#显示器更新

Junjie

2024-02-23 a6758aa0c0ac75a5ea3f46fb214d62d8f07a6ad4

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

@@ -1,11 +1,11 @@
package com.zy.asrs.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
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.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.*;
@@ -37,8 +37,6 @@

import java.util.*;
import java.util.stream.Collectors;

import static com.zy.asrs.utils.Utils.isJson;

/**
 * 立体仓库WCS系统主流程业务
@@ -106,13 +104,15 @@
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private WrkMastLocMapper wrkMastLocMapper;
    private WrkMastLogMapper wrkMastLogMapper;
    @Autowired
    private BasLiftOptService basLiftOptService;
    @Autowired
    private ConfigService configService;
    @Autowired
    private NavigateMapUtils navigateMapUtils;
    @Autowired
    private WrkDetlLogService wrkDetlLogService;


    /**
@@ -239,7 +239,7 @@
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setPath("/rpc/pakin/loc/v2")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
@@ -278,7 +278,7 @@
                                    ledThread.setLedMk(false);
                                }
                            }
                            News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
                        } else if (code == 700) {
//                            staProtocol.setWorkNo((short) 32002);
//                            staProtocol.setRollback102(1);//102站回退信号
@@ -409,10 +409,6 @@
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历拣料入库口
                for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
                    if (pickSta.getStaNo() == 325 || pickSta.getStaNo() == 331 || pickSta.getStaNo() == 333 || pickSta.getStaNo() == 339) {
                        continue;
                    }

                    // 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());
@@ -450,63 +446,80 @@
                            continue;
                        }

                        //*********************同库位组校验*********************
                        boolean flag = false;
                        String th = "";
                        List<String> innerLoc = Utils.getGroupInnerLoc(wrkMast.getSourceLocNo());
                        for (String loc : innerLoc) {
                            LocMast locMast = locMastService.selectById(loc);
                            if (locMast == null) {
                                continue;
//                        //*********************同库位组校验*********************
//                        boolean flag = false;
//                        String th = "";
//                        List<String> innerLoc = Utils.getGroupInnerLoc(wrkMast.getSourceLocNo());
//                        for (String loc : innerLoc) {
//                            LocMast locMast = locMastService.selectById(loc);
//                            if (locMast == null) {
//                                continue;
//                            }
//
//                            if (!locMast.getLocSts().equals("F")) {
//                                flag = true;
//                                th = loc + "库位存在未回库任务";
//                                break;
//                            }
//                        }
//                        if (flag) {
//                            News.info(th);
//                            continue;
//                        }
//                        //*********************同库位组校验*********************

//                        // 保存工作主档历史档
//                        if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
//                            News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
//                            continue;
//                        }

                        try {
                            LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//源库位
                            SearchLocParam param = new SearchLocParam();
                            param.setWrkNo(wrkMast.getWrkNo());
                            param.setBarcode(wrkMast.getBarcode());
                            param.setIoType(wrkMast.getIoType());
                            param.setSourceStaNo(pickSta.getStaNo());
                            param.setLiftNo(pickSta.getLiftNo());
                            param.setLocType1(locMast.getLocType1());
                            String response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/pakin/loc/v2")
                                    .setJson(JSON.toJSONString(param))
                                    .build()
                                    .doPost();
                            JSONObject jsonObject = JSON.parseObject(response);
                            Integer code = jsonObject.getInteger("code");
                            if (code.equals(200)) {
                                StartupDto dto = jsonObject.getObject("data", StartupDto.class);

//                                //获取回库提升机目标站
//                                LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
//                                if (liftStaProtocol == null) {
//                                    News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败");
//                                    continue;
//                                }
//
//                                // 更新工作档数据状态
//                                wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54
//                                wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
//                                wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
//                                wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
//                                wrkMast.setLocNo(dto.getLocNo()); // 目标库位
//                                wrkMast.setShuttleNo(null); // 穿梭车清空
//                                wrkMast.setLiftNo(null);// 提升机清空
//                                wrkMast.setModiTime(new Date());
//                                if (wrkMastMapper.updateById(wrkMast) == 0) {
//                                    News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
//                                    continue;
//                                }
                            } else if (code == 500) {
                                News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
                            }

