自动化立库仓库-WCS系统
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#
TQS
2022-11-22 b0a94cf9288631f2343a769a6c79b78972b04b12 
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java


@@ -95,8 +95,7 @@


     * 组托


     * 入库站，根据条码扫描生成入库工作档，工作状态 2


     */


    @Async


    public void generateStoreWrkFile() {


    public synchronized void generateStoreWrkFile() {


        // 根据输送线plc遍历


        for (DevpSlave devp : slaveProperties.getDevp()) {


            // 遍历入库口


@@ -228,8 +227,7 @@


     * wms入库


     * 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2


     */


    @Async


    public void generateStoreWrkFile0() {


    public synchronized void generateStoreWrkFile0() {


        // 根据输送线plc遍历


        for (DevpSlave devp : slaveProperties.getDevp()) {


            // 遍历入库口


@@ -541,7 +539,7 @@


    /**


     * 盘点货物抵达盘点目标站 wrkMast.sourceLoc P ===>> O


     */


    public void pickWrkCompleteStaNo() {


    public synchronized void pickWrkCompleteStaNo() {


        List<WrkMast> wrkMasts = wrkMastMapper.selectPick17(null, null);


        for (WrkMast wrkMast : wrkMasts) {


            // 修改源库位状态 O.空库位


@@ -566,8 +564,7 @@


    /**


     * 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()) {


@@ -684,7 +681,7 @@


    /**


     * 入库  ===>>  堆垛机站到库位


     */


    public boolean crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){


    public synchronized boolean crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){


        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {


            boolean flag = false;


            // 获取堆垛机入库站信息


@@ -792,6 +789,7 @@


                        crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                        crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                        crnCommand.setCommand((short) 0);


                        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


@@ -846,6 +844,7 @@


                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                            crnCommand.setCommand((short) 0);


                            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


@@ -895,7 +894,7 @@


    /**


     * 出库  ===>>  库位到堆垛机站


     */


    public boolean locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){


    public synchronized boolean 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


            WrkMast wrkMast = wrkMastMapper.selectPakOutStep111215(slave.getId(), crnStn.getStaNo());


@@ -918,6 +917,7 @@


                        || Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(one.getLocNo()))){


                    continue;


                }


                log.info("");


            }




            //出库库位不是最外层库位，判断浅库位组是否都为空，或存在库位移转任务


@@ -1032,6 +1032,7 @@


                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                    crnCommand.setCommand((short) 0);


                    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


@@ -1066,6 +1067,12 @@


                            if (steProtocol == null) { continue; }


                            if (steProtocol.isIdle()) {




                                //小车只能绑定一笔作业中任务


                                WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo);


                                if(wrkMast1 != null){


                                    continue;


                                }




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


                                SteCommand steCommand = new SteCommand();


                                steCommand.setSteNo(steNo); // 穿梭车编号


@@ -1075,10 +1082,12 @@


                                steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());


                                steCommand.setBay(steProtocol.getBay());


                                steCommand.setLev(steProtocol.getLev());


                                steCommand.setMemo("11==>14小车搬出库任务，任务号"+wrkMast.getWrkNo()+"");




                                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {


                                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));


                                } else {


                                    log.info("穿梭车命令下发成功(11==>14小车搬出库任务)，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));


                                    // 修改工作档状态 11.生成出库ID => 14.小车搬出库


                                    Date now = new Date();


                                    wrkMast.setWrkSts(14L);


@@ -1102,6 +1111,7 @@


                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                            crnCommand.setCommand((short) 0);


                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                            crnCommand.setSourcePosX(Utils.getGroupRow(sourceSta.getRow1()).shortValue());     // 源库位排


                            crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列


@@ -1168,7 +1178,7 @@


    /**


     * 库位移转 NEW


     */


    public void locToLoc1(CrnSlave slave, CrnProtocol crnProtocol){


    public synchronized void locToLoc1(CrnSlave slave, CrnProtocol crnProtocol){


        // 获取工作档信息


        WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());


        if (null == wrkMast) {


@@ -1219,6 +1229,7 @@


                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                crnCommand.setCommand((short) 0);


                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue());     // 源库位排


                crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue());     // 源库位列


@@ -1253,6 +1264,12 @@


                    SteProtocol steProtocol = steThread.getSteProtocol();


                    if (steProtocol == null) { return; }


                    if (steProtocol.isIdle()) {




                        //小车只能绑定一笔作业中任务


                        WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo);


