#

yxFwq

2024-11-29 a878aff23eb8a8fc83b625024257973a7251a6f7

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

@@ -7,7 +7,9 @@
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.R;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.LedErrorAreaType;
import com.zy.asrs.domain.enums.WorkNoType;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.*;
@@ -56,13 +58,9 @@
public class MainServiceImpl {

    public static final long COMMAND_TIMEOUT = 5 * 1000;
//    private static final int[][] execute = new int[][]{{1,4},{2,4},{3,4},{4,4},{5,6},{6,6},{7,4},{8,4},{9,3},{10,4},{11,4}};
    private static final int[][] execute = new int[][]{{1,4},{2,4},{3,4},{4,4},{5,6},{6,6},{7,4},{8,4},{9,3},{10,4},{11,4}};

//    private static final Integer jarMaxLoc1 = 7;
    private static  Integer jarMaxLoc = 0;
//    private static  Integer signBigTurn = 0;
//    private static  Integer signSmallTurn = 0;
    private static final Float jarTemperature = 50F;
    @Autowired
    private CommonService commonService;
@@ -193,13 +191,7 @@
                // 退回
                if (back) {
                    // led 异常显示
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                    if (ledThread != null) {
                        ErrMsg errMsg1 = new ErrMsg();
                        errMsg1.setErrMsg(errMsg);
                        errMsg1.setArea("1");
                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg1));
                    }
                    LedErrorThreadUtil.ledErrorThread(errMsg,inSta.getLed(), LedErrorAreaType.FOUR_BARCODE.getDesc());
                    continue;
                }

@@ -241,6 +233,7 @@
                        devpThread.setPakMk(staProtocol.getSiteId(), false,238);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            LedErrorThreadUtil.ledErrorThread("更新plc站点信息失败!站点号："+inSta.getStaNo(),inSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
                            throw new CoolException("更新plc站点信息失败");
                        }
                        return;
@@ -286,17 +279,12 @@
                            devpThread.setPakMk(staProtocol.getSiteId(), false,283);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                LedErrorThreadUtil.ledErrorThread("更新plc站点信息失败!站点号："+inSta.getStaNo(),inSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            // led 异常显示
                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                            if (ledThread != null) {
                                ErrMsg errMsg1 = new ErrMsg();
                                errMsg1.setErrMsg("入库请求失败"+jsonObject.getInteger("code"));
                                errMsg1.setArea("1");
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg1));
                            }
                            LedErrorThreadUtil.ledErrorThread("入库请求失败"+jsonObject.getInteger("code"),inSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }

@@ -345,7 +333,7 @@

                // 尺寸检测异常
                boolean back = false;
                String errMsg = "异常：";
                String errMsg = inSta.getStaNo()+"站点：";
                if (staProtocol.isFrontErr()) {
                    errMsg = errMsg+"前超限；";
                    back = true;
@@ -377,13 +365,7 @@
                // 退回
                if (back) {
                    // led 异常显示
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                    if (ledThread != null) {
                        ErrMsg errMsg1 = new ErrMsg();
                        errMsg1.setErrMsg(errMsg);
                        errMsg1.setArea("1");
                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg1));
                    }
                    LedErrorThreadUtil.ledErrorThread(errMsg,inSta.getLed(), LedErrorAreaType.FOUR_BARCODE.getDesc());
                    continue;
                }

@@ -425,6 +407,7 @@
                        devpThread.setPakMk(staProtocol.getSiteId(), false,422);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            LedErrorThreadUtil.ledErrorThread("更新plc站点信息失败!站点号："+inSta.getStaNo(),inSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
                            throw new CoolException("更新plc站点信息失败");
                        }
                        return;
@@ -470,6 +453,7 @@
                            devpThread.setPakMk(staProtocol.getSiteId(), false,467);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                LedErrorThreadUtil.ledErrorThread("更新plc站点信息失败!站点号："+inSta.getStaNo(),inSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else  if (jsonObject.getInteger("code").equals(700)){
@@ -500,13 +484,7 @@
                            }
                        } else {
                            // led 异常显示
                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                            if (ledThread != null) {
                                ErrMsg errMsg1 = new ErrMsg();
                                errMsg1.setErrMsg("入库请求失败"+jsonObject.getInteger("code"));
                                errMsg1.setArea("1");
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg1));
                            }
                            LedErrorThreadUtil.ledErrorThread("入库请求失败"+jsonObject.getInteger("code"),inSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }

