#

zjj

2025-01-08 a93374428a3944788ae547f75504fdf0aa33571c

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

@@ -51,6 +51,8 @@
import java.util.*;
import java.util.stream.Collectors;

import static com.zy.common.utils.RandomValidateCodeUtil.code;

/**
 * 立体仓库WCS系统主流程业务
 * Created by vincent on 2020/8/6
@@ -96,6 +98,8 @@
    private MatnrCodeService matnrCodeService;
    @Autowired
    private WaitPakinService waitPakinService;
    @Autowired
    private MatService matService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -155,6 +159,250 @@
                    errMsg = errMsg+"超重";
                    back = true;
                }
                if (staProtocol.isBarcodeErr()) {
                    errMsg = errMsg+"扫码失败";
                    back = true;
                }
                // 退回
                if (back) {
                    // led 异常显示
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                    if (ledThread != null) {
                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
                    }
                    continue;
                }

                if (!Cools.isEmpty(barcode)) {
                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
                } else {
                    // led 异常显示
//                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
//                    if (ledThread != null) {
//                        String errorMsg = "扫码失败，请重试";
//                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
//                    }
                    continue;
                }
                // 判断是否满足入库条件
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
                        && staProtocol.isPakMk()) {

                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                        //条码为空或者不符合，退库到
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        if (ledThread != null) {
                            String errorMsg = "扫码失败，请重试";
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                        }
//                        staProtocol.setWorkNo((short)9999);
//                        staProtocol.setStaNo((short)(staProtocol.getStaNo()-1));
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }
                        continue;
                    }

                    // 判断重复工作档
                    WrkMast wrkMast = new WrkMast();
                    if (barcode.length() == 8) {
                        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());
                            continue;
                        }
                    }
//                     获取入库通知档
//                    List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
//                    if (waitPakins.isEmpty()) {
//                        log.error("无此入库条码数据。条码号={}", barcode);
//                        continue;
//                    }

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
                        param.setSourceStaNo(inSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            ledThread.errorReset();
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else if(jsonObject.getInteger("code").equals(700)) {
//                            staProtocol.setWorkNo((short) 9999);
//                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            // led 异常显示
//                            if (ledThread != null) {
//                                String errorMsg = barcode + "托盘识别异常，请先进行组托！";
//                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
//                            }
                            log.error(barcode + "托盘识别异常，请先进行组托！");
                            // led 异常显示
                            ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                            if (ledThread != null) {
                                String errorMsg = barcode + "托盘识别异常，请先进行组托！";
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }

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

            }
        }

    }
    public synchronized void generateStoreWrkFile7() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta7()) {

                // 获取入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();

                // 尺寸检测异常
                boolean back = false;
                String errMsg = "异常：";
                if (staProtocol.isFrontErr()) {
                    errMsg = errMsg+"前超限；";
                    back = true;
                }
                if (staProtocol.isBackErr()) {
                    errMsg = errMsg+"后超限";
                    back = true;
                }
                if (staProtocol.isHighErr()) {
                    errMsg = errMsg+"高超限";
                    back = true;
                }
                if (staProtocol.isLeftErr()) {
                    errMsg = errMsg+"左超限";
                    back = true;
                }
                if (staProtocol.isRightErr()) {
                    errMsg = errMsg+"右超限";
                    back = true;
                }
                if (staProtocol.isWeightErr()) {
                    errMsg = errMsg+"超重";
                    back = true;
                }

                if (staProtocol.isBan()){

                    // 退回
                    if (back) {
                        // led 异常显示
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        if (ledThread != null) {
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
                        }
                        continue;
                    }

