联调

dubin

2 天以前 a3991c24aa69d18cad0195c28fa80abe2871bbd2

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

@@ -106,7 +106,8 @@
    @Value("${wcs-slave.isToOrigin}")
    private boolean isToOrigin;

    public Integer wrkNo = 10000;
    public Integer wrkNo = 9998;
    public Integer emptyWrkNo = 9999;

    /**
     * 组托
@@ -156,7 +157,7 @@
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.getWeight() > 15000) {
                if (!back && staProtocol.isWeightErr()) {
                    errMsg = "超重或未读取";
                    back = true;
                }
@@ -164,17 +165,10 @@
                    errMsg = "扫码失败";
                    back = true;
                }
//                if (!back && staProtocol.getWeight() == 0.0) {
//                    errMsg = "重量获取失败";
//                    back = true;
//                }

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

                // 退回
                if (back) {
                if (back && !staProtocol.isEmptyMk()) {
                    log.info("errmsg: " + errMsg);
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));

                    if (!staProtocol.isLoading()) {
@@ -183,40 +177,34 @@
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);//退回 工作号:10000
                    if (!staProtocol.isInEnable()){
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);//退回 工作号:9998
                    News.info("{}PLC入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg, wrkNo);
//                    wrkNo++;
                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发1：" + wrkNo + "," + inSta.getBackSta());
                    log.error("输送线下发（入库）：" + wrkNo + "," + inSta.getBackSta());
                    break;//超限托盘退回不生成工作档
                }

                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && staProtocol.isPakMk() && staProtocol.getWorkNo() == 9999) {
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && staProtocol.isPakMk() && staProtocol.getWorkNo() > 9990) {
                    if (Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
                        News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);

                        staProtocol.setWorkNo(wrkNo);
                        News.info("{}barcode入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg, wrkNo);
//                        wrkNo++;
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发1：" + wrkNo + "," + inSta.getBackSta());
                        log.error("输送线下发（入库）：" + wrkNo + "," + inSta.getBackSta());
                        continue;
                    }
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    if (wrkMast != null) {
//                        int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
//                        if (wrkNo1 != 0){
//                            if (ledThread != null) {
//                                News.error(methodName + ":扫码失败，请重试");
//                            }
//
//                        }
                        News.error(barcode + "条码已存在状态为（ 2.设备上走 ）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走 ）的任务,工作号=" + wrkMast.getWrkNo()));
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
@@ -227,26 +215,8 @@
                            throw new CoolException("更新plc站点信息失败");
                        }
                        continue;
//                        barcodeThread.setBarcode("");
//                        staProtocol.setWorkNo(wrkMast.getWrkNo());
//                        staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast.getSourceStaNo()));
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        log.info("输送线下发(存在设备上走的工作档，直接下发！))："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
//
//                        ledThread.errorReset();
//                        log.info("组托请求后LED错误清除");
//
//                        if (!result) {
//                            News.error(methodName + ":更新plc站点信息失败");
//                            log.error("输送线下发(存在设备上走的工作档，直接下发！)==>更新plc站点信息失败");
//
////                            throw new CoolException("更新plc站点信息失败");
//                            continue;
//                        }

                    }
                    WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", barcode).in("io_type", 107, 103, 57));
                    WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", barcode).in("io_type", 107, 103, 57 ,104));
                    if (!Cools.isEmpty(checkPick)) {
                        continue;
                    }
@@ -254,7 +224,18 @@
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        locTypeDto.setLocType1((short) 1);
                        if (staProtocol.isHigh()){
                            locTypeDto.setLocType1((short) 6);
                        }else if (staProtocol.isLow()){
                            locTypeDto.setLocType1((short) 5);
                        }else if (staProtocol.isMid()){
                            locTypeDto.setLocType1((short) 2);
                        }else if (staProtocol.isLower()){
                            locTypeDto.setLocType1((short) 1);
                        }else{
                            throw new CoolException("库位类型错误");
                        }
//                        locTypeDto.setLocType1((short) 1);
                        param.setBarcode(barcode);
                        param.setIoType(1);
                        param.setSourceStaNo(inSta.getStaNo());
@@ -266,11 +247,11 @@
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo());
                            //staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
//                            staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发2：" + dto.getWorkNo() + "," + dto.getStaNo());
                            log.error("输送线下发（入库）：" + dto.getWorkNo() + "," + dto.getStaNo());

                            ledThread.errorReset();
                            log.error("组托请求后LED错误清除");
@@ -282,42 +263,17 @@
                            }
                        } else {
                            if (jsonObject.getString("msg").equals("工作档已存在")) {