                            if (!locMast.getLocSts().equals("F")) {
                                flag = true;
                                th = loc + "库位存在未回库任务";
                                break;
                            }
                        }
                        if (flag) {
                            News.info(th);
                            continue;
                        }
                        //*********************同库位组校验*********************

                        // 保存工作主档历史档
                        if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
                            News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
                            continue;
                        }

                        String sourceLocNo = wrkMast.getSourceLocNo().trim();
                        LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(sourceLocNo));//获取回库提升机目标站
                        if (liftStaProtocol == null) {
                            continue;
                        }

                        // 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(pickSta.getBackSta()); // 源站
//                            wrkMast.setStaNo(dto.getStaNo()); // 目标站
//                            wrkMast.setCrnNo(dto.getCrnNo());
                        wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
                        wrkMast.setLocNo(sourceLocNo); // 目标库位 = 出库时的源库位
                        wrkMast.setShuttleNo(null); // 穿梭车清空
                        wrkMast.setLiftNo(null);// 提升机清空
                        wrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
                            continue;
                        }

                        // 修改库位状态 Q.拣料/盘点/并板再入库
                        LocMast locMast = locMastService.selectById(sourceLocNo);
                        locMast.setLocSts("Q");
                        locMast.setModiTime(new Date());
                        if (!locMastService.updateById(locMast)) {
                            News.info("修改库位状态失败");
                            continue;
                        } catch (Exception e) {
                            e.printStackTrace();
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        }
                    }
                }
@@ -525,11 +538,7 @@
        try {
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历拣料入库口
                for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
                    if (!(pickSta.getStaNo() == 325 || pickSta.getStaNo() == 331 || pickSta.getStaNo() == 333 || pickSta.getStaNo() == 339)) {
                        continue;
                    }

                for (DevpSlave.Sta pickSta : devp.getPickInSta2()) {
                    // 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());
@@ -545,76 +554,16 @@
                            && staProtocol.isPakMk()) {

                        WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
                        if (wrkMast == null) {//找不到工作档
                        if (wrkMast == null) {
                            continue;
                        }

                        if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104)
                                || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                            continue;
                        if (wrkMast.getSteNo() == null) {
                            wrkMast.setSteNo(1);
                            wrkMastMapper.updateById(wrkMast);
                            staProtocol.setStaNo((short) 341);//写入目标站
                            staProtocol.setPakMk(false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        }

                        //*********************同库位组校验*********************
                        boolean flag = false;
                        String th = "";
                        List<String> innerLoc = Utils.getGroupInnerLoc(wrkMast.getSourceLocNo());
                        for (String loc : innerLoc) {
                            LocMast locMast = locMastService.selectById(loc);
                            if (locMast == null) {
                                continue;
                            }

                            if (!locMast.getLocSts().equals("F")) {
                                flag = true;
                                th = loc + "库位存在未回库任务";
                                break;
                            }
                        }
                        if (flag) {
                            News.info(th);
                            continue;
                        }
                        //*********************同库位组校验*********************

                        // 保存工作主档历史档
                        if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
                            News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
                            continue;
                        }

                        String sourceLocNo = wrkMast.getSourceLocNo().trim();
                        LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(sourceLocNo));//获取回库提升机目标站
                        if (liftStaProtocol == null) {
                            continue;
                        }

                        // 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(pickSta.getBackSta()); // 源站
//                            wrkMast.setStaNo(dto.getStaNo()); // 目标站
//                            wrkMast.setCrnNo(dto.getCrnNo());
                        wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
                        wrkMast.setLocNo(sourceLocNo); // 目标库位 = 出库时的源库位
                        wrkMast.setShuttleNo(null); // 穿梭车清空
                        wrkMast.setLiftNo(null);// 提升机清空
                        wrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
                            continue;
                        }

                        // 修改库位状态 Q.拣料/盘点/并板再入库
                        LocMast locMast = locMastService.selectById(sourceLocNo);
                        locMast.setLocSts("Q");
                        locMast.setModiTime(new Date());
                        if (!locMastService.updateById(locMast)) {
                            News.info("修改库位状态失败");
                            continue;
                        }