                    if (staProtocol.getStaNoEnd() != 2001){
                        log.error(staProtocol.getStaNo()+"站点，空桶，非法目标站！！！！！！"+staProtocol.getStaNoEnd().toString());
                        continue;
                    }
                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing()
                            && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && !staProtocol.isEmptyMk()
                            && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
                            && staProtocol.isPakMk()) {
                        Integer workNo1 = commonService.getWorkNo(3);
                        Date now = new Date();
                        // 保存工作档
                        WrkMast wrkMast = new WrkMast();
                        wrkMast.setWrkNo(workNo1);
                        wrkMast.setIoTime(now);
                        wrkMast.setWrkSts(101L); // 工作状态：101.初始
                        wrkMast.setIoType(199); // 入出库状态： 199.转移
                        wrkMast.setIoPri(15D);
                        wrkMast.setCrnNo(0);
                        wrkMast.setSourceStaNo(staProtocol.getStaNo().intValue()); // 源站
                        wrkMast.setStaNo(staProtocol.getStaNoEnd().intValue()); // 目标站
                        wrkMast.setFullPlt("N"); // 满板
                        wrkMast.setPicking("N"); // 拣料
                        wrkMast.setExitMk("N"); // 退出
                        wrkMast.setEmptyMk("Y"); // 空板
                        wrkMast.setBarcode("KB888888"); // 托盘码
                        wrkMast.setLinkMis("N");
                        wrkMast.setCtnNo("Y");  // 入库阻塞库位移转标记
                        wrkMast.setAppeTime(now);
                        wrkMast.setModiTime(now);
                        int res = wrkMastMapper.insert(wrkMast);
                        if (res == 0) {
//                                throw new CoolException("");
                            log.error(staProtocol.getStaNo()+"站点，空桶，保存工作档主档失败！！！！！！"+now.toString());
                            continue;
                        }
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());

//                    StaProtocol staProtocol1 = new StaProtocol();
                        staProtocol.setWorkNo(workNo1.shortValue());
                        staProtocol.setStaNo((short)3001);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        ledThread.errorReset();
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
                        }
                    }

                    continue;
                }

                if (staProtocol.isBarcodeErr()) {
                    errMsg = errMsg+"扫码失败";
                    back = true;
@@ -537,6 +785,7 @@
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
                            && crnProtocol.statusType == CrnStatusType.WAITING
                            && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                        log.error("堆垛机等待确认！！！ [工作号:{}]", crnProtocol.getTaskNo());

                        // 命令下发区 --------------------------------------------------------------------------
                        if (crnProtocol.getCrnNo() !=5){
@@ -834,10 +1083,10 @@
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            //            获取工作状态为14的工作档
            WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep14(slave.getId(), crnStn.getStaNo());
            if ( wrkMast1 !=null) {
                continue;
            }
//            WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep14(slave.getId(), crnStn.getStaNo());
//            if ( wrkMast1 !=null) {
//                continue;
//            }
            for (WrkMast wrkMast : wrkMasts) {
                if (wrkMast == null) {
                    continue;
@@ -1162,6 +1411,7 @@
            }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                log.error("堆垛机处于等待确认且任务完成状态。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                if (crnProtocol.getTaskNo() == 9999) {
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
@@ -2529,19 +2779,34 @@
                short sta1 = 0;
                short souSta2 = 0;
                short sta2 = 0;
                Integer matnr = 0;
                Integer matnr2 = 0;
                String matnr = "0";
                String matnr2 = "0";
                String batch = "";
                String batch2 = "";
                short type = 0;
                short type2 = 0;
                short anfme = 0;
                short anfme2 = 0;
                short anfme = 4;
                short anfme2 = 4;
                Double weight = 0d;
                Double weight2 = 0d;
                Double weight11 = 0d;
                String memo = "";
                String memo2 = "";