@@ -560,7 +538,7 @@

                // 尺寸检测异常
                boolean back = false;
                String errMsg = "异常：";
                String errMsg = inSta.getStaNo()+"站点：";
                if (staProtocol.isFrontErr()) {
                    errMsg = errMsg+"前超限；";
                    back = true;
@@ -592,13 +570,7 @@
                // 退回
                if (back) {
                    // led 异常显示
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                    if (ledThread != null) {
                        ErrMsg errMsg1 = new ErrMsg();
                        errMsg1.setErrMsg(errMsg);
                        errMsg1.setArea("1");
                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg1));
                    }
                    LedErrorThreadUtil.ledErrorThread(errMsg,inSta.getLed(), LedErrorAreaType.FOUR_BARCODE.getDesc());
                    continue;
                }

@@ -626,6 +598,8 @@
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }
                        String msg =inSta.getStaNo()+"站点条码异常,条码="+barcode;
                        LedErrorThreadUtil.ledErrorThread(msg,inSta.getLed(), LedErrorAreaType.FOUR_BARCODE.getDesc());
                        continue;
                    }

@@ -634,18 +608,15 @@
                    if (wrkMast111 != null) {
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        barcodeThread.setBarcode("");
                        staProtocol.setWorkNo(wrkMast111.getWrkNo());
                        staProtocol.setStaNo(wrkMast111.getStaNo());
                        StaProtocol staProtocol1 = new StaProtocol();
                        staProtocol1.setSiteId(staProtocol.getSiteId());
                        staProtocol1.setWorkNo(wrkMast111.getWrkNo());
                        staProtocol1.setStaNo(wrkMast111.getStaNo());

                        devpThread.setPakMk(staProtocol.getSiteId(), false,637);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        devpThread.setPakMk(staProtocol1.getSiteId(), false,637);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol1));
                        if (!result) {
                            if (ledThread != null) {
                                ErrMsg errMsg1 = new ErrMsg();
                                errMsg1.setErrMsg("更新plc站点信息失败!站点好："+inSta.getStaNo());
                                errMsg1.setArea("1");
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg1));
                            }
                            LedErrorThreadUtil.ledErrorThread("更新plc站点信息失败!站点号："+inSta.getStaNo(),inSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
                            throw new CoolException("更新plc站点信息失败");
                        }
                        return;
@@ -655,6 +626,8 @@
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    if (wrkMast != null) {
                        log.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        String msg ="工作档中已存在"+inSta.getStaNo()+"站点数据,工作号="+wrkMast.getWrkNo();
                        LedErrorThreadUtil.ledErrorThread(msg,inSta.getLed(),LedErrorAreaType.TWO_PAKIN.getDesc());
                        continue;
                    }
//                    // 获取入库通知档
@@ -684,43 +657,45 @@
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());

                            StaProtocol staProtocol1 = new StaProtocol();
                            staProtocol1.setSiteId(staProtocol.getSiteId());

                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo());
                            staProtocol1.setWorkNo(dto.getWorkNo());

                            if(Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) {
                                staProtocol.setStaNo(dto.getStaNo());
                                staProtocol1.setStaNo(dto.getStaNo());
                            } else {//如果存在RGV编号，说明需要RGV接驳，先下发任务到RGV源站
                                staProtocol.setStaNo(dto.getRgvSstaNo());
                                staProtocol1.setStaNo(dto.getRgvSstaNo());
                            }

