOUT); // 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
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			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
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			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 (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
			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 {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 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={}", wrkMast.getWrkNo());
			try {
			taskWrkService.updateById(taskWrk);
			} catch (Exception e) {
			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());
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，异常：" + e);
			}
			try {
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo",taskWrk.getTaskNo());
			headParam.put("taskStatus",taskWrk.getStatusWms());
			headParam.put("ioType",taskWrk.getIoTypeWms());
			headParam.put("barCode",taskWrk.getBarcode());
			headParam.put("reportTime", LocalDateTime.now());
			headParam.put("weight",taskWrk.getScWeight().doubleValue());

			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", JSON.toJSONString(taskWrk));
			// throw new CoolException("wcs派发入库任务上报wms失败");
			}

			}
			}

			// return;
			}
			}

			/**
			* 出库 ===>> 库位到堆垛机站
			* 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 void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
			List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(crnProtocol.getLaneNo(), null);
			if (taskWrksInitial.size() == 0) {
			return;
			}
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("CRN_NO", crnProtocol.getLaneNo()).eq("CRN_STN", crnStn.getStaNo()));
			for (StaDesc staDesc : staDescs) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(crnProtocol.getLaneNo(), staDesc.getStnNo().toString());
			for (TaskWrk taskWrk : taskWrks) {
			if (taskWrk == null) {
			continue;
			}
			// 工作档状态判断
			if (taskWrk.getIoType() != 2 \|\| taskWrk.getTargetPoint() == null \|\| taskWrk.getStartPoint() == null) {
			log.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={}", taskWrk.getWrkNo(), taskWrk.getStartPoint(), taskWrk.getIoType());
			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) {
			break;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			}

			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			break;
			}

			// 已经存在吊车执行任务时，则过滤
			if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
			break;
			}

			CrnCommand command = new CrnCommand();
			command.setCrnNo(slave.getId()); // 堆垛机编号
			command.setLaneNo(crnProtocol.getLaneNo()); // 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 (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command))) {
			log.error("堆垛机命令生成失败，堆垛机号={}，巷道={}，任务数据={}", slave.getId(), taskWrk.getCrnNo(), JSON.toJSON(command));
			throw new CoolException("堆垛机命令生成失败");
			} else {
			try {
			// 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(TaskStatusType.DISTRIBUTE.id);
			taskWrk.setModiTime(now);
			taskWrk.setExecuteTime(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());
			}
			} catch (Exception e) {
			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());
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，异常：" + e);
			}
			try {
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo",taskWrk.getTaskNo());
			headParam.put("taskStatus",taskWrk.getStatusWms());
			headParam.put("ioType",taskWrk.getIoTypeWms());
			headParam.put("barCode",taskWrk.getBarcode());
			headParam.put("reportTime", LocalDateTime.now());
			headParam.put("weight",taskWrk.getScWeight().doubleValue());

			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派发出库任务上报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", JSON.toJSONString(taskWrk));
			// throw new CoolException("wcs派发入库任务上报wms失败");
			}
			}
			}
			}
			}
			@@ -583,62 +987,106 @@
			/**
			* 库位移转
			*/
			@Async
			public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
			// 获取工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
			if (null == wrkMast) {
			return;
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (null == sourceSta) {
			log.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			return;
			}
			// 源库位库位状态判断
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) {
			return;
			}
			// 获取目标库位信息
			LocMast sta = locMastService.selectById(wrkMast.getLocNo());
			if (null == sta) {
			log.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
			return;
			}
			// 获取堆垛机信息并判断是否可入出
			BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
			if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
			return;
			}
			public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的移库工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectList(
			new EntityWrapper<TaskWrk>()
			.eq("CRN_NO", crnProtocol.getLaneNo())
			.eq("WRK_STS", 11)
			.eq("IO_TYPE", 3)
			.orderBy("IO_PRI", false));
			for (TaskWrk taskWrk : taskWrks) {