                        if(wrkMast1 != null){


                            return;


                        }




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


                        SteCommand steCommand = new SteCommand();


@@ -1290,6 +1307,7 @@


                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                    crnCommand.setCommand((short) 0);


                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                    crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue());     // 源库位排


                    crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue());     // 源库位列


@@ -1339,7 +1357,7 @@


    /**


     * 库位移转，回原库位


     */


    public void locToLoc17(CrnSlave slave, CrnProtocol crnProtocol){


    public synchronized void locToLoc17(CrnSlave slave, CrnProtocol crnProtocol){


        // 获取工作档信息


        WrkMast wrkMast = wrkMastMapper.selectLocMove17(slave.getId());


        if (null == wrkMast) {


@@ -1466,6 +1484,7 @@


                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                            crnCommand.setCommand((short) 0);


                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                            crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue());     // 源库位排


                            crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue());     // 源库位列


@@ -1518,7 +1537,7 @@


    /**


     * 库位移转


     */


    public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){


    public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){


        // 获取工作档信息


        WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());


        if (null == wrkMast) {


@@ -1571,6 +1590,7 @@


                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                crnCommand.setCommand((short) 0);


                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue());     // 源库位排


                crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue());     // 源库位列


@@ -1621,6 +1641,7 @@


                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                            crnCommand.setCommand((short) 0);


                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                            crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue());     // 源库位排


                            crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue());     // 源库位列


@@ -1677,6 +1698,12 @@


                    if (steProtocol == null) { return; }


                    if (steProtocol.isIdle()) {




                        //小车只能绑定一笔作业中任务


                        WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo);


                        if(wrkMast1 != null){


                            return;


                        }




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


                        SteCommand steCommand = new SteCommand();


                        steCommand.setSteNo(steNo); // 穿梭车编号


@@ -1715,6 +1742,7 @@


                        crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                        crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                        crnCommand.setCommand((short) 0);


                        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                        crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue());     // 源库位排


                        crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue());     // 源库位列


@@ -1761,6 +1789,7 @@


                                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                                crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                                crnCommand.setCommand((short) 0);


                                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                                crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue());     // 源库位排


                                crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue());     // 源库位列


@@ -1811,7 +1840,7 @@


    /**


     * 当前库位组是否存在空闲小车


     */


    public Integer hasCar(String locNo) {


    public synchronized Integer hasCar(String locNo) {


        for (SteSlave ste : slaveProperties.getSte()) {


            // 获取堆垛机信息


            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());


@@ -1827,7 +1856,7 @@


    /**


     * 当前库位组是否存在空闲小车


     */


    public Integer hasCarOfIdle(String locNo) {


    public synchronized Integer hasCarOfIdle(String locNo) {


        for (SteSlave ste : slaveProperties.getSte()) {


            // 获取堆垛机信息


            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());


@@ -1845,7 +1874,7 @@


    /**


     * 查找当前库位最适合的穿梭车来作业


     */


    public SteThread queryIdleCar(WrkMast wrkMast) {


    public synchronized SteThread queryIdleCar(WrkMast wrkMast) {


        Integer crnNo = wrkMast.getCrnNo();


        BasSte basSte = basSteService.findByCrnNo(crnNo);


        // 获取穿梭车信息


@@ -1863,12 +1892,18 @@


     * 让小车从 远点 ====>> 待机


     *  等待堆垛机搬运


     */


    public void letCarBeWaiting(WrkMast wrkMast, Integer steNo, String locNo) {


    public synchronized void letCarBeWaiting(WrkMast wrkMast, Integer steNo, String locNo) {


        // 获取穿梭车信息


        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);


        SteProtocol steProtocol = steThread.getSteProtocol();


        if (steProtocol == null) { return; }


        if (steProtocol.isIdle()) {




            //小车只能绑定一笔作业中任务


            WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo);


            if(wrkMast1 != null){


                return;


            }




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


            SteCommand steCommand = new SteCommand();


@@ -1883,6 +1918,7 @@


            if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {


                log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));


            } else {


                log.error("穿梭车命令下发成功让小车从 远点 ====>> 待机位,绑定穿梭车,IoType={}, 穿梭车号={}，任务数据={}", wrkMast.getIoType(), steNo, JSON.toJSON(steCommand));


