zy-wcs.git - Gitblit

			@@ -3,25 +3,21 @@
			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.baomidou.mybatisplus.mapper.Wrapper;
			import com.core.common.Cools;
			import com.core.common.DateUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.domain.dto.NotifyCustomDataDto;
			import com.zy.asrs.domain.enums.NotifyMsgType;
			import com.zy.asrs.domain.enums.TaskStatusType;
			import com.zy.asrs.domain.enums.WorkNoType;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.BasCrnErrorMapper;
			import com.zy.asrs.mapper.TaskWrkMapper;
			import com.zy.asrs.mapper.WaitPakinMapper;
			import com.zy.asrs.mapper.WrkMastMapper;
			import com.zy.asrs.entity.param.Result;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.CommandUtils;
			import com.zy.asrs.utils.CrnOperaUtils;
			import com.zy.asrs.utils.NotifyUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.VersionUtils;
			import com.zy.common.model.LocTypeDto;
			import com.zy.common.model.MatDto;
			import com.zy.common.model.SearchLocParam;
			import com.zy.common.model.StartupDto;
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.CollectionUtils;
			import com.zy.common.utils.HttpHandler;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			@@ -30,29 +26,23 @@
			import com.zy.core.enums.*;
			import com.zy.core.model.CrnSlave;
			import com.zy.core.model.DevpSlave;
			import com.zy.core.model.LedSlave;
			import com.zy.core.model.Task;
			import com.zy.core.model.command.CrnCommand;
			import com.zy.core.model.command.LedCommand;
			import com.zy.core.model.protocol.CrnProtocol;
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.BarcodeThread;
			import com.zy.core.thread.LedThread;
			import com.zy.core.thread.SiemensDevpThread;
			import com.zy.system.service.ConfigService;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.beans.factory.annotation.Value;
			import org.springframework.scheduling.annotation.Async;
			import org.springframework.stereotype.Service;
			import org.springframework.transaction.annotation.Transactional;
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

			import java.util.ArrayList;
			import java.util.Date;
			import java.util.List;
			import java.util.Set;
			import java.util.stream.Collectors;
			import java.io.IOException;
			import java.util.*;

			/**
			* 立体仓库WCS系统主流程业务
			@@ -66,183 +56,545 @@
			public static final long COMMAND_TIMEOUT = 5 * 1000;

			@Autowired
			private CommonService commonService;
			@Autowired
			private SlaveProperties slaveProperties;
			@Autowired
			private WrkMastMapper wrkMastMapper;
			@Autowired
			private WrkDetlService wrkDetlService;
			@Autowired
			private WaitPakinMapper waitPakinMapper;
			@Autowired
			private LocMastService locMastService;
			@Autowired
			private StaDescService staDescService;
			@Autowired
			private BasCrnpService basCrnpService;
			@Autowired
			private BasDevpService basDevpService;
			@Autowired
			private LocDetlService locDetlService;
			@Autowired
			private BasErrLogService basErrLogService;
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			@Autowired
			private TaskWrkMapper taskWrkMapper;

			@Autowired
			private TaskWrkService taskWrkService;
			@Autowired
			private ConfigService configService;
			@Autowired
			private StaDescMapper staDescMapper;
			@Autowired
			private CommandInfoService commandInfoService;
			@Autowired
			private OpenServiceImpl openServiceImpl;
			@Autowired
			private StaDescService staDescService;
			@Autowired
			private ApiLogService apiLogService;
			@Autowired
			private CommonService commonService;
			@Autowired
			private CrnOperaUtils crnOperaUtils;
			@Autowired
			private NotifyUtils notifyUtils;
			@Value("${wms.count}")
			private Integer maxCount;
			@Autowired
			private WrkMastService wrkMastService;
			@Value("${wms.url}")
			private String wmsUrl;
			@Value("${wms.inboundTaskApplyPath}")
			private String inboundTaskApplyPath;
			@Value("${wms.TaskExecCallback}")
			private String TaskExecCallback;
			@Value("${wms.taskStatusFeedbackPath}")
			private String taskStatusFeedbackPath;

			// /**
			// * 组托
			// * 入库站，根据条码扫描生成入库工作档，工作状态 2
			// */
			// public void generateStoreWrkFile() {
			// // 根据输送线plc遍历
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历入库口
			// for (DevpSlave.Sta inSta : devp.getInSta()) {
			// // 获取条码扫描仪信息
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			// if (barcodeThread == null) {
			// continue;
			// }
			// String barcode = barcodeThread.getBarcode();
			// 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 {
			// continue;
			// }
			//
			// // 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();
			// }
			//
			// // 入出库模式判断
			//// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
			// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { 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()){// && !Cools.isEmpty(barcode)) {
			//
			// // 判断重复工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			// if (wrkMast != null) {
			// log.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			// 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);
			// 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);
			// boolean result = CommandUtils.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }
			// } 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 generateStoreWrkFile1() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Short workNo = staProtocol.getWorkNo();
			Short stano = staProtocol.getStaNo();

			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			if (staProtocol.isFrontErr()) {
			errMsg = "前超限";
			back = true;
			}
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "高超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			back = true;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && workNo >= 9790
			&& staProtocol.isPakMk()) {
			// 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();
			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
			if (taskWrk1 != null) {
			log.info("托盘码：" + barcode + "任务档存在");
			continue;
			}

			HashMap<String, Object> requestParam = new HashMap<>();
			requestParam.put("BoxNo", barcode);//托盘码
			requestParam.put("TerminalNo", inSta.getStaNo());//入库口
			if (back) {
			requestParam.put("WCSStatus", 1);//失败
			requestParam.put("WCSErrorMessage", errMsg);//失败原因
			}else {
			requestParam.put("WCSStatus", 0);//成功
			}