                List<RgvSlave.Sta> inStn1 = rgvSlave.getInStn();
                if (rgvProtocol.getColumnNumber()>4){
                    short rgvStaNo = Utils.getRgvStaNo(rgvSlave.getId(), inStn1.get(0).getSourceStaNo());
                    if (rgvStaNo<5){
                        Collections.reverse(inStn1);
                    }
                }
                //工位一任务
                for (RgvSlave.Sta inStn :  rgvSlave.getInStn()){
                for (RgvSlave.Sta inStn :  inStn1){
                    work1 = false;
                    workNo1 = 0;
                    souSta1 = 0;
                    sta1 = 0;
                    type = 0;
                    if (rgvSlave.getId() == 1 && inStn.getSourceStaNo() == 2114){
                        continue;
                    }
@@ -2563,6 +2828,11 @@
                            workNo1 = wrkMast.getWrkNo();
                            souSta1 = Utils.getRgvStaNo(rgvSlave.getId(),staProtocol.getSiteId());
                            sta1 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
                            Integer staNo = Utils.getStaNo(rgvSlave.getId(), (int) sta1);
                            BasDevp devp = basDevpService.selectById(staNo);
                            if (devp.getWrkNo()!=0 || Cools.isEmpty(devp.getLoading()) || devp.getLoading().equals("Y")){
                                continue;
                            }
                            work1 = true;
                            devpThread.setPakMk(inStn.getSourceStaNo(),false);
                            break;
@@ -2578,6 +2848,48 @@
                            sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2103);
                        } else if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 2) {
                            sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2002);
                        } else if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 4) {
                            if (staProtocol.getStaNoEnd() == 3007 || staProtocol.getStaNoEnd() == 3012){
                                sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2103);
                            } else if (staProtocol.getStaNoEnd() == 2001 ){
                                sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2002);
                            } else {
                                log.error("4007站点，桶型4，非法目标站！！！！！！"+staProtocol.getStaNoEnd().toString());
                                continue;
                            }
                            Integer staNo = Utils.getStaNo(rgvSlave.getId(), (int) sta1);
                            BasDevp devp = basDevpService.selectById(staNo);
                            if (devp.getWrkNo()!=0 || Cools.isEmpty(devp.getLoading()) || devp.getLoading().equals("Y")){
                                continue;
                            }
                            workNo1 = commonService.getWorkNo(3);
                            Date now = new Date();
                            // 保存工作档
                            WrkMast wrkMast = new WrkMast();
                            wrkMast.setWrkNo(workNo1);
                            wrkMast.setIoTime(now);
                            wrkMast.setWrkSts(101L); // 工作状态：101.初始
                            wrkMast.setIoType(199); // 入出库状态： 199.转移
                            wrkMast.setIoPri(15D);
                            wrkMast.setCrnNo(0);
                            wrkMast.setSourceStaNo(4007); // 源站
                            wrkMast.setStaNo(staProtocol.getStaNoEnd().intValue()); // 目标站
                            wrkMast.setFullPlt("N"); // 满板
                            wrkMast.setPicking("N"); // 拣料
                            wrkMast.setExitMk("N"); // 退出
                            wrkMast.setEmptyMk("Y"); // 空板
                            wrkMast.setBarcode("KB888888"); // 托盘码
                            wrkMast.setLinkMis("N");
                            wrkMast.setCtnNo("Y");  // 入库阻塞库位移转标记
                            wrkMast.setAppeTime(now);
                            wrkMast.setModiTime(now);
                            int res = wrkMastMapper.insert(wrkMast);
                            if (res == 0) {
//                                throw new CoolException("");
                                log.error("4007站点，桶型4，保存工作档主档失败！！！！！！"+now.toString());
                                continue;
                            }
                            type = 2;
                        } else if (inStn.getSourceStaNo() == 2102 && staProtocol.isFullPlt()) {
                            sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2301);
                        } else {
@@ -2590,20 +2902,35 @@
                        if(inStn.getSourceStaNo() == 2102){
                            weight = staProtocol.getWeight().doubleValue()/10;
                        }