                        staProtocol.setStaNo(pickSta.getBackSta().shortValue());//写入目标站
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    }
                }

@@ -647,30 +596,19 @@
//                            && (staProtocol.getWorkNo() > 0)
                            && staProtocol.isPakMk()) {

                        WrkMast wrkMast = null;
                        if (pickSta.getStaNo() == 325 || pickSta.getStaNo() == 331 || pickSta.getStaNo() == 333 || pickSta.getStaNo() == 339) {
                            if (staProtocol.getWorkNo() == 0) {
                                continue;
                            }
                            //根据工作号搜索工作档
                            wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
                        }else {
                            //根据托盘码搜索工作档
                            // 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();
                            if (Cools.isEmpty(barcode)) {
                                continue;
                            }
                            if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                                continue;
                            }
                            wrkMast = wrkMastMapper.selectByBarcode(barcode);
                        // 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();
                        if (Cools.isEmpty(barcode)) {
                            continue;
                        }
                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                            continue;
                        }
                        WrkMast wrkMast = wrkMastMapper.selectByBarcode(barcode);
                        if (wrkMast == null) {//找不到工作档
                            continue;
                        }
@@ -680,11 +618,11 @@
                            continue;
                        }

                        // 保存工作主档历史档
                        if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
                            News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
                            continue;
                        }
//                        // 保存工作主档历史档
//                        if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
//                            News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
//                            continue;
//                        }

                        //盘点找新库位
                        try {
@@ -694,10 +632,11 @@
                            param.setBarcode(wrkMast.getBarcode());
                            param.setIoType(107);//盘点
                            param.setSourceStaNo(pickSta.getStaNo());
                            param.setLiftNo(pickSta.getLiftNo());
                            param.setLocType1(locMast.getLocType1());
                            String response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/pakin/loc/v1")
                                    .setPath("/rpc/pakin/loc/v2")
                                    .setJson(JSON.toJSONString(param))
                                    .build()
                                    .doPost();
@@ -706,32 +645,32 @@
                            if (code.equals(200)) {
                                StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                                //获取回库提升机目标站
                                LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
                                if (liftStaProtocol == null) {
                                    News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败");
                                    continue;
                                }
//                                //获取回库提升机目标站
//                                LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
//                                if (liftStaProtocol == null) {
//                                    News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败");
//                                    continue;
//                                }
//
//                                // 更新工作档数据状态
//                                wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 107->57
//                                wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
//                                wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
//                                wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
//                                wrkMast.setLocNo(dto.getLocNo()); // 目标库位
//                                wrkMast.setShuttleNo(null); // 穿梭车清空
//                                wrkMast.setLiftNo(null);// 提升机清空
//                                wrkMast.setModiTime(new Date());
//                                if (wrkMastMapper.updateById(wrkMast) == 0) {
//                                    News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
//                                    continue;
//                                }

                                // 更新工作档数据状态
                                wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 107->57
                                wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                                wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
                                wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
                                wrkMast.setLocNo(dto.getLocNo()); // 目标库位
                                wrkMast.setShuttleNo(null); // 穿梭车清空
                                wrkMast.setLiftNo(null);// 提升机清空
                                wrkMast.setModiTime(new Date());
                                if (wrkMastMapper.updateById(wrkMast) == 0) {
                                    News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
                                    continue;
                                }

                                staProtocol.setStaNo(dto.getSourceStaNo().shortValue());//写入目标站
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                                staProtocol.setStaNo(dto.getSourceStaNo().shortValue());//写入目标站
//                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                            } else if (code == 500) {
                                News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                                News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
                            }
                        } catch (Exception e) {
                            e.printStackTrace();
@@ -1264,15 +1203,15 @@
                return false;//出库站点不存在
            }

            if (!basDevp.getAutoing().equals("Y")) {
                News.info("{}任务，{}站点，不是自动状态",wrkMast.getWrkNo(),basDevp.getDevNo());
                return false;//不是自动状态
            }

            if (!basDevp.getOutEnable().equals("Y")) {
                News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), basDevp.getDevNo());
                return false;//出库站点不可出
            }
//            if (!basDevp.getAutoing().equals("Y")) {
//                News.info("{}任务，{}站点，不是自动状态",wrkMast.getWrkNo(),basDevp.getDevNo());
//                return false;//不是自动状态
//            }
//
//            if (!basDevp.getOutEnable().equals("Y")) {
//                News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), basDevp.getDevNo());
//                return false;//出库站点不可出
//            }