			String response = "";
			Boolean success = false;
			try {
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath(inboundTaskApplyPath)
			.setJson(JSON.toJSONString(requestParam))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);

			if (back) {
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			continue;
			}

			int returnStatus = Integer.parseInt(jsonObject.get("ReturnStatus").toString());
			if (returnStatus == 0) {
			Result result = JSON.parseObject(jsonObject.get("Result").toString(), Result.class);
			// 创新一个入库工作档
			TaskWrk taskWrk = taskWrkService.selectByTaskNo(result.getTaskNo());
			if(taskWrk != null) {
			log.info("任务：" + result.getTaskNo() + "已经存在");
			continue;
			}

			taskWrk = createTask1(result, barcode);
			if (!taskWrkService.insert(taskWrk)) {
			log.info("任务：" + result.getTaskNo() + "任务创建失败");
			continue;
			}

			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
			staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
			staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			//上报
			HashMap<String, Object> hashMap = new HashMap<>();
			hashMap.put("TaskNo", taskWrk.getTaskNo());

			NotifyCustomDataDto customDataDto = new NotifyCustomDataDto();
			customDataDto.setUri(wmsUrl);
			customDataDto.setPath(taskStatusFeedbackPath);
			customDataDto.setData(JSON.toJSONString(hashMap));
			boolean notifyResult = notifyUtils.notify("task", 1, String.valueOf(taskWrk.getWrkNo()), taskWrk.getTaskNo(), NotifyMsgType.TASK_START, JSON.toJSONString(taskWrk), true, customDataDto);
			if(notifyResult) {
			taskWrk.setStatus(2);
			taskWrkService.updateById(taskWrk);
			}
			}
			} catch (Exception e) {
			log.error("请求入库调用接口失败");
			log.error("异常信息打印：" + e);
			try {
			BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
			if (Cools.isEmpty(basDevp)) {
			log.error("站点号异常" + inSta.getStaNo());
			} else if (basDevp.getStaErr() != 0) {
			basDevp.setStaErr(2);
			basDevpService.updateById(basDevp);
			}
			} catch (Exception e1) {
			// 退回
			log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1);
			}
			} finally {
			apiLogService.save("wms请求入库货位接口"
			, wmsUrl + inboundTaskApplyPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(requestParam)
			, response
			, success
			);
			}
			log.info("入库请求参数=" + JSON.toJSONString(barcode));
			log.info("入库请求返回参数=" + JSON.toJSONString(response));
			}
			}
			}
			} catch (Exception e) {
			log.error("generateStoreWrkFile e", e);
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			public synchronized void generateStoreWrkFile() throws IOException, InterruptedException {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Short workNo = staProtocol.getWorkNo();
			Short stano = staProtocol.getStaNo();

			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			if (staProtocol.isFrontErr()) {
			errMsg = "前超限";
			back = true;
			}
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "高超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			back = true;
			}
			// 退回
			if (back) {
			if (stano == inSta.getBackSta().shortValue()) {
			continue;
			}
			if (workNo == 0 && stano == 0) {
			continue;
			}
			if (!staProtocol.isPakMk()) {
			continue;
			}
			// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			staProtocol.setWorkNo(workNo);
			staProtocol.setStaNo(inSta.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
			if (taskWrk != null) {
			taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
			taskWrkMapper.updateById(taskWrk);
			}
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (workNo >= 9899)
			&& staProtocol.isPakMk()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if (!Cools.isEmpty(barcode) && !barcode.equals("99999999")) {
			// 请求wms接口，获取工作号和目标库位
			ToWmsDTO toWmsDTO = new ToWmsDTO(barcode, staProtocol.getSiteId(), staProtocol.isHigh() ? 2 : 1);
			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
			if (!Cools.isEmpty(taskWrk1)) {
			log.info("托盘码：" + barcode + "任务档存在");
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("crn_no", taskWrk1.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
			if (Cools.isEmpty(staDesc)) {
			log.info("托盘码：" + barcode + "任务档存在");
			return;
			} else {
			staProtocol.setWorkNo(taskWrk1.getWrkNo().shortValue());
			staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}
			return;
			}
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("Content-Type", "application/json");
			System.out.println(JSON.toJSONString(toWmsDTO));
			String response;
			try {
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			.setUri(wmsUrl)
			.setPath(inboundTaskApplyPath)
			.setJson(JSON.toJSONString(toWmsDTO))
			.build()
			.doPost();
			} catch (Exception e) {
			log.error("请求入库调用接口失败");
			log.error("异常信息打印：" + e);
			try {
			BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
			if (Cools.isEmpty(basDevp)) {
			log.error("站点号异常" + inSta.getStaNo());
			} else if (basDevp.getStaErr() != 0) {
			basDevp.setStaErr(2);
			basDevpService.updateById(basDevp);
			}
			} catch (Exception e1) {
			// 退回
			log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1);
			}
			staProtocol.setWorkNo((short) 9999);
			staProtocol.setStaNo(inSta.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
			// if (taskWrk != null) {
			// taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
			// taskWrkMapper.updateById(taskWrk);
			// }
			continue;
			}