                            devpThread.setPakMk(staProtocol.getSiteId(), false,695);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            devpThread.setPakMk(staProtocol1.getSiteId(), false,695);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol1));
                            if (!result) {
                                LedErrorThreadUtil.ledErrorThread("更新plc站点信息失败!站点号："+inSta.getStaNo(),inSta.getLed(),LedErrorAreaType.ONE_OTHER.getDesc());
                                throw new CoolException("更新plc站点信息失败");
                            }
                            try{
                                if (ledThread != null) {
                                    ErrMsg errMsg1 = new ErrMsg();
                                    errMsg1.setErrMsg("更新plc站点信息失败!站点好："+inSta.getStaNo());
                                    errMsg1.setArea("1");
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg1));
                                }
                                throw new CoolException("更新plc站点信息失败");
                            } catch (Exception e){
                                log.error("入库成功!电视机信息更新失败，小料箱入库！！！request：{}；response：{}",JSON.toJSONString(param), response);
                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/pair/station/single/loc/v1", JSON.toJSONString(param), response);
                            String msg = inSta.getStaNo()+"站点："+jsonObject.getString("msg");
                            LedErrorThreadUtil.ledErrorThread(msg,inSta.getLed(), LedErrorAreaType.TWO_PAKIN.getDesc());
                            Thread.sleep(1000);
                        }

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

                }


            }
        }

    }

    /**
@@ -760,7 +735,7 @@

                // 尺寸检测异常
                boolean back = false;
                String errMsg = "异常：";
                String errMsg = inSta.getStaNo()+"站点：";
                if (staProtocol.isFrontErr()) {
                    errMsg = errMsg+"前超限；";
                    back = true;
@@ -792,13 +767,7 @@
                // 退回
                if (back) {
                    // led 异常显示
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                    if (ledThread != null) {
                        ErrMsg errMsg1 = new ErrMsg();
                        errMsg1.setErrMsg(errMsg);
                        errMsg1.setArea("1");
                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg1));
                    }
                    LedErrorThreadUtil.ledErrorThread(errMsg,inSta.getLed(), LedErrorAreaType.FOUR_BARCODE.getDesc());
                    continue;
                }

@@ -840,19 +809,16 @@
                    if (wrkMast != null) {
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        barcodeThread.setBarcode("");
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        staProtocol.setStaNo(wrkMast.getStaNo());
                        StaProtocol staProtocol1 = new StaProtocol();
                        staProtocol1.setWorkNo(wrkMast.getWrkNo());
                        staProtocol1.setStaNo(wrkMast.getStaNo());
                        staProtocol1.setSiteId(staProtocol.getSiteId());

                        devpThread.setPakMk(staProtocol.getSiteId(), false,843);
                        log.info("锁定标记flase===》N===》站点号：{}，工作号：{}，条码:{}",staProtocol.getSiteId(),staProtocol.getWorkNo(),barcode);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        devpThread.setPakMk(staProtocol1.getSiteId(), false,843);
                        log.info("锁定标记flase===》N===》站点号：{}，工作号：{}，条码:{}",staProtocol1.getSiteId(),staProtocol1.getWorkNo(),barcode);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol1));
                        if (!result) {
                            if (ledThread != null) {
                                ErrMsg errMsg1 = new ErrMsg();
                                errMsg1.setErrMsg("更新plc站点信息失败!站点好："+inSta.getStaNo());
                                errMsg1.setArea("1");
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg1));
                            }
                            LedErrorThreadUtil.ledErrorThread("更新plc站点信息失败!站点号："+inSta.getStaNo(),inSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
                            throw new CoolException("更新plc站点信息失败");
                        }
                        return;
@@ -882,59 +848,65 @@
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            StaProtocol staProtocol1 = new StaProtocol();
                            staProtocol1.setSiteId(staProtocol.getSiteId());
                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo());
                            staProtocol1.setWorkNo(dto.getWorkNo());

                            if(Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) {
                                staProtocol.setStaNo(dto.getStaNo());
                                staProtocol1.setStaNo(dto.getStaNo());
                            } else {//如果存在RGV编号，说明需要RGV接驳，先下发任务到RGV源站
                                staProtocol.setStaNo(dto.getRgvSstaNo());
                                staProtocol1.setStaNo(dto.getRgvSstaNo());
                            }