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			return;
			}
			// 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;
			// }
			// }
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			continue;
			}

			// 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.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
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.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();
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("【库位移转】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());
			// 已经存在吊车执行任务时，则过滤
			if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
			continue;
			}

			if (taskWrk == null \|\| Cools.isEmpty(taskWrk.getTargetPoint()) \|\| taskWrk.getTargetPoint().equals("") \|\| taskWrk.getWrkNo() == null) {
			continue;
			}
			// 工作档状态判断
			if (taskWrk.getIoType() != 3 \|\| taskWrk.getTargetPoint() == null) {
			log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
			continue;
			}

			// 命令下发区 --------------------------------------------------------------------------


			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 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(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 (!MessageQueue.offer(SlaveType.Crn, slave.getId(), 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.setStatus(TaskStatusType.DISTRIBUTE.id);
			taskWrk.setModiTime(now);
			taskWrk.setExecuteTime(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());
			}
			try {
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo",taskWrk.getTaskNo());
			headParam.put("taskStatus",taskWrk.getStatusWms());
			headParam.put("ioType",taskWrk.getIoTypeWms());
			headParam.put("barCode",taskWrk.getBarcode());
			headParam.put("reportTime", LocalDateTime.now());
			headParam.put("weight",taskWrk.getScWeight().doubleValue());

			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派发移库库任务上报wms失败", taskWrk);
			// throw new CoolException("wcs派发移库库任务上报wms失败");
			}

			}
			return;
			}
			}

			@@ -647,40 +1095,122 @@
			/**
			* 执行对工作档的完成操作
			*/
			@Async
			public void storeFinished() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			public void storeFinished() throws InterruptedException {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			if (crnProtocol == null) {
			continue;
			}

			CrnSlave crn = new CrnSlave(crnSlave);

			if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			crn.updateCrnInStn(crnOther);
			}
			}
			}

			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			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());
			//获取入库待确认工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crnProtocol.getLaneNo(), crnProtocol.getTaskNo().intValue());
			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={}，巷道号={}，工作号={}", crn.getId(), crnProtocol.getLaneNo(), crnProtocol.getTaskNo());
			continue;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)){
			wrkMast.setWrkSts(4L);
			} else {
			continue;
			}
			// Thread.sleep(300);
			//确认完成信号
			CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
			crnOperatorParam.setCrnNo(crn.getId());
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			}

			// 完成通知档
			// if (wrkMastMapper.updateWaitPakInStep2(wrkMast.getBarcode()) == 0) {
			// log.error("入库通知档修改结束状态失败，workNo=[{}]", wrkMast.getWrkNo());
			// }
			crnController.crnTaskComplete(crnOperatorParam);
			if (!Cools.isEmpty(taskWrk)) {
			if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(TaskStatusType.OVER.id);//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(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(13);//出库完成
			taskWrk.setStatus(TaskStatusType.OVER.id);//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(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(TaskStatusType.OVER.id);//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(now);
			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(now);
			locMast1.setModiUser(9999L);
			locMastService.updateById(locMast1);
			}
			taskWrk.setModiTime(now);
			taskWrk.setCompleteTime(now);
			taskWrkService.updateById(taskWrk);


			try {
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo",taskWrk.getTaskNo());
			headParam.put("taskStatus",taskWrk.getStatusWms());
			headParam.put("ioType",taskWrk.getIoTypeWms());
			headParam.put("barCode",taskWrk.getBarcode());
			headParam.put("reportTime", LocalDateTime.now());
			headParam.put("weight",taskWrk.getScWeight().doubleValue());

			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");
			}
			}

			}
			}
			@@ -689,92 +1219,590 @@
			/**
			* 堆垛机异常信息记录
			*/
			public void recCrnErr(){
			public void recCrnErr() {
			Date now = new Date();
			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;
			}
			if (false) {
			// if (crnProtocol.getModeType() != CrnModeType.STOP) {
			// 有任务
			if (crnProtocol.getTaskNo() != 0) {
			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			crn.getId(), // 堆垛机
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (crnProtocol.getAlarm() == null \|\| crnProtocol.getAlarm() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			// 无任务
			} else {
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			null, // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			crn.getId(), // 堆垛机
			null, // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			}
			}