			JSONObject jsonObject = JSON.parseObject(response);
			log.info("入库请求参数{}" + JSON.toJSONString(toWmsDTO));
			log.info("入库请求返回参数{}" + JSON.toJSONString(response));
			if (jsonObject.getInteger("code").equals(200) && !Cools.isEmpty(jsonObject.get("data").toString())) {
			GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
			try {
			BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
			if (Cools.isEmpty(basDevp)) {
			log.error("站点号异常1" + inSta.getStaNo());
			throw new CoolException("站点号异常1,未查询到站点信息" + inSta.getStaNo());
			}
			Integer staNoCrnNo = Utils.StaNoCrnNo(inSta.getStaNo());
			if (staNoCrnNo == 0) {
			basDevp.setStaErr(1);
			basDevpService.updateById(basDevp);
			log.error("站点号异常2" + inSta.getStaNo());
			throw new CoolException("站点号异常2,站点号不存在" + inSta.getStaNo());
			} else {
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
			.eq("crn_no", staNoCrnNo.longValue())
			.eq("loc_no", getWmsDto.getLocNo()));
			if (Cools.isEmpty(locMast)) {
			basDevp.setStaErr(1);
			basDevpService.updateById(basDevp);
			log.error("站点号异常3" + inSta.getStaNo());
			throw new CoolException("站点号异常3：此巷道不存在目标库位" + inSta.getStaNo());
			}
			}
			} catch (Exception e) {
			// log.error("扫码检测程序异常"+inSta.getStaNo()+"异常信息"+e);
			// 退回
			log.error("扫码检测程序异常" + inSta.getStaNo() + errMsg);
			log.error("扫码检测程序异常,异常信息" + e);

			staProtocol.setWorkNo((short) 9999);
			staProtocol.setStaNo(inSta.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
			// if (taskWrk != null) {
			// taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
			// taskWrkMapper.updateById(taskWrk);
			// }
			continue;
			}
			//查看该库位是否为空库位
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
			.eq("loc_sts", "O")
			.eq("loc_no", getWmsDto.getLocNo()));
			if (Cools.isEmpty(locMast)) {
			try {
			HashMap<String, Object> headParam1 = new HashMap<>();
			headParam1.put("taskNo", getWmsDto.getTaskNo());
			headParam1.put("status", 6);
			headParam1.put("ioType", 1);
			headParam1.put("barcode", barcode);
			String response2;
			response2 = new HttpHandler.Builder()
			// .setHeaders(headParam)
			.setUri(wmsUrl)
			.setPath(taskStatusFeedbackPath)
			.setJson(JSON.toJSONString(headParam1))
			.build()
			.doPost();
			JSONObject jsonObject1 = JSON.parseObject(response2);
			apiLogService.save("wcs派发库位==》不为空《==上报wms"
			, wmsUrl + taskStatusFeedbackPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(headParam1)
			, response
			, true
			);
			} catch (Exception e) {
			log.error("wcs派发库位==》不为空《==上报wms", getWmsDto.getWrkNo());
			throw new CoolException("wcs派发入库任务上报wms失败,派发库位==》不为空《==，异常信息：" + e);
			}
			}

			// 创新一个入库工作档
			TaskWrk taskWrk = taskWrkService.selectByTaskNo(getWmsDto.getWrkNo());
			if (Cools.isEmpty(taskWrk)) {
			taskWrk = createTask(getWmsDto, barcode);
			if (Cools.isEmpty(taskWrk)) {
			log.error("库位异常，库位号：{}", getWmsDto.getTargetLocationCode());
			} else {
			taskWrkService.insert(taskWrk);
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
			staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
			staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}

			} else {
			continue;
			}
			apiLogService.save("wms请求入库货位接口"
			, wmsUrl + inboundTaskApplyPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(toWmsDTO)
			, response
			, true
			);

			} else {
			// 退回
			log.error("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);

			staProtocol.setWorkNo((short) 9999);
			staProtocol.setStaNo(inSta.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
			if (taskWrk != null) {
			taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
			taskWrkMapper.updateById(taskWrk);
			}
			}
			}


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


			/**
			* 堆垛机站出库到出库站
			*/
			@Async
			public void crnStnToOutStn() {
			public synchronized void crnStnToOutStn() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staProtocol.getSiteId().toString());
			if (taskWrk == null) {
			continue;
			}
			// 判断工作档条件
			if (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 2) {
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, taskWrk.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo()));
			for (StaDesc staDesc : staDescs) {
			try {
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(taskWrk.getWrkNo().shortValue())
			&& crnProtocol.getTaskFinish() == 1
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
			// 命令下发区 --------------------------------------------------------------------------

			// 下发站点信息
			staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
			String targetPoint = taskWrk.getTargetPoint();
			int i = Integer.parseInt(targetPoint);
			staProtocol.setStaNo((short)i);
			if (!CommandUtils.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == 0)) {
			// 查询工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
			if (taskWrk == null) {
			continue;
			}

			// 更新工作档状态为14失败
			taskWrk.setWrkSts(14);
			if (taskWrkMapper.updateById(taskWrk) != 0) {
			// 复位堆垛机
			crnThread.setResetFlag(true);
			} else {
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", taskWrk.getWrkNo());
			log.info("下发输送线任务：taskWrk:" + JSON.toJSONString(taskWrk));
			// R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
			staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
			staProtocol.setStaNo(staDesc.getStnNo().shortValue());
			boolean offer = false;
			try {
			offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			} catch (Exception e) {
			log.error("下发输送线任务失败：异常:" + e);
			log.error("下发输送线任务失败：异常:offer:" + offer);
			}
			// JSONObject jsonObject = JSON.parseObject(JSON.toJSONString(r));
			if (offer) {
			log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk));
			taskWrk.setStatus(5);
			taskWrk.setWrkSts(14);
			taskWrkService.updateById(taskWrk);

			} else {
			log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(taskWrk));
			// log.error("下发输送线任务失败：异常信息:"+JSON.toJSONString(r));
			}
			}
			} catch (Exception e) {
			log.error("出库到出库站异常:异常信息：" + e);
			}
			}

			}
			}
			}
			@@ -250,17 +602,20 @@
			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			public synchronized void crnIoExecute(){
			public synchronized void crnIoExecute() throws IOException {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}


			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
			@@ -285,10 +640,10 @@
			crnProtocol.setLastIo("O");
			}
			}