                            devpThread.setPakMk(staProtocol.getSiteId(), false,892);
                            log.info("锁定标记flase===》N===》站点号：{}，工作号：{}，条码:{}",staProtocol.getStaNo(),staProtocol.getWorkNo(),barcode);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            devpThread.setPakMk(staProtocol1.getSiteId(), false,892);
                            log.info("锁定标记flase===》N===》站点号：{}，工作号：{}，条码:{}",staProtocol1.getStaNo(),staProtocol1.getWorkNo(),barcode);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol1));
                            if (!result) {
                                LedErrorThreadUtil.ledErrorThread("更新plc站点信息失败!站点号："+inSta.getStaNo(),inSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else  if (jsonObject.getInteger("code").equals(700)){
                            SearchLocParam param2 = new SearchLocParam();
                            param2.setBarcode(barcode);
                            param2.setSourceStaNo(inSta.getStaNo());
                            param2.setLocType1(locTypeDto.getLocType1());
                            String response2 = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/pakin/yx/loc/v33")
                                    .setJson(JSON.toJSONString(param2))
                                    .build()
                                    .doPost();
                            JSONObject jsonObject2 = JSON.parseObject(response2);
                            if (jsonObject2.getInteger("code").equals(200)) {
                                log.info("大料箱自动组托成功！！");
                            } else {
                                log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);

                            try{
                                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());

                                if (ledThread != null) {
                                    ErrMsg errMsg1 = new ErrMsg();
                                    errMsg1.setErrMsg("入库失败!站点号："+inSta.getStaNo());
                                    errMsg1.setArea("1");
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg1));
                                }
                            } catch (Exception e){
                                log.error("入库成功!电视机信息更新失败，大料箱入库！！！request：{}；response：{}",JSON.toJSONString(param), response);
                            }

//                        } else  if (jsonObject.getInteger("code").equals(700)){
//                            SearchLocParam param2 = new SearchLocParam();
//                            param2.setBarcode(barcode);
//                            param2.setSourceStaNo(inSta.getStaNo());
//                            param2.setLocType1(locTypeDto.getLocType1());
//                            String response2 = new HttpHandler.Builder()
//                                    .setUri(wmsUrl)
//                                    .setPath("/rpc/pakin/yx/loc/v33")
//                                    .setJson(JSON.toJSONString(param2))
//                                    .build()
//                                    .doPost();
//                            JSONObject jsonObject2 = JSON.parseObject(response2);
//                            if (jsonObject2.getInteger("code").equals(200)) {
//                                log.info("大料箱自动组托成功！！");
//                            } else {
//                                log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
//
//                                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
//
//                                if (ledThread != null) {
//                                    ErrMsg errMsg1 = new ErrMsg();
//                                    errMsg1.setErrMsg("入库失败!站点号："+inSta.getStaNo());
//                                    errMsg1.setArea("1");
//                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg1));
//                                }
//                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);

                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());

                            if (ledThread != null) {
                                ErrMsg errMsg1 = new ErrMsg();
                                errMsg1.setErrMsg("入库失败!站点号："+inSta.getStaNo());
                                errMsg1.setArea("1");
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg1));
                            }
                            String msg = inSta.getStaNo()+"站点："+jsonObject.getString("msg");
                            LedErrorThreadUtil.ledErrorThread(msg,inSta.getLed(),LedErrorAreaType.TWO_PAKIN.getDesc());
                            Thread.sleep(1000);
                        }