			}
			}

			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();
			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.setAssignTime(now);
			taskWrk.setModiTime(now);
			taskWrk.setModiUser(5555L);
			taskWrk.setIoType(1);//任务类型
			taskWrk.setIoPri(Cools.isEmpty(dto.getTaskPriority()) ? 300 : Integer.parseInt(dto.getTaskPriority()));//优先级
			taskWrk.setBarcode(barcode);//条码
			LocMast locMast = locMastService.selectByLocNo(wcsLocNo);
			taskWrk.setCrnNo(locMast.getCrnNo());
			taskWrk.setTargetPoint(wcsLocNo);
			taskWrk.setStartPoint(dto.getStaNo().toString());
			if (taskWrk.getIoType() == 1) {
			taskWrk.setWrkSts(2);
			if (!Cools.isEmpty(taskWrk.getTargetPoint())) {
			taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint());
			}
			}
			return taskWrk;
			}

			public String rgvOtherTaskWrk(RgvSlave slave) {

			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
			TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
			ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
			if (!allTaskProtocol.isEmpty()) {
			for (TaskProtocol taskProtocol : allTaskProtocol.values()) {
			if (taskProtocol.getTaskNo() != 0) {
			return taskProtocol.getTaskNo().toString();
			}
			}
			}
			return "无";

			}

			public boolean rgvDetection(RgvSlave slave) {
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
			RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

			// -------------------------------------------------------------------------------
			if (rgvProtocol == null \|\| rgvTaskProtocol == null) {
			return false;
			}
			if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocol.getRgvPos().equals(0L) \|\| rgvTaskProtocol.getAvoid() == -1
			\|\| (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
			return false;
			}
			RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
			RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());

			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			@Async
			public void storeEmptyPlt(){
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			// 获取空板入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
			if (staProtocol == null) { continue; }
			// 站点条件判断
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk()) {
			// 工作号
			int workNo = commonService.getWorkNo(0);
			// 检索库位
			StartupDto startupDto = commonService.getLocNo(1, 10, emptyInSta.getStaNo(), null);

			try {
			// 插入工作主档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			wrkMast.setIoType(10); // 入出库状态：10.空板入库
			wrkMast.setIoPri(10D); // 优先级：10
			wrkMast.setCrnNo(startupDto.getCrnNo());
			wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
			wrkMast.setStaNo(startupDto.getStaNo());
			wrkMast.setLocNo(startupDto.getLocNo());
			wrkMast.setFullPlt("N"); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk("Y"); // 空板
			wrkMast.setLinkMis("N");
			// wrkMast.setCtnType(sourceStaNo.getCtnType()); // 容器类型
			// 操作人员数据
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			Integer insert = wrkMastMapper.insert(wrkMast);
			if (insert == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 更新目标库位状态
			LocMast locMast = locMastService.selectById(startupDto.getLocNo());
			locMast.setLocSts("S"); // S.入库预约
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)){
			throw new CoolException("改变库位状态失败");
			}
			// 命令下发区 --------------------------------------------------------------------------