            Integer liftNo = basDevp.getLiftNo();//搜索出库提升机是否存在入库任务，如存在禁止出库
            List<WrkMast> liftWrkMasts = wrkMastMapper.selectInWrkMastByLiftNo(liftNo);
@@ -1303,7 +1242,7 @@
            if (wrkMast.getStaNo() == 300) {
                //出300站，检测300站任务数量
                List<WrkMast> wrkMasts = wrkMastMapper.select300Wrk();
                if (wrkMasts.size() >= 4) {
                if (wrkMasts.size() >= 20) {
                    News.info("{}任务，输送线任务过载{}", wrkMast.getWrkNo(), wrkMasts.size());
                    return false;
                }
@@ -1451,7 +1390,7 @@
                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            if (wrkMast.getWrkSts() == 111) {
                                // 保存工作主档历史档
                                if (wrkMastLocMapper.save(wrkMast.getWrkNo()) <= 0) {
                                if (wrkMastLogMapper.save(wrkMast.getWrkNo()) <= 0) {
                                    log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
                                }
                                // 删除工作主档
@@ -1673,8 +1612,12 @@
            NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
            if (wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57) {
                //拣料再回库，重新分配设备工作号
                Random random = new Random();
                int deviceWrk = Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999)));//获取设备工作号
                int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
                BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(String.valueOf(deviceWrk), liftThread.getSlave().getId());
                if (basLiftOpt != null) {
                    News.info("{}任务，{}号提升机，设备工作号出现重复情况，请联系技术人员支持。", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                    return false;
                }
                liftCommand.setTaskNo((short) deviceWrk);
            }
            ArrayList<NyLiftCommand> commands = new ArrayList<>();
@@ -1741,6 +1684,16 @@
                    News.info("{}任务，{}小车，小车在输送站点调度小车避让失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                    return false;
                }
            }

            if (!basDevp.getAutoing().equals("Y")) {
                News.info("{}任务，{}站点，没有自动信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
                return false;//出库站点不可出
            }

            if (basDevp.getLoading().equals("Y")) {
                News.info("{}任务，{}站点，存在有物信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
                return false;//出库站点不可出
            }

            if (!basDevp.getOutEnable().equals("Y")) {
@@ -1827,10 +1780,13 @@
                        && liftProtocol.getTaskNo() != 0
                        && !liftProtocol.getBusy()
                ) {
                    BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(liftProtocol.getTaskNo().toString());
                    int taskNo = liftProtocol.getTaskNo().intValue();
                    if (basLiftOpt != null) {
                        taskNo = basLiftOpt.getWrkNo();
                    if (taskNo >= 20000 && taskNo <= 30000) {
                        //提升机设备工作号，需要查询对应任务号
                        BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(liftProtocol.getTaskNo().toString(), liftSlave.getId());
                        if (basLiftOpt != null) {
                            taskNo = basLiftOpt.getWrkNo();
                        }
                    }

                    //将任务档标记为完成
@@ -1855,6 +1811,7 @@
                                        wrkMast.setWrkSts(29L);
                                        wrkMast.setShuttleNo(null);//释放小车
                                        wrkMast.setLiftNo(null);//释放提升机
                                        wrkMast.setModiTime(new Date());
                                    }
                                }