                // 修改工作档状态 绑定穿梭车


                wrkMast.setSteNo(steNo);


                wrkMast.setModiTime(new Date());


@@ -1893,7 +1929,7 @@


        }


    }




    public void letCarBeWaiting(WrkCharge wrkCharge, Integer steNo) {


    public synchronized void letCarBeWaiting(WrkCharge wrkCharge, Integer steNo) {


        // 获取穿梭车信息


        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);


        SteProtocol steProtocol = steThread.getSteProtocol();


@@ -1901,6 +1937,12 @@




        if (!basSteService.updatePakMk(steNo, "Y")) {


            log.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);


            return;


        }




        //小车只能绑定一笔作业中任务


        WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo);


        if(wrkMast1 != null){


            return;


        }




@@ -1930,12 +1972,18 @@


     * 让小车从 远点 ====>> 移动到近点


     *  等待堆垛机搬运


     */


    public void letCarBeReady(WrkMast wrkMast, Integer steNo, String locNo) {


    public synchronized void letCarBeReady(WrkMast wrkMast, Integer steNo, String locNo) {


        // 获取穿梭车信息


        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);


        SteProtocol steProtocol = steThread.getSteProtocol();


        if (steProtocol == null) { return; }


        if (steProtocol.isIdle()) {




            //小车只能绑定一笔作业中任务


            WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo);


            if(wrkMast1 != null){


                return;


            }




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


            SteCommand steCommand = new SteCommand();


@@ -1946,10 +1994,12 @@


            steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());


            steCommand.setBay(steProtocol.getBay());


            steCommand.setLev(steProtocol.getLev());


            steCommand.setMemo("绑定小车号，让小车从 远点 ====>> 移动到近点");




            if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {


                log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));


            } else {


                log.info("穿梭车命令下发成功(让小车从远点==>>移动到近点)，IoType={}, 穿梭车号={}，任务数据={}", wrkMast.getIoType(), steNo, JSON.toJSON(steCommand));


                // 修改工作档状态 绑定穿梭车


                wrkMast.setSteNo(steNo);


                wrkMast.setModiTime(new Date());


@@ -1964,12 +2014,18 @@


     * 让小车从 远点 ====>> 移动到近点


     *  等待堆垛机搬运


     */


    public void letCarBeReady(WrkCharge wrkCharge, Integer steNo) {


    public synchronized void letCarBeReady(WrkCharge wrkCharge, Integer steNo) {


        // 获取穿梭车信息


        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);


        SteProtocol steProtocol = steThread.getSteProtocol();


        if (steProtocol == null) { return; }


        if (steProtocol.isIdle()) {




            //小车只能绑定一笔作业中任务


            WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo);


            if(wrkMast1 != null){


                return;


            }




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


            SteCommand steCommand = new SteCommand();


@@ -1997,7 +2053,7 @@


    /**


     * 入出库  ===>>  堆垛机搬入小车


     */


    public void carMoveIn(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {


    public synchronized void carMoveIn(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {


        // 获取堆垛机信息


        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);


        SteProtocol steProtocol = steThread.getSteProtocol();


@@ -2014,6 +2070,7 @@


                    crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号


                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                    crnCommand.setCommand((short) 0);


                    crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转


                    crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排


                    crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列


@@ -2043,6 +2100,7 @@


                    crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号


                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                    crnCommand.setCommand((short) 0);


                    crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转


                    crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排


                    crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列


@@ -2073,7 +2131,7 @@


    /**


     * 入库  ===>>  堆垛机搬出小车


     */


    public void carMoveOut(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {


    public synchronized void carMoveOut(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {


        // 获取穿梭车信息


        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);


        SteProtocol steProtocol = steThread.getSteProtocol();


@@ -2095,6 +2153,7 @@


                crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号


                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                crnCommand.setCommand((short) 0);


                crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转


                crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排


                crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列


@@ -2124,9 +2183,8 @@


    /**


     * 执行对工作档的完成操作


     */


    @Async


    @Transactional


    public void storeFinished() {


    public synchronized void storeFinished() {


        for (CrnSlave crn : slaveProperties.getCrn()) {


            // 获取堆垛机信息


            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());


@@ -2302,9 +2360,11 @@


                        steCommand.setSteNo(steNo); // 穿梭车编号


                        steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号


                        steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式:  搬出库


                        steCommand.setMemo("出库 ===>> 迁入小车 完成");