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo((short) workNo);
			staProtocol.setStaNo(startupDto.getStaNo().shortValue());
			staProtocol.setPakMk(false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			}


			if (rgvProtocolOther == null) {
			return false;
			}
			if (rgvProtocolOther.statusEnable) {
			if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocolOther.getRgvPos().equals(0L) \|\| rgvTaskProtocolOther.getAvoid() == -1 \|\| rgvProtocolOther.getRgvPosDestination() == 0L) {
			return false;
			}
			}
			return true;
			}
			public boolean rgvOtherIDLEOther(RgvSlave slave) {
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
			RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());

			if (rgvProtocol == null \|\| rgvTaskProtocol == null) {
			return false;
			}
			if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocol.getRgvPos().equals(0L) \|\| rgvTaskProtocol.getAvoid() == -1
			\|\| (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
			return false;
			}

			if (rgvProtocol.getLoaded()!=0) {
			return false;
			}
			return true;
			}
			public boolean rgvOtherIDLE(RgvSlave slave,Integer staNo) {
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
			RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

			if (rgvProtocol == null \|\| rgvTaskProtocol == null) {
			return false;
			}
			if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocol.getRgvPos().equals(0L) \|\| rgvTaskProtocol.getAvoid() == -1
			\|\| (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
			return false;
			}
			RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());

			if (rgvProtocolOther == null) {
			return true;
			}
			if (rgvProtocolOther.statusEnable) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
			if (Math.abs(basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos())
			>=
			Math.abs(basDevpPosition.getPlcPosition()-rgvProtocolOther.getRgvPos())){
			return false;
			}
			}
			return true;
			}

			public TaskWrk deviceDetection(RgvSlave.RgvStn inSta) {

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			return null;
			}
			// 判断是否满足取货条件
			if (staProtocol.isAutoing()
			// && staProtocol.isLoading()
			&& staProtocol.isStaOk()
			&& staProtocol.getWorkNo() != 0) {
			TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo());
			if (taskWrk != null) {
			return taskWrk;
			}
			}
			return null;
			}

			public boolean rgvOtherStatusEnable(RgvSlave slave) {
			RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
			if (rgvProtocolOther == null) {
			return true;
			}
			if (rgvProtocolOther.statusEnable) {
			// if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocolOther.getRgvPos().equals(0L)) {
			return true;
			// }
			}
			return false;
			}

			public synchronized void taskStart() {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			try {
			if (rgvDetection(rgvSlave)) {
			String taskNoNow = rgvOtherTaskWrk(rgvSlave);
			List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("PLC_POSITION", true));
			boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
			if (basDevpPositions.isEmpty()) {
			log.error("获取所有站点信息异常");
			continue;
			}
			List<TaskWrk> taskWrkList = new ArrayList<>();
			List<Integer> staList = new ArrayList<>();
			for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()) {
			TaskWrk taskWrk = deviceDetection(inSta);
			if (taskWrk != null) {
			if (taskWrk.getWrkNo().toString().equals(taskNoNow)) continue;
			taskWrkList.add(taskWrk);
			staList.add(inSta.getStaNo());
			}
			}

			if (taskWrkList.isEmpty() \|\| staList.isEmpty()) continue;

			boolean sign = false;

			if (rgvOtherStatusEnable(rgvSlave)) {
			//分成上下两部分任务
			List<Integer>[] avoidRange = RouteUtils.gradeRange(staList, basDevpPositions, itSmall);
			List<Integer> rangeListSou = avoidRange[itSmall ? 0 : 1];
			List<Integer> rangeListSouOther = avoidRange[itSmall ? 1 : 0];
			//就近排序
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
			List<Integer> rangeList = RouteUtils.SortNearby(rangeListSou, rgvProtocol.RgvPos, basDevpPositions);
			List<Integer> rangeListOther = RouteUtils.SortNearby(rangeListSouOther, rgvProtocol.RgvPos, basDevpPositions);