@@ -2507,7 +2464,7 @@
//                        param.setLocType1(locTypeDto.getLocType1());
                            String response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/pakin/loc/v1")
                                    .setPath("/rpc/pakin/loc/v2")
                                    .setJson(JSON.toJSONString(param))
                                    .build()
                                    .doPost();
@@ -2531,7 +2488,7 @@
                                        MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
                                    }
                                }
                                News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                                News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
                            }
                        } catch (Exception e) {
                            e.printStackTrace();
@@ -2676,9 +2633,10 @@
                    }

                    if (wrkMast.getInvWh() == null) {
                        wrkMast.setInvWh("Y");//标记已经下发机械臂任务
                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetls.size(), "303");
                        boolean result = RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetls.size(), "303");
                        if (result) {
                            wrkMast.setInvWh("Y");//标记已经下发机械臂任务
                            wrkMastMapper.updateById(wrkMast);
                        }
                    }
                }
@@ -2695,9 +2653,10 @@
                        continue;
                    }
                    if (wrkMast.getInvWh() == null) {
                        wrkMast.setInvWh("Y");//标记已经下发机械臂任务
                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            RobotUtils.sendTask(staProtocol317.getWorkNo().toString(), wrkDetls.size(), "317");
                        boolean result = RobotUtils.sendTask(staProtocol317.getWorkNo().toString(), wrkDetls.size(), "317");
                        if (result) {
                            wrkMast.setInvWh("Y");//标记已经下发机械臂任务
                            wrkMastMapper.updateById(wrkMast);
                        }
                    }
                }
@@ -2780,13 +2739,38 @@
        return false;
    }

    //通知WMS当前拣料站点信息
    private boolean agvCureentCall(String staNo, String barcode) {
        try {
            HashMap<String, Object> param = new HashMap<>();
            param.put("devNo", staNo);
            param.put("containerCode", barcode);
            String response = new HttpHandler.Builder()
                    .setUri(wmsUrl)
                    .setPath("/rpc/current/containerCode")
                    .setJson(JSON.toJSONString(param))
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            News.info("悬挂线，WMS返回结果：" + jsonObject);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {//呼叫AGV
                return true;
            }
        } catch (Exception e) {
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
        return false;
    }

    /**
     * AGV补货(悬挂线通知AGV取货)
     */
    public void agvRestockIntoByHangingWire() {
        try {
            //检测350和351扫码器
            int[] barcodeStaNo = {11, 12};//11 => 350站扫码器,12 => 351站扫码器
            int[] barcodeStaNo = {11, 12,14,16,18,20};//11 => 350站扫码器,12 => 351站扫码器
            for (int staNo : barcodeStaNo) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo);
@@ -2802,11 +2786,61 @@
                    String agvStaNo = null;
                    if (staNo == 11) {
                        agvStaNo = "303-1";
                    } else {
                    } else if(staNo == 12){
                        agvStaNo = "304-1";
                    } else if(staNo == 14){
                        agvStaNo = "311-1";
                    } else if(staNo == 16){
                        agvStaNo = "313-1";
                    } else if(staNo == 18){
                        agvStaNo = "315-1";
                    } else if(staNo == 20){
                        agvStaNo = "317-1";
                    }
                    //通知AGV取货
                    boolean result = agvRestockCall(agvStaNo, barcode);
                    if (result) {
                        barcodeThread.setBarcode("");
                    }
                    log.info(barcodeThread.getSlave().getId() + "号扫码器，通知AGV取货，条码号：" + barcode);
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    /**
     * AGV拣料站点信息
     */
    public void agvCurrentContainerCodeInfoWire() {
        try {
            //检测350和351扫码器
            int[] barcodeStaNo = {13, 15,17,19};//11 => 350站扫码器,12 => 351站扫码器
            for (int staNo : barcodeStaNo) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo);
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                if (!Cools.isEmpty(barcode)) {
                    if (barcode.contains("NoRead")) {
                        continue;
                    }