                        Integer staNo = Utils.getStaNo(rgvSlave.getId(), (int) sta1);
                        BasDevp devp = basDevpService.selectById(staNo);
                        if (devp.getWrkNo()!=0 || Cools.isEmpty(devp.getLoading()) || devp.getLoading().equals("Y")){
                            continue;
                        }
                        work1 = true;
                        if (inStn.getSourcePlcId() == 4 || inStn.getSourcePlcId() ==5){ //灌装站需要获取输送线物料代码
                            matnr = staProtocol.getMatnr();
                            batch = staProtocol.getBatch();
                            anfme = (Cools.isEmpty(staProtocol.getAnfme()) || staProtocol.getAnfme()==0) ? anfme:staProtocol.getAnfme().shortValue();
                            weight11 = staProtocol.getWeight1();
                            weight = weight11;
                            String memoBool = staProtocol.isBan()? "存在":"不存在";
                            memo = memoBool+"半桶";
                        }

                        devpThread.setPakMk(inStn.getSourceStaNo(),false);
                        break;

                    }
                }

                if (rgvSlave.getId() != 3){
                    //工位二任务
                    for (RgvSlave.Sta inStn :  rgvSlave.getInStn()){
                        work2 = false;
                        workNo2 = 0;
                        souSta2 = 0;
                        sta2 = 0;
                        type2 = 0;
                        if (souSta1 == inStn.getSourceStaNo()){
                            continue;
                        }
@@ -2628,6 +2955,12 @@
                                workNo2 = wrkMast.getWrkNo();
                                souSta2 = Utils.getRgvStaNo(rgvSlave.getId(),staProtocol.getSiteId());
                                sta2 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
                                Integer staNo = Utils.getStaNo(rgvSlave.getId(), (int) sta2);
                                BasDevp devp2 = basDevpService.selectById(staNo);
                                if (devp2.getWrkNo()!=0 || Cools.isEmpty(devp2.getLoading()) || devp2.getLoading().equals("Y")){
                                    continue;
                                }

                                work2 = true;
                                devpThread.setPakMk(inStn.getSourceStaNo(),false);
                                break;
@@ -2641,7 +2974,49 @@
                                sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2103);
                            } else if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 2) {
                                sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2002);
                            }else if (inStn.getSourceStaNo() == 2102 && staProtocol.isFullPlt()) {
                            } else if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 4) {
                                if (staProtocol.getStaNoEnd() == 3007 || staProtocol.getStaNoEnd() == 3012){
                                    sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2103);
                                } else if (staProtocol.getStaNoEnd() == 2001 ){
                                    sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2002);
                                } else {
                                    log.error("4007站点，桶型4，非法目标站！！！！！！"+staProtocol.getStaNoEnd().toString());
                                    continue;
                                }
                                Integer staNo = Utils.getStaNo(rgvSlave.getId(), (int) sta2);
                                BasDevp devp2 = basDevpService.selectById(staNo);
                                if (devp2.getWrkNo()!=0 || Cools.isEmpty(devp2.getLoading()) || devp2.getLoading().equals("Y")){
                                    continue;
                                }
                                workNo2 = commonService.getWorkNo(3);
                                Date now = new Date();
                                // 保存工作档
                                WrkMast wrkMast = new WrkMast();
                                wrkMast.setWrkNo(workNo2);
                                wrkMast.setIoTime(now);
                                wrkMast.setWrkSts(101L); // 工作状态：101.初始
                                wrkMast.setIoType(199); // 入出库状态： 199.转移
                                wrkMast.setIoPri(15D);
                                wrkMast.setCrnNo(0);
                                wrkMast.setSourceStaNo(4007); // 源站
                                wrkMast.setStaNo(staProtocol.getStaNoEnd().intValue()); // 目标站
                                wrkMast.setFullPlt("N"); // 满板
                                wrkMast.setPicking("N"); // 拣料
                                wrkMast.setExitMk("N"); // 退出
                                wrkMast.setEmptyMk("Y"); // 空板
                                wrkMast.setBarcode("KB888888"); // 托盘码
                                wrkMast.setLinkMis("N");
                                wrkMast.setCtnNo("Y");  // 入库阻塞库位移转标记
                                wrkMast.setAppeTime(now);
                                wrkMast.setModiTime(now);
                                int res = wrkMastMapper.insert(wrkMast);
                                if (res == 0) {
//                                throw new CoolException("");
                                    log.error("4007站点，桶型4，保存工作档主档失败！！！！！！"+now.toString());
                                    continue;
                                }
                                type2 = 2;
                            } else if (inStn.getSourceStaNo() == 2102 && staProtocol.isFullPlt()) {
                                sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2301);
                            } else {
                                sta2 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getStaNo());
@@ -2654,10 +3029,22 @@
                            if(inStn.getSourceStaNo() == 2102){
                                weight2 = staProtocol.getWeight().doubleValue()/10;
                            }
                            Integer staNo = Utils.getStaNo(rgvSlave.getId(), (int) sta2);
                            BasDevp devp2 = basDevpService.selectById(staNo);
                            if (devp2.getWrkNo()!=0 || Cools.isEmpty(devp2.getLoading()) || devp2.getLoading().equals("Y")){
                                continue;
                            }