			//所属部分就进取货

			//筛选范围内任务
			//就近排序
			//筛选在范围任务
			Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
			List<Integer> belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);

			for (Integer staNoNow : belongToRange) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			if (!sign) {
			// 筛选范围内取货任务
			for (Integer staNoNow : belongToRange) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
			if (rgvStnOut.getStaNo().equals(outStaNo)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			break;
			}
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			if (!sign && staList.size()==1){
			if (rgvOtherIDLEOther(rgvSlave)){
			if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
			sign=true;
			}
			}
			if (sign){
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staList.get(0))) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
			if (rgvSuper.getStaNo().equals(outStaNo)){
			sign=false;
			break;
			}
			}
			} else {
			return;
			}
			break;
			}
			}
			}
			}

			if (!sign) {
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			if (!sign) {
			// 半边区域内取货任务
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
			if (rgvStnOut.getStaNo().equals(outStaNo)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			break;
			}
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			if (!sign) {
			// 半边区域内放货任务
			for (Integer staNoNow : rangeListOther) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			} else {
			//可用区域就近取货
			//就近排序
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
			List<Integer> rangeList = RouteUtils.SortNearby(staList, rgvProtocol.RgvPos, basDevpPositions);
			// 半边区域内取货任务
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
			if (rgvStnOut.getStaNo().equals(outStaNo)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			break;
			}
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			}
			} catch (Exception e) {
			log.error("任务生成失败===》异常信息：{}", e.getMessage());
			}
			}
			}

			//获取起点与终点对象
			public RgvSlave.RgvStn getRgvStnNow(RgvSlave rgvSlave, Integer staNo) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNo)) {
			return rgvStn;
			}
			}
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvOutSta()) {
			if (rgvStn.getStaNo().equals(staNo)) {
			return rgvStn;
			}
			}
			return null;
			}

			//获取起点与终点对象
			public RgvSlave.RgvStn[] getRgvStnAll(RgvSlave rgvSlave, Integer souSta, Integer endSta) {
			RgvSlave.RgvStn[] rgvStns = new RgvSlave.RgvStn[2];
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(souSta)) {
			rgvStns[0] = rgvStn;
			}
			}
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvOutSta()) {
			if (rgvStn.getStaNo().equals(endSta)) {
			rgvStns[1] = rgvStn;
			}
			}
			return rgvStns;
			}

			public boolean taskGenerate(RgvSlave rgvSlave, RgvSlave.RgvStn rgvStn, Integer sign) {
			try {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();

			TaskProtocol issuedTake = new TaskProtocol();
			TaskProtocol issuedPut = new TaskProtocol();
			try {
			ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
			if (allTaskProtocol.size() > 0) {
			return false;
			}
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk == null) {
			return false;
			}
			// Integer targetPointConvert = taskWrk.getTargetPointConvert();
			Integer targetPointConvert = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			if (targetPointConvert == null) {
			return false;
			}

			BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
			BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
			//执行
			issuedTake.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
			issuedTake.setTaskStatus(2);
			issuedTake.setTargetPositionStaNo(basDevpPositionSou.getDevNo());
			issuedTake.setTargetPositionStaNoPlcId(basDevpPositionSou.getPlcId());
			issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
			issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
			issuedTake.setIsRunning(1);
			issuedTake.setDirection(basDevpPositionSou.getRgvSign()==1);


			issuedPut.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
			issuedPut.setTaskStatus(3);
			issuedPut.setTargetPositionStaNo(basDevpPositionEnd.getDevNo());
			issuedPut.setTargetPositionStaNoPlcId(basDevpPositionEnd.getPlcId());
			issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
			issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
			issuedPut.setIsRunning(1);
			issuedPut.setDirection(basDevpPositionEnd.getRgvSign()==1);

			try{
			if (taskWrk.getIoType()==2 && basDevpPositionEnd.getRgvSign()==1){
			Date now = new Date();
			taskWrk.setStatus(TaskStatusType.OVER.id);
			taskWrk.setModiTime(now);//更新时间
			taskWrk.setCompleteTime(now);//完结时间
			taskWrkService.updateById(taskWrk);
			}
			} catch (Exception e){