                    String agvStaNo = null;
                    if (staNo == 13) {
                        agvStaNo = "CS-310";
                    } else if(staNo == 15){
                        agvStaNo = "CS-311";
                    } else if(staNo == 17){
                        agvStaNo = "CS-312";
                    } else if(staNo == 19){
                        agvStaNo = "CS-313";
                    }
                    //通知WMS当前容器码
                    boolean result = agvCureentCall(agvStaNo, barcode);
                    if (result) {
                        barcodeThread.setBarcode("");
                    }
@@ -2878,6 +2912,7 @@
                List<LedCommand> commands = new ArrayList<>();
                // 工作档集合
                List<WrkMast> wrkMasts = new ArrayList<>();
                List<WrkMastLog> wrkMastLogs = new ArrayList<>();
                for (Integer staNo : led.getStaArr()) {
                    // 获取叉车站点
                    StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -2888,16 +2923,41 @@
                    }
                    // 获取工作档数据
                    WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
                    if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) {
                        continue;
                    Integer wrkNo = staProtocol.getWorkNo().intValue();
                    Integer ioType = null;
                    String sourceLocNo = null;
                    String locNo = null;
                    Integer wrkStaNo = null;
                    String barcode = null;
                    if (wrkMast == null) {
                        //查询历史档
                        WrkMastLog wrkMastLog = wrkMastLogMapper.selectLatestByWorkNo(staProtocol.getWorkNo().intValue());
                        if (wrkMastLog == null) {
                            continue;
                        }
                        ioType = wrkMastLog.getIoType();
                        sourceLocNo = wrkMastLog.getSourceLocNo();
                        locNo = wrkMastLog.getLocNo();
                        wrkStaNo = wrkMastLog.getStaNo();
                        barcode = wrkMastLog.getBarcode();
                        wrkMastLogs.add(wrkMastLog);
                    }else {
                        if (wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) {
                            continue;
                        }
                        ioType = wrkMast.getIoType();
                        sourceLocNo = wrkMast.getSourceLocNo();
                        locNo = wrkMast.getLocNo();
                        wrkStaNo = wrkMast.getStaNo();
                        barcode = wrkMast.getBarcode();
                        wrkMasts.add(wrkMast);
                    }
                    wrkMasts.add(wrkMast);
                    // 组装命令
                    LedCommand ledCommand = new LedCommand();
                    ledCommand.setWorkNo(wrkMast.getWrkNo());
                    ledCommand.setIoType(wrkMast.getIoType());
                    ledCommand.setWorkNo(wrkNo);
                    ledCommand.setIoType(ioType);
                    // 出库模式
                    switch (wrkMast.getIoType()) {
                    switch (ioType) {
                        case 101:
                            ledCommand.setTitle("全板出库");
                            break;
@@ -2915,56 +2975,121 @@
                            ledCommand.setEmptyMk(true);
                            break;
                        default:
                            News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                            News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkNo, ioType);
                            break;
                    }
                    ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                    ledCommand.setLocNo(wrkMast.getLocNo());
                    ledCommand.setStaNo(wrkMast.getStaNo());
                    if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", wrkMast.getSourceLocNo()));
                        locDetls.forEach(locDetl -> {
                            Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkMast.getWrkNo());
                            Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch());
                            Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode());
                            Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime());
                            Utils.wapperSetCondition(wrapper, "supp_code", locDetl.getSuppCode());//料箱码
                            List<WrkDetl> detl = wrkDetlService.selectList(wrapper);
                            if (Cools.isEmpty(detl)) {
                                String suppCode = "";
                                if (locDetl.getSuppCode() != null) {
                                    suppCode = locDetl.getSuppCode();
                                }
                                ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode));
                            } else {
                                //出库数量累计
                                Double conut = 0.0;
                                for (WrkDetl wrkDetl : detl) {
                                    conut = conut + wrkDetl.getAnfme();
                                }

                                for (WrkDetl wrkDetl : detl) {
                                    String suppCode = "";
                                    if (wrkDetl.getSuppCode() != null) {
                                        suppCode = wrkDetl.getSuppCode();
                                    }
                                    ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (locDetl.getAnfme() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo()));
                                }
                            }

                    ledCommand.setSourceLocNo(sourceLocNo);
                    ledCommand.setLocNo(locNo);
                    ledCommand.setStaNo(wrkStaNo);
                    ledCommand.setBarcode(barcode);
                    if (ioType != 110 && ioType != 10) {
                        List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
                        wrkDetls.forEach(wrkDetl -> {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getStock(), wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
                        });