                        if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {


                            log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));


                        } else {


                            log.info("穿梭车命令下发成功，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));


                            // 13.迁入小车 ==> 14.小车搬出库


                            wrkMast.setWrkSts(14L);


                            Date now = new Date();


@@ -2572,8 +2632,12 @@


            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());


            SteProtocol steProtocol = steThread.getSteProtocol();


            if (steProtocol == null) { continue; }


            if (steProtocol.getWaiting() && steProtocol.getTaskNo() != 0) {


                log.info("ste[id={}] 执行工作档完成，任务号={}", steProtocol.getSteNo(), steProtocol.getTaskNo());


            if (steProtocol.getWaiting() && steProtocol.getTaskNo() == 0){


                log.info("ste[id={}] 收到等待WCS确认信号，但是任务号(地址V824)为0", steProtocol.getSteNo());


            }




            if (steProtocol.getWaiting() && steProtocol.getTaskNo() != 0 && steProtocol.getStatus() == 10) {


                log.info("ste[id={}] 执行工作档完成，任务号={}, 穿梭车状态={}", steProtocol.getSteNo(), steProtocol.getTaskNo(), steProtocol.getStatus());


                if (steProtocol.getTaskNo() == 9999) {


                    steThread.setResetFlag(true);


                } else {


@@ -2692,7 +2756,7 @@


    /**


     * 异常信息记录


     */


    public void recErr() {


    public synchronized void recErr() {


        try {


            this.recCrnErr();


            this.recSteErr();


@@ -2704,7 +2768,7 @@


    /**


     * 堆垛机异常信息记录


     */


    private void recCrnErr(){


    private synchronized void recCrnErr(){


        Date now = new Date();


        for (CrnSlave crn : slaveProperties.getCrn()) {


            // 获取堆垛机信息


@@ -2935,8 +2999,7 @@


    /**


     * 空栈板初始化入库,叉车入库站放货


     */


    @Async


    public void storeEmptyPlt(){


    public synchronized void storeEmptyPlt(){


        for (DevpSlave devp : slaveProperties.getDevp()) {


            // 遍历空板入库口


            for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {


@@ -3026,8 +3089,7 @@


    /**


     * 出库  ===>> 工作档信息写入led显示器


     */


    @Async


    public void ledExecute() {


    public synchronized void ledExecute() {


        for (LedSlave led : slaveProperties.getLed()) {


            // 获取输送线plc线程


            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());


@@ -3130,8 +3192,7 @@


    /**


     * 其他  ===>> LED显示器复位，显示默认信息


     */


    @Async


    public void ledReset() {


    public synchronized void ledReset() {


        for (LedSlave led : slaveProperties.getLed()) {


            // 获取输送线plc线程


            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());


@@ -3226,6 +3287,7 @@


                        crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号


                        crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号


                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                        crnCommand.setCommand((short) 0);


                        crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转


                        crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排


                        crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列


@@ -3434,6 +3496,7 @@


                crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号


                crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号


                crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                crnCommand.setCommand((short) 0);


                crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转


                crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排


                crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列


@@ -3500,7 +3563,7 @@


    /**


     * 因深库位阻塞，对浅库位进行移转


     */


    private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){


    private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){


        try {


            String rows = "";


            switch (crn.getId()){


@@ -3514,10 +3577,19 @@


                    rows = "18,19";


                    break;


            }


            LocMast loc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("crn_no",crn.getId())


            LocMast loc = null;


            List<LocMast> locs = locMastService.selectList(new EntityWrapper<LocMast>().eq("crn_no",crn.getId())


                                                .eq("loc_type1",shallowLoc.getLocType1())


                                                .eq("loc_sts","O")


                                                .last(" and row1 in (" + rows + ") order by bay1,lev1"));


            for (LocMast one : locs){


                if(Utils.getGroupRow(one.getLocNo()) != Utils.getGroupRow(shallowLoc.getLocNo())


                    || Utils.getBay(one.getLocNo()) != Utils.getBay(shallowLoc.getLocNo())


                    || Utils.getLev(one.getLocNo()) != Utils.getLev(shallowLoc.getLocNo())){


                    loc = one;


                    break;


                }


            }




            if (null == loc) {


                log.error("深库位出库 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());