                                //工作档已存在    再次进去
//                                wrkMast = wrkMastMapper.selectPakInStepBarcode(barcode);
//                                if (wrkMast != null) {
//                                    barcodeThread.setBarcode("");
//                                    staProtocol.setWorkNo(9999);
//                                    //staProtocol.setWorkNo(wrkMast.getWrkNo());
//                                    //staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
//                                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
//                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                                    log.error("输送线下发2：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
//                                    ledThread.errorReset();
//                                    log.error("组托请求后LED错误清除");
//                                    if (!result) {
//                                        News.error(methodName + ":更新plc站点信息失败");
//
//                                        throw new CoolException("更新plc站点信息失败");
//                                    }
//                                }

                                continue;
                            }
                            staProtocol.setWorkNo(wrkNo);
//                            wrkNo++;
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发2：" + staProtocol.getWorkNo() + "," + staProtocol.getStaNo());

//                            if (ledThread != null) {
                            log.error("输送线下发（入库）：" + staProtocol.getWorkNo() + "," + staProtocol.getStaNo());
                            String errorMsg = jsonObject.getString("msg");
                            if (!Cools.isEmpty(errorMsg)) {
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                            }
//                            }
                            News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }

@@ -354,7 +310,7 @@
                    staProtocol = staProtocol.clone();
                }

//                // 入出库模式判断
                // 入出库模式判断
                if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) {
                    continue;
                }
@@ -407,11 +363,11 @@
            // 遍历拣料入库口
            for (DevpSlave.Sta pickSta : devp.getPickSta()) {
                // 获取条码扫描仪信息
//                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
//                if (barcodeThread == null) {
//                    continue;
//                }
//                String barcode = barcodeThread.getBarcode();
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                // 获取拣料入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

@@ -422,106 +378,79 @@
                    continue;
                }
                // 尺寸检测异常
//                boolean back = false;
//                String errMsg = "";
//                if (!back && staProtocol.isFrontErr()) {
//                    errMsg = "前超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isBackErr()) {
//                    errMsg = "后超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isHighErr()) {
//                    errMsg = "高超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isLeftErr()) {
//                    errMsg = "左超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isRightErr()) {
//                    errMsg = "右超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isWeightErr()) {
//                    errMsg = "超重";
//                    back = true;
//                }
//                if (!back && staProtocol.isBarcodeErr()) {
//                    errMsg = "扫码失败";
//                    back = true;
//                }
//                if(staProtocol.getSiteId() > 400){
//                    back = false;
//                }

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


                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                boolean back = false;
                String errMsg = "";
                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;
                }

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

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");
//                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
//                    if(staProtocol.getSiteId() > 400){
//                        wrkMast = wrkMastMapper.selectPickStep3(staProtocol.getWorkNo());
//                    }
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                // 退回
                if (back & !staProtocol.isEmptyMk()) {
                    log.info("errmsg: " + errMsg);
                    MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
                    if (!staProtocol.isLoading()) {
                        continue;
                    }
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    if (!staProtocol.isInEnable()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);
                    News.info("{}盘点/拣料入库回退：{}，任务号：{}", pickSta.getStaNo(), errMsg, wrkNo);
                    staProtocol.setStaNo(pickSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发（盘点/拣料）：" + wrkNo + "," + pickSta.getBackSta());
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());

                    // led 异常显示
                    if (ledThread != null) {
                        MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errMsg));
                    }
                    continue;
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && !staProtocol.isEmptyMk()) {
                    if (Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
                        News.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);

                        staProtocol.setWorkNo(wrkNo);
                        News.info("{}barcode盘点/拣料回退：{}，任务号：{}", pickSta.getStaNo(), errMsg, wrkNo);
                        staProtocol.setStaNo(pickSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发（盘点/拣料）：" + wrkNo + "," + pickSta.getBackSta());
                        continue;
                    }
                    News.warnNoLog("" + mark + " - 0" + " - 盘点/拣料开始执行");
                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    if (wrkMast == null) {
                        // 无拣料数据
                        continue;
@@ -529,27 +458,17 @@
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107) || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                        continue;
                    }