                            work2 = true;
                            if (inStn.getSourcePlcId() == 4){
                                matnr2 = staProtocol.getMatnr();
                                batch2 = staProtocol.getBatch();
                                anfme2 = (Cools.isEmpty(staProtocol.getAnfme2()) || staProtocol.getAnfme2()==0) ? anfme2:staProtocol.getAnfme2().shortValue();

                                weight11 = staProtocol.getWeight1();
                                weight2 = weight11;
                                String memoBool = staProtocol.isBan()? "存在":"不存在";
                                memo2 = memoBool+"半桶";
                            }
                            devpThread.setPakMk(inStn.getSourceStaNo(),false);
                            break;
@@ -2705,15 +3092,11 @@
                        command.setTaskMode(RgvTaskModeType.FETCH_PUT_ALL); // 任务模式: all取放货
                    }
                    command.setCommand(false);
                    rgvTaskSave(command);
                    rgvTaskSave(command,memo,memo2);
                    MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(2, command));
                    log.info("rgv任务下发："+JSON.toJSONString(command));
                }
            }





        }
    }
@@ -2756,10 +3139,15 @@
                            WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo1());
                            if (Cools.isEmpty(wrkMast)){
                                log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                            }else {
                            } else {
                                if (wrkMast.getIoType() == 110 || wrkMast.getIoType() == 101){
                                    Date date = new Date();
                                    wrkMast.setWrkSts(14L);
                                    wrkMast.setModiTime(date);
                                    wrkMastService.updateById(wrkMast);
                                } else if (wrkMast.getIoType()==199 && rgvSlave.getId()==3 && (wrkMast.getStaNo()==3007 || wrkMast.getStaNo()==3012)){
                                    Date date = new Date();
                                    wrkMast.setWrkSts(105L);
                                    wrkMast.setModiTime(date);
                                    wrkMastService.updateById(wrkMast);
                                }
@@ -2940,7 +3328,9 @@
                            staProtocol.setWorkNo(wrkMastSta.getWrkNo().shortValue());
                            if (wrkMastSta.getType() == 1){
                                staProtocol.setStaNo((short) 9999);
                            }else {
                            } else if (wrkMastSta.getType() == 2){//转运
                                staProtocol.setStaNo((short) 2114);
                            } else {
                                staProtocol.setStaNo((short) 2106);
                            }
                            staProtocol.setMatnr(wrkMastSta.getMatnr1());
@@ -2977,7 +3367,9 @@
                            staProtocol.setWorkNo(wrkMastSta.getWrkNo2().shortValue());
                            if (wrkMastSta.getType2() == 1){
                                staProtocol.setStaNo((short) 9999);
                            }else {
                            } else if (wrkMastSta.getType() == 2){//转运
                                staProtocol.setStaNo((short) 2114);
                            } else {
                                staProtocol.setStaNo((short) 2106);
                            }