			}
			} catch (Exception e) {
			log.error("任务生成失败issued1===》异常信息：{}", e.getMessage());
			return false;
			}

			switch (sign) {
			case 1:
			taskProtocolCache.updateTaskProtocol(issuedTake);
			break;
			case 2:
			taskProtocolCache.updateTaskProtocol(issuedPut);
			break;
			default:
			taskProtocolCache.updateTaskProtocol(issuedTake);
			taskProtocolCache.updateTaskProtocol(issuedPut);
			break;
			}
			} catch (Exception e) {
			log.error("任务生成失败issued2===》异常信息：{}", e.getMessage());
			}
			return true;
			}

			/**
			* 出库 ===>> 工作档信息写入led显示器
			*/
			@Async
			public void ledExecute() {
			public synchronized void ledExecute(Integer mark) {

			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			@@ -785,42 +1813,24 @@
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (null == staProtocol \|\| null == staProtocol.getWorkNo() \|\| 0 == staProtocol.getWorkNo() \|\| !staProtocol.isLoading()) { continue; }
			if (null == staProtocol \|\| null == staProtocol.getWorkNo() \|\| 0 == staProtocol.getWorkNo() \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 获取工作档数据
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			if (null == wrkMast \|\| wrkMast.getWrkSts() < 14 \|\| wrkMast.getIoType() < 100) { continue; }
			wrkMasts.add(wrkMast);
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(wrkMast.getWrkNo());
			// 出库模式
			switch (wrkMast.getIoType()) {
			case 101:
			ledCommand.setTitle("全板出库");
			break;
			case 103:
			ledCommand.setTitle("拣料出库");
			break;
			case 104:
			ledCommand.setTitle("并板出库");
			break;
			case 107:
			ledCommand.setTitle("盘点出库");
			break;
			case 110:
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			default:
			log.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			break;
			}
			ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			ledCommand.setStaNo(wrkMast.getStaNo());
			if (wrkMast.getIoType() != 110) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMatnr(), wrkDetl.getAnfme())));
			}

			//
			// ledCommand.setWorkNo(wrkMast.getWrkNo());
			// ledCommand.setIoType(wrkMast.getIoType());
			// ledCommand.setTitle("空板出库");
			// ledCommand.setEmptyMk(true);
			// ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			// ledCommand.setLocNo(wrkMast.getLocNo());
			// ledCommand.setStaNo(wrkMast.getStaNo());
			MatDto matDto = new MatDto();
			ledCommand.getMatDtos().add(matDto);
			commands.add(ledCommand);
			}
			Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
			@@ -832,9 +1842,11 @@
			}
			// 命令下发 -------------------------------------------------------------------------------
			if (!commands.isEmpty()) {
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
			// News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			}else {
			ledThread.setLedMk(false);
			}
			}

			@@ -844,6 +1856,7 @@
			wrkMast.setOveMk("Y");
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			// News.errorNoLog(""+mark+" - 4"+" - 更新工作档失败");
			throw new CoolException("更新工作档失败");
			}
			}
			@@ -857,14 +1870,17 @@
			}

			}
			// News.infoNoLog(""+mark+" - 0"+" - 出库 ===>> 工作档信息写入led显示器执行完成");
			}

			/**
			* 其他 ===>> LED显示器复位，显示默认信息
			*/
			@Async
			public void ledReset() {
			public synchronized void ledReset(Integer mark) {

			// News.warnNoLog(""+mark+" - 0"+" - 开始执行:其他 ===>> LED显示器复位，显示默认信息");
			for (LedSlave led : slaveProperties.getLed()) {

			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			@@ -872,21 +1888,28 @@
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {continue;}
			if (staProtocol.getWorkNo() != 0) {
			if (staProtocol == null) {
			continue;
			}
			if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
			reset = false;
			break;
			}
			}
			// 获取led线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// led显示默认内容
			if (!ledThread.isResetStatus() && reset) {
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			if (reset && !ledThread.isLedMk()) {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
			// News.error(""+mark+" - 1"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			} else {

			}
			}
			}
			// News.infoNoLog(""+mark+" - 0"+" - 执行完成：其他 ===>> LED显示器复位，显示默认信息");
			}


			}