                    // 拣、盘、并 作业站转换
//                    int stnNo = 0;
//                    if (wrkMast.getStaNo() == 109) {
//                        stnNo = 127;
//                    } else if (wrkMast.getStaNo() == 113) {
//                        stnNo = 128;
//                    } else {
//                        log.error("{}号任务数据异常！", wrkMast.getWrkNo());
//                    }
                    // 获取目标站
                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>().eq("type_no", wrkMast.getIoType() - 50).eq("stn_no", pickSta.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)) {
//                        News.error("" + mark + " - 2" + " - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
//                        staProtocol.setWorkNo(wrkNo++);
//                        staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue() - (short) 1));
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        log.error("输送线下发4：" + 9989 + "," + (pickSta.getStaNo().shortValue() - (short) 1));
                        News.error("" + mark + " - 2" + " - 盘点/拣料入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
                        staProtocol.setWorkNo(wrkNo);
                        staProtocol.setStaNo((pickSta.getStaNo().shortValue()));
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发（盘点/拣料）：" + wrkNo + "," + (pickSta.getStaNo()));
                        //LED
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                        // led 异常显示
@@ -581,6 +500,7 @@
                        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.setPltType(0);// 盘点/拣料工位号置0
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            throw new CoolException("更新工作档数据状态失败");
@@ -602,12 +522,12 @@

                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo(wrkMast.getWrkNo());
//                    if(staProtocol.getSiteId() < 400){

                    staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString()));
//                    }

                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发5：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
                    log.error("输送线下发（盘点/拣料）：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
                    if (!result) {
                        News.error("" + mark + " - 3" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }
@@ -935,6 +855,7 @@
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getForkPos() == 0 && crnProtocol.getTaskNo() == 0 && crnProtocol.getTaskNoTwo() == 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行堆垛机入出库作业下发");
                if (crnProtocol.getLoaded() == 0 && crnProtocol.getLoadedTwo() == 0) {
                    News.error("工位1无物，工位2无物");
                    //堆垛机没有物料
                    // 如果最近一次是入库模式
                    if (crnProtocol.getLastIo().equals("I")) {
@@ -960,11 +881,12 @@
                    }

                } else if (crnProtocol.getLoaded() == 1 && crnProtocol.getLoadedTwo() == 1) {
                    News.error("工位1有物，工位2有物");
                    // 堆垛机有物料
                    WrkMast wrkMast = wrkMastMapper.selectByPltType(crn.getId(), 1);
                    if (wrkMast != null) {
                        if (wrkMast.getIoType() >= 100) {
                            this.outPut(crn, crnProtocol, mark);
                            this.outPutAll(crn, crnProtocol, mark);
                        } else {
                            this.inPut(crn, crnProtocol, mark);
                        }
@@ -972,6 +894,7 @@
                        log.error("" + mark + " - 1" + " - 有物料无工作档  ===》异常");
                    }
                } else if (crnProtocol.getLoaded() == 1 && crnProtocol.getLoadedTwo() == 0) {
                    News.error("工位1有物，工位2无物");
                    // 堆垛机工位1有物料
                    WrkMast wrkMast = wrkMastMapper.selectByPltType(crn.getId(), 1);
                    if (wrkMast != null) {
@@ -996,6 +919,7 @@
                        log.error("" + mark + " - 1" + " - 有物料无工作档  ===》异常");
                    }
                } else if (crnProtocol.getLoaded() == 0 && crnProtocol.getLoadedTwo() == 1) {
                    News.error("工位1无物，工位2有物");
                    // 堆垛机工位2有物料
                    WrkMast wrkMast = wrkMastMapper.selectByPltType(crn.getId(), 2);
                    if (wrkMast != null) {
@@ -1100,7 +1024,7 @@
            }

            // 堆垛机控制过滤
            if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
            if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0 || crnProtocol.getTaskNoTwo() != 0) {
//                News.infoNoLog(""+mark+" - 1"+" - 7"+" - 堆垛机控制过滤:堆垛机是否空闲={}，任务号={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo());
                continue;
            }
@@ -2170,7 +2094,9 @@
                } else if (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11) {
                    wrkMast.setWrkSts(4L);
                    wrkMast.setPltType(0);
                } else {
                }else if (wrkMast.getWrkSts() == 108){
                    crnThread.setResetFlag(true);
                }else {
                    continue;
                }
                Date now = new Date();
@@ -2209,6 +2135,8 @@
                } else if (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11) {
                    wrkMast.setWrkSts(4L);
                    wrkMast.setPltType(0);
                }else if (wrkMast.getWrkSts() == 108){
                    crnThread.setResetFlag(true);
                } else {
                    continue;
                }
@@ -2226,7 +2154,7 @@