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

			}
			}
			@@ -296,240 +651,39 @@
			/**
			* 入库 ===>> 堆垛机站到库位
			*/
			public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
			public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) throws IOException {
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			boolean flag = false;
			// 获取堆垛机入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			&& staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			continue;
			}
			// 获取工作状态为2（设备上走）的入库工作档
			TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo().toString());
			if(null == taskWrk) {
			continue;
			}
			// 获取库位信息
			String locNo = taskWrk.getTargetPoint();
			LocMast locMast = locMastService.selectById(locNo);
			if (locMast == null) {
			log.error("查询库存无数据--库位号{}", locNo);
			continue;
			}
			if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
			log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", locNo, locMast.getLocSts());
			continue;
			}

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

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

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			taskWrk.setWrkSts(3);
			taskWrk.setModiTime(now);
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", taskWrk.getWrkNo());
			}
			}
			return;
			}
			}

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
			*/
			public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(), crnStn.getStaNo().toString());
			for (TaskWrk taskWrk : taskWrks){
			if (taskWrk == null) {
			continue;
			}
			// 工作档状态判断
			if (taskWrk.getIoType() != 2 \|\| taskWrk.getTargetPoint() == null) {
			log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
			continue;
			}
			// 获取源库位信息
			String locNo = taskWrk.getStartPoint();
			LocMast sourceSta = locMastService.selectById(locNo);
			if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", locNo, sourceSta.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
			for (StaDesc staDesc : staDescs) {
			boolean flag = false;
			// 获取堆垛机入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			break;
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

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

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

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

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

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {

			List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
			if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
			break;
			}
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			log.error("工作号={}，库位号={}，浅库位异常：浅库位号：={}，库位状态={}",taskWrk.getTaskNo(),taskWrk.getStartPoint(),shallowLocNo,shallowLoc.getLocSts());
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			taskWrk.setTransferMark(1);
			taskWrkMapper.updateById(taskWrk);
			break;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			log.error("工作号={}，库位号={}，浅库位异常：浅库位号：={}，库位状态={}",taskWrk.getTaskNo(),taskWrk.getStartPoint(),shallowLocNo,shallowLoc.getLocSts());
			}
			continue;
			}

			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			taskWrk.setWrkSts(12);
			taskWrk.setModiTime(now);
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			}
			break;
			}
			return;
			}
			}
			}
			}

			/**
			* 库位移转
			*/
			public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的移库工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut3(slave.getId(), crnStn.getStaNo().toString());
			for (TaskWrk taskWrk : taskWrks){
			if (taskWrk == null) {
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			// 工作档状态判断
			if (taskWrk.getIoType() != 3 \|\| taskWrk.getTargetPoint() == null) {
			log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
			continue;
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			// 获取源库位信息
			String locNo = taskWrk.getStartPoint();
			LocMast sourceSta = locMastService.selectById(locNo);
			if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", locNo, sourceSta.getLocSts());
			continue;
			}

			// 获取目标库位信息
			String locNoEnd = taskWrk.getTargetPoint();
			LocMast sourceEnd = locMastService.selectById(locNoEnd);
			if (!sourceEnd.getLocSts().equals("S") && !sourceEnd.getLocSts().equals("Q")) {
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", locNo, sourceSta.getLocSts());
			if (!flag) {
			continue;
			}


			// // 获取堆垛机出库站信息
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			// StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			// if (staProtocol == null) {
			// break;
			// } else {
			// staProtocol = staProtocol.clone();
			// }

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			// 获取工作状态为2（设备上走）的入库工作档
			TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
			if (null == taskWrk) {
			continue;
			}
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			@@ -541,38 +695,215 @@
			continue;
			}

			// 起始深库位浅库位不为空
			if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
			// 获取浅库位信息
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
			LocMast shallowLocMast = locMastService.selectById(shallowLocNo);
			if (!shallowLocMast.getLocSts().equals("O")) {
			log.error("移库操作起始库位浅库位状态不符合--状态, 库位号={}，库位状态={}", locNo, shallowLocMast.getLocSts());
			taskWrk.setAssignTime(new Date());//派发时间
			taskWrk.setWrkSts(3);//工作状态 3.吊车入库
			taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号
			taskWrk.setModiTime(new Date());
			taskWrk.setModiUser(9988L);

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(staDesc.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位列
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位层
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位排
			crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位列
			crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位层
			crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排
			crnCommand.setCommand((short) 1);
			log.info("堆垛机入库任务下发={}",crnCommand);
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) {
			log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			throw new CoolException("堆垛机命令生成失败");
			} else {
			try {
			taskWrkService.updateById(taskWrk);
			} catch (Exception e) {
			e.printStackTrace();
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", taskWrk.getWrkNo());
			}
			}
			}
			}
			}

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
			*/
			public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
			List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null);
			if (taskWrksInitial.isEmpty()) {
			return;
			}
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
			for (StaDesc staDesc : staDescs) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(), staDesc.getStnNo().toString());
			for (TaskWrk taskWrk : taskWrks) {
			if (taskWrk == null) {
			continue;
			}
			// 工作档状态判断
			if (taskWrk.getIoType() != 2 \|\| taskWrk.getTargetPoint() == null \|\| taskWrk.getStartPoint() == null) {
			log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getStartPoint(), taskWrk.getIoType());
			continue;
			}

			LocMast locMast=locMastService.selectByLocNo(taskWrk.getStartPoint());
			//判断其库位是否为深库位，如果为深库位找其浅库位是都有货
			if(locMast.getRow1()==1\|\|locMast.getRow1()==5){
			LocMast locMast1=locMastService.selectOne(new EntityWrapper<LocMast>()
			.eq("row1", (locMast.getRow1()+1))
			.eq("bay1",locMast.getBay1())
			.eq("lev1",locMast.getLev1()).eq("loc_sts","F"));
			if (!Cools.isEmpty(locMast1)){
			log.info(locMast.getLocNo()+"出深库位，浅库位有货");
			continue;
			}
			}else if(locMast.getRow1()==4\|\|locMast.getRow1()==8){
			LocMast locMast1=locMastService.selectOne(new EntityWrapper<LocMast>()
			.eq("row1", (locMast.getRow1()-1))
			.eq("bay1",locMast.getBay1())
			.eq("lev1",locMast.getLev1()).eq("loc_sts","F"));
			if (!Cools.isEmpty(locMast1)){
			log.info(locMast.getLocNo()+"出深库位，浅库位有货");
			continue;
			}
			}