                    } catch (Exception e) {
@@ -2183,6 +2155,7 @@
                log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNoOther());
                continue;
            }
            boolean signStanOther81 = false;
            if (staProtocolOther.getWorkNo()!=0){
                WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(staProtocolOther.getWorkNo());
                if (Cools.isEmpty(wrkMastOther)){
@@ -2284,29 +2257,33 @@
                            return;
                        }
                    }
                    return;
                }
                return;
                signStanOther81 = true;
                crnStation=2;
            }
            StaProtocol staProtocolOther1 = devpThread.getStation().get(crnStn.getStaNoOther1());
            if (staProtocolOther1 == null) {
                continue;
            } else {
                staProtocolOther1 = staProtocolOther1.clone();
            }
            if (!signStanOther81){
                StaProtocol staProtocolOther1 = devpThread.getStation().get(crnStn.getStaNoOther1());
                if (staProtocolOther1 == null) {
                    continue;
                } else {
                    staProtocolOther1 = staProtocolOther1.clone();
                }

            if (staProtocolOther1.isAutoing() && staProtocolOther1.getWorkNo()!=0){
                return;
            }
                if (staProtocolOther1.isLoading() || !staProtocolOther1.getWorkNo().equals(0)){
                    return;
                }


            StaProtocol staProtocolOther2 = devpThread.getStation().get(crnStn.getStaNoOther2());
            if (staProtocolOther2 == null) {
                continue;
            } else {
                staProtocolOther2 = staProtocolOther2.clone();
            }
            if (staProtocolOther2.isAutoing() && staProtocolOther2.getWorkNo()!=0){
                return;
                StaProtocol staProtocolOther2 = devpThread.getStation().get(crnStn.getStaNoOther2());
                if (staProtocolOther2 == null) {
                    continue;
                } else {
                    staProtocolOther2 = staProtocolOther2.clone();
                }
                if (staProtocolOther2.isLoading() || !staProtocolOther2.getWorkNo().equals(0)){
                    return;
                }
            }
            crnStation = 2;
            // 命令下发区 --------------------------------------------------------------------------
@@ -3118,12 +3095,20 @@
                continue;
            }

            Integer turnBigInt = 0;
            if (wrkMast.booleanStaNoSign()){
                RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign("LineUp"+wrkMast.getStaNo());
                if (Cools.isEmpty(rgvOneSign)){
                    continue;
                }
                if (rgvOneSign.getRgvOneSign()>=2){
                RgvOneSign trunBig = rgvOneSignMapper.selectOneSign("TrunBig"+wrkMast.getStaNo());
                if (Cools.isEmpty(trunBig)){
                    continue;
                }
                turnBigInt = trunBig.getRgvOneSign();
                int wrkCount = wrkMastMapper.selectCount(new EntityWrapper<WrkMast>().eq("sta_no", wrkMast.getStaNo()).eq("wrk_sts",12L));

                if (trunBig.getRgvOneSign()+wrkCount+rgvOneSign.getRgvOneSign()>2){
                    continue;
                }
//                int wrkCount = wrkMastMapper.selectCount(new EntityWrapper<WrkMast>().eq("io_type", 110).gt("sta_no", 309).lt("sta_no", 314).gt("wrk_sts",11L));
@@ -3286,6 +3271,9 @@
                    crnCommand.setDestinationPosX((short)0);     // 目标库位排
                    crnCommand.setDestinationPosY((short)0);     // 目标库位列
                    crnCommand.setDestinationPosZ((short)0);     // 目标库位层
                    if (wrkMast.booleanStaNoSign()){
                        updateRgvOneSign("TrunBig"+wrkMast.getStaNo(),turnBigInt+1);
                    }
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
                    } else {
@@ -3367,6 +3355,24 @@
//            signBigTurn = 0;
//        }

    }

    public void updateRgvOneSign(String signType,Integer oneSign){
        RgvOneSignMapper rgvOneSignMapper = SpringUtils.getBean(RgvOneSignMapper.class);

        try{
            RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign(signType);
            if (!Cools.isEmpty(rgvOneSign)){
                rgvOneSign.setRgvOneSign(oneSign);
                rgvOneSignMapper.updateById(rgvOneSign);
            }
        } catch (Exception e){
            RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign(signType);
            if (!Cools.isEmpty(rgvOneSign)){
                rgvOneSign.setRgvOneSign(999);
                rgvOneSignMapper.updateById(rgvOneSign);
            }
        }
    }