@@ -3031,6 +3423,16 @@
                            log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                        }else {
                            if (wrkMast.getIoType() == 110 || wrkMast.getIoType() == 101){
                                Date date = new Date();
                                wrkMast.setWrkSts(14L);
                                wrkMast.setModiTime(date);
                                wrkMastService.updateById(wrkMast);
                            } else if (wrkMast.getIoType()==199 && wrkMast.getStaNo()==2001){
                                Date date = new Date();
                                wrkMast.setWrkSts(105L);
                                wrkMast.setModiTime(date);
                                wrkMastService.updateById(wrkMast);
                            } else if (wrkMast.getIoType() == 105){
                                Date date = new Date();
                                wrkMast.setWrkSts(14L);
                                wrkMast.setModiTime(date);
@@ -3099,7 +3501,7 @@
        }
    }

    public boolean rgvTaskSave(RgvCommand command){
    public boolean rgvTaskSave(RgvCommand command,String memo,String memo2){
//        Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", command.getRgvNo()).eq("wrk_no", command.getTaskNo1());
        if (command.getTaskNo1() > 0){
            List<WrkMastSta> wrkMastSta1 = wrkMastStaService.selectBywrkNoHistoricalTasks(command.getRgvNo(),command.getTaskNo1());
@@ -3144,6 +3546,8 @@
        wrkMastSta.setAnfme2(command.getAnfme2().intValue());
        wrkMastSta.setWeight(command.getWeight());
        wrkMastSta.setWeight2(command.getWeight2());
        wrkMastSta.setMemo(memo);
        wrkMastSta.setMemo2(memo2);

        return wrkMastStaService.insert(wrkMastSta);
    }
@@ -3216,10 +3620,59 @@
//                     获取入库通知档
                    WaitPakin waitPakin = waitPakinService.selectOne(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
                    if (Cools.isEmpty(waitPakin)) {
                        try {
                            CreateComb(barcode, staProtocol.getMatnr(),staProtocol.getWorkNo().intValue(),staProtocol.getBatch());
                        }catch (IOException e) {
                            throw new CoolException(e);
                        WrkMast mast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", barcode).eq("io_type", 105));
                        if (Cools.isEmpty(mast)) {
                            try {
                                CreateComb(barcode, staProtocol.getMatnr().toString(),staProtocol.getWorkNo().intValue(),staProtocol.getBatch(),inSta);
                            }catch (IOException e) {
                                throw new CoolException(e);
                            }
                        } else {
                            try {
                                LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
                                SearchLocParam param = new SearchLocParam();
                                param.setBarcode(barcode);
                                param.setBatch(staProtocol.getBatch());
                                param.setIoType(105);
                                param.setSourceStaNo(inSta.getStaNo());
                                param.setLocType1(locTypeDto.getLocType1());
                                String response = new HttpHandler.Builder()
                                        .setUri(wmsUrl)
                                        .setPath("/rpc/process/in/loc/v1")
                                        .setJson(JSON.toJSONString(param))
                                        .build()
                                        .doPost();
                                JSONObject jsonObject = JSON.parseObject(response);
                                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                                if (jsonObject.getInteger("code").equals(200)) {
                                    StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                                    barcodeThread.setBarcode("");
                                    staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                                    staProtocol.setStaNo(dto.getStaNo().shortValue());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    ledThread.errorReset();
                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    if (!result) {
                                        throw new CoolException("更新plc站点信息失败");
                                    }
                                } else if(jsonObject.getInteger("code").equals(700)) {
                                    log.error(barcode + "托盘识别异常，请先进行组托！");
                                    // led 异常显示
                                    ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                                    if (ledThread != null) {
                                        String errorMsg = barcode + "托盘识别异常，请先进行组托！";
                                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                    }
                                } else {
                                    log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/process/in/loc/v1", JSON.toJSONString(param), response);
                                }

                            } catch (Exception e) {
                                log.error(""+e);
                                e.printStackTrace();
                                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                            }
                        }
                    } else if (waitPakin.getWeight() == null) {
                        WrkMastSta wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no", staProtocol.getWorkNo().intValue()));
@@ -3274,6 +3727,7 @@
                            }

                        } catch (Exception e) {
                            log.error(""+e);
                            e.printStackTrace();
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        }
@@ -3287,15 +3741,64 @@