			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			break;
			} else {
			staProtocol = staProtocol.clone();
			}

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

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

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			break;
			}
			int storeCount = basDevpService.getStoreCount();
			if(storeCount >= maxCount){
			log.error("输送线暂存数达到上限{}",storeCount);
			break;
			}


			// 已经存在吊车执行任务时，则过滤
			if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
			break;
			}
			CrnCommand command = new CrnCommand();
			command.setCrnNo(taskWrk.getCrnNo()); // 堆垛机编号
			command.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
			command.setAckFinish((short) 0); // 任务完成确认位
			command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
			command.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排
			command.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列
			command.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层
			command.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			command.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			command.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			command.setCommand((short) 1);

			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command), false)) {
			log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(command));
			throw new CoolException("堆垛机命令生成失败");
			} else {
			try {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			taskWrk.setWrkSts(12);
			taskWrk.setModiTime(now);
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			}
			} catch (Exception e) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，异常：" + e);
			}

			//上报-出库任务开始时，WCS回调WMS
			HashMap<String, Object> hashMap = new HashMap<>();
			hashMap.put("TaskNo", taskWrk.getTaskNo());

			NotifyCustomDataDto customDataDto = new NotifyCustomDataDto();
			customDataDto.setUri(wmsUrl);
			customDataDto.setPath(taskStatusFeedbackPath);
			customDataDto.setData(JSON.toJSONString(hashMap));
			boolean notifyResult = notifyUtils.notify("task", 1, String.valueOf(taskWrk.getWrkNo()), taskWrk.getTaskNo(), NotifyMsgType.TASK_START, JSON.toJSONString(taskWrk), true, customDataDto);
			if(notifyResult) {
			taskWrk.setStatus(2);
			taskWrkService.updateById(taskWrk);
			}
			}
			}
			}
			}
			}
			}

			/**
			* 库位移转
			*/
			public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的移库工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>()
			.eq("crn_no", slave.getId())
			.eq("wrk_sts", 11)
			.eq("io_type", 3)
			.orderBy("io_pri", false));
			for (TaskWrk taskWrk : taskWrks) {

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			// if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
			// String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
			// TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
			// if (!Cools.isEmpty(hallowLocNoTask)){
			// continue;
			// }
			// }
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			continue;
			}

			// 目标库位为深库位且浅库位不为空
			if (Utils.isDeepLoc(slaveProperties, taskWrk.getTargetPoint())) {
			// 获取浅库位信息
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getTargetPoint());
			LocMast shallowLocMast = locMastService.selectById(shallowLocNo);
			if (!shallowLocMast.getLocSts().equals("O")) {
			log.error("移库操作目标库位浅库位状态不符合--状态, 库位号={}，库位状态={}", locNo, shallowLocMast.getLocSts());
			continue;
			}
			// 已经存在吊车执行任务时，则过滤
			if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
			continue;
			}

			// 目标库位为浅库位且深库位无货
			if (Utils.isShallowLoc(slaveProperties, taskWrk.getTargetPoint())) {
			// 获取深库位信息
			String deepLocNo = Utils.getDeepLoc(slaveProperties, taskWrk.getTargetPoint());
			LocMast deepLocMast = locMastService.selectById(deepLocNo);
			if (!deepLocMast.getLocSts().equals("F") && !deepLocMast.getLocSts().equals("D") ) {
			log.error("移库操作目标库位深库位状态不符合--状态, 库位号={}，库位状态={}", locNo, deepLocMast.getLocSts());
			continue;
			}
			if (taskWrk == null \|\| Cools.isEmpty(taskWrk.getTargetPoint()) \|\| taskWrk.getTargetPoint().equals("") \|\| taskWrk.getWrkNo() == null) {
			continue;
			}
			// 工作档状态判断
			if (taskWrk.getIoType() != 3 \|\| taskWrk.getTargetPoint() == null) {
			log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
			continue;
			}

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


			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			@@ -580,13 +911,14 @@
			crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(sourceEnd.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(sourceEnd.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(sourceEnd.getLev1().shortValue()); // 目标库位层
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
			crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排
			crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列
			crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层
			crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排
			crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列
			crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层
			crnCommand.setCommand((short) 1);
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			@@ -596,7 +928,39 @@
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			}
			break;
			String response = "";
			Boolean bool=false;
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("TaskNo", taskWrk.getTaskNo());
			try {
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			.setUri(wmsUrl)
			.setPath(taskStatusFeedbackPath)
			.setJson(JSON.toJSONString(headParam))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if(jsonObject.get("ReturnStatus").equals(0)){
			bool = true;
			taskWrk.setStatus(2);
			taskWrkMapper.updateById(taskWrk);
			}

			} catch (Exception e) {
			log.error("wcs派发移库库任务上报wms失败", taskWrk);
			// throw new CoolException("wcs派发移库库任务上报wms失败");
			}finally {
			apiLogService.save("wcs派发移库任务上报wms"
			, wmsUrl + taskStatusFeedbackPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(headParam)
			, response
			, bool
			);
			}