        }
//        News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成");
    }

    /**
@@ -2360,6 +2288,9 @@
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历空板入库口
            for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
                //获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
                String barcode = barcodeThread.getBarcode();
                // 获取空板入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
@@ -2377,11 +2308,47 @@
                if (!staProtocol.isLoading()) {
                    continue;
                }
                boolean back = false;
                String errMsg = "";
                if (staProtocol.isBarcodeErr()) {
                    errMsg = "扫码失败";
                    back = true;
                }
                if (back && staProtocol.isEmptyMk()) {
                    log.info("errmsg: " + errMsg);
                    MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errMsg));

                    if (!staProtocol.isLoading()) {
                        continue;
                    }
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    if (!staProtocol.isInEnable()){
                        continue;
                    }
                    staProtocol.setWorkNo(emptyWrkNo);//退回 工作号:9999
                    News.info("{}PLC空板入库回退：{}，任务号：{}", emptyInSta.getStaNo(), errMsg, emptyWrkNo);
                    staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发（空板）：" + emptyWrkNo + "," + emptyInSta.getBackSta());
                    break;//超限托盘退回不生成工作档
                }
                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isEmptyMk() && staProtocol.isPakMk() && (staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() > 9700)) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行：空栈板初始化入库,叉车入库站放货");
                    if (Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
                        News.info("{}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode);

                        staProtocol.setWorkNo(wrkNo);
                        News.info("{}barcode入库回退：{}，任务号：{}", emptyInSta.getStaNo(), emptyInSta, wrkNo);
                        staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发（空板）：" + wrkNo + "," + emptyInSta.getBackSta());
                        continue;
                    }
                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
                        SearchLocParam param = new SearchLocParam();
@@ -2389,6 +2356,7 @@
                        param.setIoType(10);
                        param.setSourceStaNo(emptyInSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        param.setBarcode(barcode);
                        String response = new HttpHandler.Builder().setUri(wmsUrl).setPath("/rpc/pakin/loc/v1").setJson(JSON.toJSONString(param)).build().doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
@@ -2400,7 +2368,7 @@
                            //staProtocol.setStaNo(staProtocol.getSiteId().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发6：" + dto.getWorkNo() + "," + staProtocol.getSiteId());
                            log.error("输送线下发（空板）：" + dto.getWorkNo() + "," + staProtocol.getSiteId());
                            if (!result) {
                                News.errorNoLog("" + mark + " - 1" + " - 更新plc站点信息失败");
                                throw new CoolException("更新plc站点信息失败");
@@ -2421,22 +2389,12 @@
//                                ledThread.errorReset();
                            }
                        } else {
//                            staProtocol.setWorkNo(wrkNo++);
//                            staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            if (!result) {
//                                News.errorNoLog(""+mark+" - 2"+" - 更新plc站点信息失败");
//                                throw new CoolException("更新plc站点信息失败");
//                            }
//
                            if (ledThread != null) {
                                String errorMsg = jsonObject.getString("msg");
                                if (!Cools.isEmpty(errorMsg)) {
                                    MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
                                }
                            }
//                            News.error(""+mark+" - 3"+" - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
@@ -2491,6 +2449,9 @@
                    case 53:
                        ledCommand.setTitle("拣料再入库");
                        break;
                    case 54:
                        ledCommand.setTitle("并板再入库");
                        break;
                    case 57:
                        ledCommand.setTitle("盘点再入库");
                        break;
@@ -2529,10 +2490,13 @@
                        } else {
                            total = locDetl.getAnfme();
                        }
                        if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1 || wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57) {
                        if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1 || wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57 || wrkMast.getIoType() == 54) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(), wrkDetl.getOutOrderNo(), wrkDetl.getUnit(), wrkDetl.getWeight(), wrkDetl.getSupp(), wrkDetl.getLength(), wrkDetl.getTemp1(), wrkDetl.getProType(), wrkDetl.getAnfme(), wrkDetl.getTemp2(), total));
                        }
                        if (wrkMast.getIoType() == 103) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(), wrkDetl.getOutOrderNo(), wrkDetl.getUnit(), wrkDetl.getWeight(), wrkDetl.getSupp(), wrkDetl.getLength(), wrkDetl.getTemp1(), wrkDetl.getProType(), wrkDetl.getAnfme(), wrkDetl.getTemp2(), total));
                        }
                        if (wrkMast.getIoType() == 104) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(), wrkDetl.getOutOrderNo(), wrkDetl.getUnit(), wrkDetl.getWeight(), wrkDetl.getSupp(), wrkDetl.getLength(), wrkDetl.getTemp1(), wrkDetl.getProType(), wrkDetl.getAnfme(), wrkDetl.getTemp2(), total));
                        }
                        if (wrkMast.getIoType() == 107) {
@@ -2606,7 +2570,7 @@
                    continue;
                }
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
                    News.error("{}号LED显示默认命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
//                    News.error("{}号LED显示默认命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                }
            }
        }
@@ -2845,7 +2809,7 @@
                }