                        if (locDetls.isEmpty()) {
                            List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkMast.getWrkNo()));
                            wrkDetls.forEach(wrkDetl -> {
                                ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getAnfme(), wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
                            });
                        }
//                        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
//                        if (ioType == 101) {
//                            List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
//                            wrkDetls.forEach(wrkDetl -> {
//                                ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), 0D, wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
//                            });
////                            locDetls.forEach(locDetl -> {
////                                Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo);
////                                Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch());
////                                Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode());
////                                Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime());
////                                Utils.wapperSetCondition(wrapper, "supp_code", locDetl.getSuppCode());//料箱码
////                                List<WrkDetl> detl = wrkDetlService.selectList(wrapper);
////                                if (Cools.isEmpty(detl)) {
////                                    String suppCode = "";
////                                    if (locDetl.getSuppCode() != null) {
////                                        suppCode = locDetl.getSuppCode();
////                                    }
////                                    ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode));
////                                } else {
////                                    //出库数量累计
////                                    Double conut = 0.0;
////                                    for (WrkDetl wrkDetl : detl) {
////                                        conut = conut + wrkDetl.getAnfme();
////                                    }
////
////                                    for (WrkDetl wrkDetl : detl) {
////                                        String suppCode = "";
////                                        if (wrkDetl.getSuppCode() != null) {
////                                            suppCode = wrkDetl.getSuppCode();
////                                        }
////                                        ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (locDetl.getAnfme() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo()));
////                                    }
////                                }
////
////                            });
//                        } else {
//                            locDetls.forEach(locDetl -> {
//                                Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo);
//                                Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch());
//                                Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode());
//                                Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime());
//                                Utils.wapperSetCondition(wrapper, "supp_code", locDetl.getSuppCode());//料箱码
//                                List<WrkDetl> detl = wrkDetlService.selectList(wrapper);
//                                if (Cools.isEmpty(detl)) {
//                                    String suppCode = "";
//                                    if (locDetl.getSuppCode() != null) {
//                                        suppCode = locDetl.getSuppCode();
//                                    }
//                                    ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode));
//                                } else {
//                                    //出库数量累计
//                                    Double conut = 0.0;
//                                    for (WrkDetl wrkDetl : detl) {
//                                        conut = conut + wrkDetl.getAnfme();
//                                    }
//
//                                    for (WrkDetl wrkDetl : detl) {
//                                        String suppCode = "";
//                                        if (wrkDetl.getSuppCode() != null) {
//                                            suppCode = wrkDetl.getSuppCode();
//                                        }
//                                        ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (wrkDetl.getStock() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo()));
//                                    }
//                                }
//
//                            });
//                        }
//
//
//                        if (ioType == 107) {
//                            locDetls = new ArrayList<>();
//                            ledCommand.setMatDtos(new ArrayList<>());
//                        }
//
//                        if (locDetls.isEmpty() && ioType != 101) {
//                            List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
//                            wrkDetls.forEach(wrkDetl -> {
//                                if (wrkDetl.getAnfme() > 0D) {
//                                    ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getAnfme(), wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
//                                }
//                            });
//
//                            if (wrkDetls.isEmpty()) {//从历史档查询
//                                List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectLatestByWorkNo(wrkNo, barcode);
//                                for (WrkDetlLog wrkDetlLog : wrkDetlLogs) {
//                                    if (wrkDetlLog.getAnfme() > 0D) {
//                                        ledCommand.getMatDtos().add(new MatDto(wrkDetlLog.getMatnr(), wrkDetlLog.getMaktx(), wrkDetlLog.getAnfme(), wrkDetlLog.getAnfme(), wrkDetlLog.getSpecs(), wrkDetlLog.getSuppCode()));
//                                    }
//                                }
//                            }
//                        }
                    }

                    commands.add(ledCommand);
                }
                Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
                Set<Integer> workNos = null;
                if (!wrkMasts.isEmpty()) {
                    workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
                }else {
                    workNos = wrkMastLogs.stream().map(WrkMastLog::getWrkNo).collect(Collectors.toSet());
                }
                // 获取LED线程
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
                // 相同工作号集合则过滤
@@ -3059,7 +3184,7 @@
                // 获取led线程
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
                // led显示默认内容
                if (reset && !ledThread.isLedMk()) {
                if (reset) {
                    ledThread.setLedMk(true);
                    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());
@@ -3394,7 +3519,7 @@
                return false;//检测目标站点路径是否未被占用
            }
            //尝试锁定目标站路径
            boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, true);//所使用的路径进行锁定禁用
            boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), targetNodes, true);//所使用的路径进行锁定禁用
            if (!result2) {
                News.info("{}任务，{}小车，路径锁定失败，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径锁定失败
@@ -3403,6 +3528,17 @@