			}
			return;
			}
			@@ -607,35 +971,121 @@
			/**
			* 执行对工作档的完成操作
			*/
			@Async
			public void storeFinished() {
			// public void storeFinished() {
			// for (CrnSlave crn : slaveProperties.getCrn()) {
			// // 获取堆垛机信息
			// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			// if (crnProtocol == null) { continue; }
			//
			// // 状态：等待确认并且任务完成位 = 1
			// if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
			// //获取入库待确认工作档
			// TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
			// if (Cools.isEmpty(taskWrk)) {
			//// log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			// continue;
			// }
			//
			// //获取指令ID
			// Integer commandId = crnProtocol.getCommandId();
			// CommandInfo commandInfo = new CommandInfo();
			// if (Cools.isEmpty(commandId)){
			// commandInfo = commandInfoService.selectOne(new EntityWrapper<CommandInfo>()
			// .eq("wrk_no",crnProtocol.getTaskNo())
			// .eq("device","Crn"));
			// }else {
			// commandInfo = commandInfoService.selectById(commandId);
			// }
			//
			//
			// if (commandInfo == null) {
			// //指令不存在
			// continue;
			// }
			// if (commandInfo.getCommandStatus() == 3){
			// continue;
			// }
			// commandInfo.setCommandStatus(CommandStatusType.COMPLETE.id);//指令完成
			// commandInfo.setCompleteTime(new Date());//指令完成时间
			// if (commandInfoService.updateById(commandInfo)) {//修改成功后复位堆垛机
			// // 堆垛机复位
			// crnThread.setResetFlag(true);
			// }
			// }
			// }
			// }

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

			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.getTaskFinish() == 1 && crnProtocol.getTaskNo() != 0) {
			// 获取入库待确认工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnNoWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
			if (taskWrk == null) {
			if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
			//获取入库待确认工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(), crnProtocol.getTaskNo().intValue());
			if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			continue;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (taskWrk.getWrkSts() == 3 \|\| (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 3)) {
			taskWrk.setWrkSts(4);
			} else {
			continue;
			//确认完成信号
			boolean result = crnOperaUtils.crnTaskComplete(crn.getId());
			Thread.sleep(1000);
			if(!result){
			return;
			}
			Date now = new Date();
			taskWrk.setModiTime(now);
			Integer integerTaskWrk = taskWrkMapper.updateById(taskWrk);
			// 修改成功后复位堆垛机
			if (integerTaskWrk > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			if (!Cools.isEmpty(taskWrk)) {
			if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(5);//完结

			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			locMast.setLocSts("F");//F.在库
			locMast.setBarcode(taskWrk.getBarcode());//托盘码
			locMast.setModiTime(new Date());
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(13);//出库完成
			taskWrk.setStatus(5);//完结

			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
			locMast.setLocSts("O");//O.空库位
			locMast.setBarcode("");//托盘码
			locMast.setModiTime(new Date());
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(5);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			locMast.setLocSts("F");//F.在库
			locMast.setBarcode(taskWrk.getBarcode());//托盘码
			locMast.setModiTime(new Date());
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);

			LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
			locMast1.setLocSts("O");//O.空库位
			locMast1.setBarcode("");//托盘码
			locMast1.setModiTime(new Date());
			locMast1.setModiUser(9999L);
			locMastService.updateById(locMast1);
			}
			taskWrkService.updateById(taskWrk);
			}

			}
			}
			}
			@@ -643,8 +1093,7 @@
			/**
			* 堆垛机异常信息记录
			*/
			@Async
			public void recCrnErr(){
			public synchronized void recCrnErr() {
			Date now = new Date();
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			@@ -653,20 +1102,20 @@
			if (crnProtocol == null) {
			continue;
			}
			if (true) {
			if (false) {
			// if (crnProtocol.getModeType() != CrnModeType.STOP) {
			// 有任务
			if (crnProtocol.getTaskNo() != 0) {
			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
			String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):crnError.getErrName();
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			@@ -705,15 +1154,15 @@
			}
			}
			}
			// 无任务
			// 无任务
			} else {
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
			if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm() > 0) {
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm1().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
			String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):crnError.getErrName();
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			null, // 工作号
			@@ -728,7 +1177,7 @@
			null, // 源站
			null, // 源库位
			null, // 条码
			(int)crnProtocol.getAlarm1(), // 异常码
			(int) crnProtocol.getAlarm1(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			@@ -741,7 +1190,7 @@
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			// 无异常
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			@@ -759,608 +1208,150 @@
			}
			}


			// -------------------------------------------------------------------------------

			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			@Async
			public void storeEmptyPlt(){
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			// 获取空板入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// // 入出库模式判断
			// if ( emptyInSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
			if ( emptyInSta.getStaNo()==203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { continue; }

			// 站点条件判断
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.isEmptyMk() && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999) && staProtocol.isPakMk()) {

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			param.setSourceStaNo(emptyInSta.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);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = CommandUtils.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			} 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();
			}
			}
			}
			}
			}

			/**
			* 出库 ===>> 工作档信息写入led显示器
			*/
			@Async
			public void ledExecute() {
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			List<LedCommand> commands = new ArrayList<>();
			// 工作档集合
			List<WrkMast> wrkMasts = new ArrayList<>();
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (null == staProtocol \|\| null == staProtocol.getWorkNo() \|\| 0 == staProtocol.getWorkNo() \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 获取工作档数据
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			// if (null == wrkMast \|\| wrkMast.getWrkSts() < 14 \|\| wrkMast.getIoType() < 100) { continue; }
			if (null == wrkMast) { continue; }
			wrkMasts.add(wrkMast);
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(wrkMast.getWrkNo());
			ledCommand.setIoType(wrkMast.getIoType());
			// 出库模式
			switch (wrkMast.getIoType()) {
			case 1:
			ledCommand.setTitle("全板入库");
			break;
			case 10:
			ledCommand.setTitle("空板入库");
			break;
			case 101:
			ledCommand.setTitle("全板出库");
			break;
			case 103:
			ledCommand.setTitle("拣料出库");
			break;
			case 104:
			ledCommand.setTitle("并板出库");
			break;
			case 107:
			ledCommand.setTitle("盘点出库");
			break;
			case 110:
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			default:
			log.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			break;
			}
			ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			ledCommand.setLocNo(wrkMast.getLocNo());
			ledCommand.setStaNo(wrkMast.getStaNo());
			// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
			if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10 ) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())));
			}
			commands.add(ledCommand);
			}
			Set<Integer> workNos = wrkMasts.stream().map(WrkMast::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
			if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
			continue;
			}
			// 命令下发 -------------------------------------------------------------------------------
			if (!commands.isEmpty()) {
			if (!CommandUtils.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			} else {
			ledThread.setLedMk(false);
			}
			}

			try {
			// 修改主档led标记
			for (WrkMast wrkMast : wrkMasts) {
			wrkMast.setOveMk("Y");
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档失败");
			}
			}