    /**
@@ -4042,7 +4048,7 @@
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (emptyInSta.getStaNo()==607 && staProtocol.getStaNo()==0 && staProtocol.getWorkNo()==0
                if (emptyInSta.getStaNo()==607 && staProtocol.getStaNo()==0 && staProtocol.getWorkNo().equals(0)
                        && staProtocol.isLoading() && staProtocol.isAutoing() && staProtocol.isInEnable()){
                    String barcode = staProtocol.getBarcode();
                    if (!Cools.isEmpty(barcode)) {
@@ -4124,6 +4130,7 @@
                            devpThread.setPakMk(staProtocol.getSiteId(), false,4087);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                LedErrorThreadUtil.ledErrorThread("更新plc站点信息失败!站点号："+emptyInSta.getStaNo(),emptyInSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
@@ -4187,6 +4194,7 @@
                            devpThread.setPakMk(staProtocol.getSiteId(), false,4150);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                LedErrorThreadUtil.ledErrorThread("更新plc站点信息失败!站点号："+emptyInSta.getStaNo(),emptyInSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
@@ -4250,6 +4258,7 @@
                            devpThread.setPakMk(staProtocol.getSiteId(), false,4213);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                LedErrorThreadUtil.ledErrorThread("更新plc站点信息失败!站点号："+emptyInSta.getStaNo(),emptyInSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
@@ -8437,6 +8446,13 @@
    /**
     *  ste充电任务创建   //完成
     */
    public synchronized void signTrunBig() {
        updateRgvOneSign("TrunSma126",0);
        updateRgvOneSign("TrunSma131",0);
        updateRgvOneSign("TrunBig310",0);
        updateRgvOneSign("TrunBig312",0);
    }

    public synchronized boolean jarChargeGenerate() {
        try{
            //80%电量 无任务  充电  >50电量  有任务  断电
@@ -8723,36 +8739,34 @@
            }
        }

        try{
            for (int idi = 1;idi<5;idi++){
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, idi);

                if (ledThread != null) {
                    ErrMsg errMsg1 = new ErrMsg();
                    errMsg1.setErrMsg("测试："+idi);
                    errMsg1.setArea("1");
                    MessageQueue.offer(SlaveType.Led, idi, new Task(5, errMsg1));
                } try {
                    Thread.sleep(500);
                } catch (Exception e){

                }
            }
            LedThread ledThread3 = (LedThread) SlaveConnection.get(SlaveType.Led, 3);

            if (ledThread3 != null) {
                ErrMsg errMsg1 = new ErrMsg();
                errMsg1.setErrMsg("测试测试测试测试测试测试测试测试测试测试测试测试测试："+3);
                errMsg1.setArea("1");
                MessageQueue.offer(SlaveType.Led, 3, new Task(5, errMsg1));
            } try {
                Thread.sleep(500);
            } catch (Exception e){

            }
        } catch (Exception e){

        }
//        try{
//            for (int idi = 1;idi<5;idi++){
//                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, idi);
//
//                if (ledThread != null) {
//                    ErrMsg errMsg1 = new ErrMsg();
//                    errMsg1.setErrMsg("测试："+idi);
//                    errMsg1.setArea("1");
//                    MessageQueue.offer(SlaveType.Led, idi, new Task(5, errMsg1));
//                } try {
//                    Thread.sleep(500);
//                } catch (Exception e){
//
//                }
//            }
//            LedThread ledThread3 = (LedThread) SlaveConnection.get(SlaveType.Led, 3);
//
//            if (ledThread3 != null) {
//                ErrMsg errMsg1 = new ErrMsg();
//                errMsg1.setErrMsg("测试测试测试测试测试测试测试测试测试测试测试测试测试："+3);
//                errMsg1.setArea("1");
//                MessageQueue.offer(SlaveType.Led, 3, new Task(5, errMsg1));
//            } try {
//                Thread.sleep(500);
//            } catch (Exception e){
//
//            }
//        } catch (Exception e){ }


    }