                // 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.getTaskNoTwo() == 0) {
                    // 获取移库工作档信息
                    WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
                    if (null != wrkMast) {
@@ -2853,11 +2817,13 @@
                    }

                    LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
                    LocMast loc = locMastService.queryDemoLoc(crn.getId());
                    if (null == sourceLoc || null == loc) {
                    if (sourceLoc == null){
                        continue;
                    }

                    LocMast loc = locMastService.queryDemoLoc(crn.getId(),sourceLoc.getLocType1());
                    if (null == loc) {
                        continue;
                    }
                    String sourceLocNo = sourceLoc.getLocNo();
                    String locNo = loc.getLocNo();

@@ -2881,6 +2847,7 @@
                    wrkMast.setLinkMis("N");
                    wrkMast.setAppeTime(new Date());
                    wrkMast.setModiTime(new Date());
                    wrkMast.setPltType(2);//固定2号工位移库
                    int res = wrkMastMapper.insert(wrkMast);
                    if (res == 0) {
                        throw new CoolException("保存工作档失败");
@@ -3827,8 +3794,8 @@
                continue;
            }

            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                if (crnProtocol.getCrnNo() == 1 && crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getTaskNoTwo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getStatusTypeTwo()== CrnStatusType.IDLE) {
                if (crnProtocol.getCrnNo() == 1 && crnProtocol.getBay() == 11 && crnProtocol.getLevel() == 1) {
                    continue;
                }
                Page<BasCrnOpt> basCrnOptPage = crnOptService.selectPage(new Page<>(1, 1), new EntityWrapper<BasCrnOpt>().eq("crn_no", crn.getId()).orderBy("send_time", false));
@@ -3855,12 +3822,12 @@
                crnCommand.setTaskNo((short) 9999); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
//                    crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  堆垛机移动
                crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);//余姚锐麒回原点任务模式:  站位转移
                crnCommand.setTaskMode(CrnTaskModeType.XY_MOVE);
                crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                crnCommand.setSourcePosY((short) 1);     // 源库位列
                crnCommand.setSourcePosY((short) 11);     // 源库位列
                crnCommand.setSourcePosZ((short) 1);     // 源库位层
                crnCommand.setDestinationPosX((short) 0);     // 目标库位排
                crnCommand.setDestinationPosY((short) 14);     // 目标库位列
                crnCommand.setDestinationPosY((short) 0);     // 目标库位列
                crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
                crnCommand.setCommand((short) 1);//任务确认位
                if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
@@ -3875,4 +3842,100 @@
            }
        }
    }

    /**
     * 工位1和工位2都有物 出库放货
     */
    public synchronized void outPutAll(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
        News.warnNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发：执行出库");
        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
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep107(slave.getId(), crnStn.getStaNo());
            for (WrkMast wrkMast : wrkMasts) {
                if (wrkMast == null || wrkMast.getPltType() == 2) {
                    continue;
                }
                // 工作档状态判断
                if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
                    News.error("" + mark + " - 2" + " - 1" + " - 查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                    continue;
                }
                // 获取源库位信息
                LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
                if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
                    News.error("" + mark + " - 2" + " - 2" + " - 出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                    continue;
                }
                // 获取堆垛机出库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
                if (staProtocol == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
                    break;
                } else {
                    staProtocol = staProtocol.clone();
                }


                // 查询站点详细信息
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    News.error("" + mark + " - 2" + " - 5" + " - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    break;
//                    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 && staProtocol.isOutEnable()) {
                    // 命令下发区 --------------------------------------------------------------------------

                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                        break;
                    }
                    if (wrkMastMapper.selectByPltType(slave.getId(), wrkMast.getPltType()) == null) {
                        News.error("" + mark + " - 1" + " - 9" + " - 堆垛机改工位存在工作档,工位={}", wrkMast.getPltType());
                    }


                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
//                        return;
                    }

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

                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setPltType(wrkMast.getPltType());
                    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.PUT); // 任务模式:  库位移转
//                    crnCommand.setSourcePosX((short) (sourceSta.getRow1() + slave.getOffset()));     // 源库位排
//                    crnCommand.setSourcePosY((short) (sourceSta.getBay1() + slave.getOffset()));     // 源库位列
//                    crnCommand.setSourcePosZ((short) (sourceSta.getLev1() + slave.getOffset()));     // 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
                    crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } 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(108L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                        break;
                    }
                }
            }
        }
        News.infoNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发 ： 出库执行完毕");
    }
}