			// 更新线程当前工作号集合
			ledThread.setWorkNos(workNos);

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

			}
			}

			/**
			* 其他 ===>> LED显示器复位，显示默认信息
			*/
			@Async
			public void ledReset() {
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			boolean reset = true;
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			}
			if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
			reset = false;
			break;
			}
			}
			// 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()) {
			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());
			} else {

			}
			}
			}
			}

			/**
			* 因双深库位阻塞，对浅库位进行移转（入库版)
			* tip：同步
			*/
			@Transactional
			public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast){
			LocMast loc = locMastService.selectById(pakinWrkMast.getLocNo());

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			Date now = new Date();
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(now);
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(15D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D")?"Y":"N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 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("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(now);
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(now);
			wrkDetl.setModiTime(now);
			if (!wrkDetlService.insert(wrkDetl)) {
			throw new CoolException("保存工作档明细失败");
			}
			}
			}
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("S"); // S.入库预约，入库阻塞库位移转
			shallowLoc.setModiTime(now);
			if (!locMastService.updateById(shallowLoc)){
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			// // 修改目标库位状态
			// if (loc.getLocSts().equals("O")) {
			// loc.setLocSts("S"); // S.入库预约
			// loc.setModiTime(new Date());
			// if (!locMastService.updateById(loc)) {
			// throw new CoolException("更新目标库位状态失败");
			// }
			// } else {
			// throw new CoolException("移转失败");
			// //自动派发任务
			// public synchronized void autoDistribute() {
			// Config config = configService.selectByCode("autoDistribute");
			// if (config == null) {
			// return;
			// }
			wrkMast.setLocNo(shallowLoc.getLocNo());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("修改阻塞入库任务失败");
			}
			}

			/**
			* 因双深库位阻塞，对浅库位进行移转（立即执行版)
			* tip：同步
			*/
			private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){
			try {
			List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
			LocMast loc = null;
			for (Integer row : rows) {
			if (Utils.isDeepLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

			if (loc != null) {
			if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
			LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
			if (!shallowLoc1.getLocSts().equals("O")) {
			loc = null;
			}
			}
			}
			if (null != loc) {
			break;
			}
			}
			}
			if (null == loc) {
			for (Integer row : rows) {
			if (Utils.isShallowLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

			if (null != loc) {//对应深库位非在库状态,不能移库
			String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
			LocMast deepLoc1 = locMastService.selectById(deepLoc);
			if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) {
			loc = null;
			}
			}

			if (null != loc) {
			break;
			}
			}
			}
			}

			if (null == loc) {
			log.error("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			throw new CoolException("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			}

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			throw new CoolException("保存工作档明细失败");
			}
			}
			}
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)) {
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			throw new CoolException("移转失败");
			}
			} catch (Exception e) {
			log.error("双深库位阻塞，对浅库位进行移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			/**
			* 堆垛机演示 ===>> 库位移转
			*/
			public synchronized void crnDemoOfLocMove1(){
			try {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			if (!crn.getDemo()) {
			continue;
			} // 必须为演示状态

			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}

			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 获取移库工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
			if (null != wrkMast) {
			continue;
			}

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

			String sourceLocNo = sourceLoc.getLocNo();
			String locNo = loc.getLocNo();

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(sourceLocNo); // 源库位
			wrkMast.setLocNo(locNo); // 目标库位
			wrkMast.setFullPlt("N"); // 满板：Y
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
			// for (LocDetl locDetl : locDetls) {
			// WrkDetl wrkDetl = new WrkDetl();
			// wrkDetl.setWrkNo(workNo);
			// wrkDetl.setIoTime(new Date());
			// wrkDetl.setAnfme(locDetl.getAnfme());
			// VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			// wrkDetl.setAppeTime(new Date());
			// wrkDetl.setModiTime(new Date());
			// if (!wrkDetlService.insert(wrkDetl)) {
			// throw new CoolException("保存工作档明细失败");
			// }
			// }
			// 修改源库位状态
			if (sourceLoc.getLocSts().equals("D")) {
			sourceLoc.setLocSts("R"); // R.出库预约
			sourceLoc.setModiTime(new Date());
			if (!locMastService.updateById(sourceLoc)) {
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			throw new CoolException("移转失败");
			}

			}
			}
			} catch (Exception e) {
			log.error("堆垛机演示 ===>> 库位移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			/**
			* 堆垛机命令下发后，异步修改工作档状态
			*/
			public synchronized void crnIoWrkMast(){
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			Date now = new Date();
			// 堆垛机正在运行
			if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 获取工作档
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) { continue; }
			// 入库
			if (wrkMast.getWrkSts() == 1 \|\| wrkMast.getWrkSts() == 2) {
			log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			}
			// 出库、移库
			if (wrkMast.getWrkSts() == 11) {
			log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			}