    }

    public void CreateComb(String barcode,Integer code,Integer wrkNo,String batch) throws IOException {
    public synchronized void getNeed() {
        for (DevpSlave devp : slaveProperties.getDevp()) {
            if (devp.getId() != 2) {
                continue;
            }
            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
            if (devpThread.isCalled == 1) {
                try {
                    String response = new HttpHandler.Builder()
                            .setUri(wmsUrl)
                            .setPath("/rpc/process/loc/v1")
                            .setJson(JSON.toJSONString(""))
                            .build()
                            .doPost();
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)) {
                        log.info("任务下发成功");
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, null));
                    } else {
                        log.error("请求接口失败！！！url：{}；response：{}", wmsUrl + "/mobile/comb/auth", response);
                    }
                    Thread.sleep(1000);
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
            if (devpThread.isFinish == 1) {

                Integer weight = devpThread.weight;
                Integer isHalf = devpThread.isHalf;
                WrkMast lastWrkMast105 = wrkMastService.getLastWrkMast105();
                if (Cools.isEmpty(lastWrkMast105)) continue;
                List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(lastWrkMast105.getWrkNo());
                if (!Cools.isEmpty(wrkDetls)) {
                    for (WrkDetl wrkDetl : wrkDetls) {
                        wrkDetl.setWeight(weight.doubleValue());
                        if (isHalf == 1) {
                            wrkDetl.setMemo("存在半桶");
                        } else {
                            wrkDetl.setMemo("不存在半桶");
                        }
                        wrkDetlService.updateById(wrkDetl);
                    }
                }
                boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, null));
            }
        }
    }
    public void CreateComb(String barcode,String code,Integer wrkNo,String batch,DevpSlave.Sta inSta) throws IOException {
        Double anfme = 0d;
        Double weight = 0d;
        String memo = "";

        WrkMastSta wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkNo));
        if (Cools.isEmpty(wrkMastSta)){
            wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no2", wrkNo));
            if (Cools.isEmpty(wrkMastSta)){
                if (code >0 && !Cools.isEmpty(batch)){
                if (!Cools.isEmpty(batch)){
                    anfme = 1d;
                }else {
                    throw new  CoolException("未找到对应的任务信息");
@@ -3305,24 +3808,30 @@
                anfme = wrkMastSta.getAnfme2().doubleValue();
                code = wrkMastSta.getMatnr2();
                weight = wrkMastSta.getWeight2();
                memo = wrkMastSta.getMemo2();
            }
        }else {
            batch = wrkMastSta.getBatch();
            anfme = wrkMastSta.getAnfme().doubleValue();
            code = wrkMastSta.getMatnr1();
            weight = wrkMastSta.getWeight();
            memo = wrkMastSta.getMemo();
        }
        MatnrCode matnrCode = matnrCodeService.selectByCode(code);
        if (Cools.isEmpty(matnrCode)){
        ////
//        MatnrCode matnrCode = matnrCodeService.selectByCode(code);
        Mat mat = matService.selectByCode(code);
        if (Cools.isEmpty(mat)){
            throw new  CoolException("未找到对应的物料信息");
        }
        CombParam combParam = new CombParam();
        ArrayList<CombParam.CombMat> combMats = new ArrayList<>();
        CombParam.CombMat combMat = new CombParam.CombMat();
        combParam.setBarcode(barcode);
        combMat.setMatnr(matnrCode.getMatnr());
        combMat.setMatnr(mat.getMatnr());
        combMat.setBatch(batch);
        combMat.setAnfme(anfme);
        combMat.setWeight(weight);
        combMat.setMemo(memo);

        combMats.add(combMat);
        combParam.setCombMats(combMats);
@@ -3338,6 +3847,9 @@

        }else {
            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/mobile/comb/auth", JSON.toJSONString(combParam), response);
//            log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
            //条码为空或者不符合，退库信号下发
            boolean result = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, null));
        }
    }