            //获取小车到输送站点行走命令
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id);
            if (result == null) {
                //路径获取失败，需要解锁上面锁定的路径
                //尝试解锁目标站路径
                boolean result3 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), targetNodes, false);//所使用的路径进行解锁
                if (!result3) {
                    News.info("{}任务，{}小车，路径解锁失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                    return false;//路径解锁失败
                }
                News.info("{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径解锁失败
            }
            List<NyShuttleHttpCommand> commands = result.getCommands();

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
@@ -3519,8 +3655,12 @@
                //获取提升机命令，调度提升机到源站位置
                NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceLiftSta.getStaNo(), sourceLiftSta.getStaNo(), wrkMast.getWrkNo());

                Random random = new Random();
                int deviceWrk = Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999)));//获取设备工作号
                int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
                BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(String.valueOf(deviceWrk), liftThread.getSlave().getId());
                if (basLiftOpt != null) {
                    News.info("{}任务，{}号提升机，设备工作号出现重复情况，请联系技术人员支持。", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                    return false;
                }
                liftCommand.setTaskNo((short) deviceWrk);//更换随机任务号

                ArrayList<NyLiftCommand> commands = new ArrayList<>();
@@ -3881,7 +4021,7 @@

                if (wrkMast.getWrkSts() == 111) {
                    // 保存工作主档历史档
                    if (wrkMastLocMapper.save(wrkMast.getWrkNo()) <= 0) {
                    if (wrkMastLogMapper.save(wrkMast.getWrkNo()) <= 0) {
                        log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
                    }
                    // 删除工作主档
@@ -3959,63 +4099,36 @@
        return true;
    }

    /**
     * 出入库模式切换
     */
    public synchronized void outAndIn() {
        try {
            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
                for (DevpSlave.Sta inSta : devp.getInSta()) {
                    Thread.sleep(500);
                    boolean a=true,b=true;
                    List<WrkMast> wrkMasts = wrkMastMapper.selectAll(inSta.getStaNo());
                    if (Cools.isEmpty(wrkMasts)){
                        b=false;
                    }else {
                        for (WrkMast wrkMast:wrkMasts){
                            if (wrkMast.getSourceStaNo() > wrkMast.getStaNo()){
                                a=false;
                                break;
                            }
                        }
                    }
                    switch (inSta.getStaNo()) {
                        case 102://1F
                            if (a && b){
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 11));
                            }else if (b){
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 12));
                            }else {
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 10));
                            }
                            break;
                        case 202://2F
                            if (a && b){
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 21));
                            }else if (b){
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 22));
                            }else {
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 20));
                            }
                            break;
                        case 302://3F
                            if (a && b){
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 31));
                            }else if (b){
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 32));
                            }else {
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 30));
                            }
                            break;
                    }
                }
    //扫描设备PakMk标记是否超时
    public synchronized void scanDevicePakMk() {
        //扫描小车
        for (ShuttleSlave slave : slaveProperties.getShuttle()) {
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                continue;
            }

        } catch (Exception e) {
            e.printStackTrace();
            if ((System.currentTimeMillis() - shuttleProtocol.getSendTime() > (1000*60*5)) && shuttleProtocol.getPakMk()) {
                //设备超过5分钟还没复位标记
                shuttleProtocol.setPakMk(false);//复位标记
            }
        }
    }

        //扫描提升机
        for (LiftSlave slave : slaveProperties.getLift()) {
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
            if (liftProtocol == null) {
                continue;
            }

            if ((System.currentTimeMillis() - liftProtocol.getSendTime() > (1000*60*5)) && liftProtocol.getPakMk()) {
                //设备超过5分钟还没复位标记
                liftProtocol.setPakMk(false);//复位标记
            }
        }

    }

}