			}

			}
			}

			// /**
			// * 入出库模式切换函数
			// */
			// public void ioConvert() {
			// try {
			// // 根据输送线plc遍历
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			//
			// for (DevpSlave.Sta inSta : devp.getInSta()) {
			// if (inSta.getStaNo() == 2) {
			// continue;
			// }
			// WrkMast pakout = wrkMastMapper.selectWorkingPakout(inSta.getStaNo());
			// switch (inSta.getStaNo()) {
			// case 203://1F
			// if (pakout != null) {
			// if (devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
			// // 出库切换中
			// devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
			// WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			// if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			// && !devpThread.getStation().get(inSta.getStaNo()+1).isLoading()
			// && devpThread.getStation().get(inSta.getStaNo()+1).getWorkNo()==0) {
			// // 出库模式
			// devpThread.ioModeOf2F = IoModeType.PAKOUT_MODE;
			// }
			// }
			// } else {
			// // 入库模式
			// devpThread.ioModeOf2F = IoModeType.PAKIN_MODE;
			// }
			// break;
			// }
			// }
			// if (config.getValue().equals("false")) {//判断是否开启自动派发任务
			// return;
			// }
			//
			// for (TaskWrk taskWrk : taskWrkService.selectReceive()) {
			//
			// try {
			// taskWrkService.distribute(taskWrk.getTaskNo(), 9527L);
			// } catch (CoolException e) {
			// log.info(e.getMessage());
			// }
			//
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }

			public void outOfDevp() {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
			for (WrkMast wrkMast : wrkMasts) {
			if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
			wrkMast.setCtnNo("Y");
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
			}
			public synchronized void autoCompleteTask() {
			List<TaskWrk> taskWrks = taskWrkMapper.selectWorkingTask();
			for (TaskWrk taskWrk : taskWrks) {
			//获取命令集合
			List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
			if (taskWrk.getCommandStep() < commandInfos.size()) {
			continue;//当前步序没有到达最后一条命令
			}

			//判断末端命令是否执行完成
			CommandInfo commandInfo = commandInfos.get(commandInfos.size() - 1);
			if (commandInfo.getCommandStatus() != CommandStatusType.COMPLETE.id) {
			continue;//指令未完成
			}

			Date now = new Date();
			//指令已完成，更新任务
			if (taskWrk.getIoType() == 1) {
			//入库任务
			taskWrk.setWrkSts(4);//3.吊车入库中 => 4.入库完成
			//taskWrk.setStatus(TaskStatusType.COMPLETE.id);
			taskWrk.setModiTime(now);
			taskWrkService.updateById(taskWrk);

			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			locMast.setLocSts("F");//F.在库
			locMast.setBarcode(taskWrk.getBarcode());//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 2) {
			//出库任务
			taskWrk.setWrkSts(14);//12.吊车出库中 => 14.出库完成
			// taskWrk.setStatus(TaskStatusType.COMPLETE.id);
			taskWrk.setModiTime(now);
			taskWrkService.updateById(taskWrk);

			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
			locMast.setLocSts("O");//O.空库位
			locMast.setBarcode("");//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			}
			}
			}

			private TaskWrk createTask1(Result result, String barcode) {
			String locNo = Utils.getLocNo(result.getRow(), result.getFloor(), result.getColumn());
			LocMast locMast = locMastService.selectByLocNo(locNo);
			if (locMast == null) {
			throw new CoolException("库位不存在");
			}

			Date now = new Date();
			TaskWrk taskWrk = new TaskWrk();
			int workNo1 = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号
			taskWrk.setTaskNo(result.getTaskNo());//任务号
			taskWrk.setWrkNo(workNo1);
			taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收
			taskWrk.setCreateTime(now);
			taskWrk.setIoType(1);//任务类型
			taskWrk.setIoPri(13);//优先级
			taskWrk.setBarcode(barcode);//条码
			taskWrk.setCrnNo(locMast.getCrnNo());
			taskWrk.setTargetPoint(locNo);
			taskWrk.setStartPoint("116");
			if (result.getAlley().equals("1")) {
			taskWrk.setCrnNo(1);
			} else {
			taskWrk.setCrnNo(2);
			}
			if (taskWrk.getIoType() == 1) {
			taskWrk.setWrkSts(2);
			if (!Cools.isEmpty(taskWrk.getTargetPoint())) {
			taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint());
			}
			}
			return taskWrk;
			}

			private TaskWrk createTask(GetWmsDto dto, String barcode) {
			String wcsLocNo = dto.getLocNo();
			if (Cools.isEmpty(wcsLocNo)) {
			return null;
			}
			Date now = new Date();
			TaskWrk taskWrk = new TaskWrk();
			int workNo1 = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号
			taskWrk.setTaskNo(dto.getWrkNo());//任务号
			taskWrk.setWrkNo(workNo1);
			taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收
			taskWrk.setCreateTime(now);
			taskWrk.setIoType(1);//任务类型
			taskWrk.setIoPri(Cools.isEmpty(dto.getTaskPriority()) ? 300 : Integer.parseInt(dto.getTaskPriority()));//优先级
			taskWrk.setBarcode(barcode);//条码
			LocMast locMast = locMastService.selectByLocNo(wcsLocNo);
			taskWrk.setCrnNo(locMast.getCrnNo());
			taskWrk.setTargetPoint(wcsLocNo);
			taskWrk.setStartPoint(dto.getStaNo().toString());
			if (taskWrk.getIoType() == 1) {
			taskWrk.setWrkSts(2);
			if (!Cools.isEmpty(taskWrk.getTargetPoint())) {
			taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint());
			}

			// } else if (param.getIoType() == 2) {
			// taskWrk.setWrkSts(11);
			// if (!Cools.isEmpty(param.getStartPoint())) {
			// taskWrk.setStartPoint(Utils.getWcsLocNo(param.getStartPoint()));//起点
			// taskWrk.setOriginStartPoint(param.getStartPoint());
			// }
			// taskWrk.setTargetPoint(param.getTargetPoint());
			// }else if (param.getIoType() == 3){
			// taskWrk.setWrkSts(11);
			// if (!Cools.isEmpty(param.getStartPoint())) {
			// taskWrk.setStartPoint(param.getStartPoint());//起点
			// taskWrk.setOriginStartPoint(param.getStartPoint());
			// }
			}
			return taskWrk;
			}

			}