#

Junjie

2025-11-17 b157c60bf9087c40dccfd3dc929726b8c558f1fc

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

@@ -810,150 +810,6 @@
    }

    /**
     * 堆垛机无任务两分钟，回入库口待机
     */
    public synchronized void crnMove() {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            if (crn.getId() == 1) {
                continue;
            }

            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            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;
            }

            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
                    continue;
                }

                if (System.currentTimeMillis() - crnProtocol.getLastCommandTime() < 1000 * 60 * 2) {
                    continue;
                }

                Object object = redisUtil.get(RedisConstantType.CRN_MOVE_LOCK + crn.getId());
                if (object != null) {
                    continue;
                }

                List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                        .eq("crn_no", crn.getId())
                        .notIn("wrk_sts", 5, 14, 15)
                );
                if (!wrkMasts.isEmpty()) {
                    continue;
                }

                CrnSlave.CrnStn crnStn = crn.getCrnInStn().get(0);

                News.info("堆垛机无任务自动回入库口待机==>>" + crnProtocol.getCrnNo() + "号堆垛机");
                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                crnCommand.setTaskNo((short) 9999); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE); // 任务模式:  堆垛机移动
                crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                crnCommand.setSourcePosY((short) 1);     // 源库位列
                crnCommand.setSourcePosZ((short) 1);     // 源库位层
                crnCommand.setDestinationPosX((short) 0);     // 目标库位排
                crnCommand.setDestinationPosY((short) 0);     // 目标库位列
                crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
                    News.error("堆垛机移动命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
                }
                crnThread.setBackHpFlag(true);
                redisUtil.set(RedisConstantType.CRN_MOVE_LOCK + crn.getId(), "lock", 10);
                try {
                    Thread.sleep(500);
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        }
    }

    /**
     * 堆垛机有入库任务时，回入库口待机
     */
    public synchronized void crnMoveByInTask() {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            if (crn.getId() == 1) {
                continue;
            }

            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            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;
            }

            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
                    continue;
                }

                if (System.currentTimeMillis() - crnProtocol.getLastCommandTime() < 1000 * 60) {
                    continue;
                }

                Object object = redisUtil.get(RedisConstantType.CRN_MOVE_LOCK + crn.getId());
                if (object != null) {
                    continue;
                }

                List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                        .eq("crn_no", crn.getId())
                        .eq("wrk_sts", 2)
                );
                if (wrkMasts.isEmpty()) {
                    continue;
                }

                CrnSlave.CrnStn crnStn = crn.getCrnInStn().get(0);

                News.info("堆垛机有入库任务时，回入库口待机==>>" + crnProtocol.getCrnNo() + "号堆垛机");
                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                crnCommand.setTaskNo((short) 9999); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE); // 任务模式:  堆垛机移动
                crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                crnCommand.setSourcePosY((short) 1);     // 源库位列
                crnCommand.setSourcePosZ((short) 1);     // 源库位层
                crnCommand.setDestinationPosX((short) 0);     // 目标库位排
                crnCommand.setDestinationPosY((short) 0);     // 目标库位列
                crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
                    News.error("堆垛机移动命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
                }
                crnThread.setBackHpFlag(true);
                redisUtil.set(RedisConstantType.CRN_MOVE_LOCK + crn.getId(), "lock", 10);
                try {
                    Thread.sleep(500);
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        }
    }

    /**
     * 入库  ===>>  堆垛机站到库位
     */
    public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
@@ -1855,245 +1711,6 @@
        News.infoNoLog("" + mark + " - 0" + " - 堆垛机异常信息记录执行完成");
    }


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

    /**
     * 空栈板初始化入库,叉车入库站放货
     */
    public synchronized void storeEmptyPlt(Integer mark) {

        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();
                }

                LedThread ledThread = null;
                if (!Cools.isEmpty(emptyInSta.getLed())) {
                    ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
                }

                if (!staProtocol.isLoading()) {
                    continue;
                }

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

                // 站点条件判断
                if (staProtocol.isAutoing()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999)
                        && staProtocol.isPakMk()
                        && staProtocol.getEmptyInType() == 1
                ) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行：空栈板初始化入库,叉车入库站放货");

                    String barcode = barcodeThread.getBarcode();
                    if (!Cools.isEmpty(barcode)) {
                        News.info("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode);
                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                            News.info("" + mark + " - 2" + " - 扫码失败1 ===>> {}号条码扫描器检测条码信息：{},站点:{}", emptyInSta.getBarcode(), barcode, emptyInSta.getStaNo());
                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = "扫码失败，请重试";
                                MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
                            }
                            continue;
                        }
                    } else {
                        News.info("" + mark + " - 3" + " - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", emptyInSta.getBarcode(), barcode, emptyInSta.getStaNo());
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "扫码失败，请重试";
                            MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
                        }
                        continue;
                    }

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setIoType(10);
                        param.setSourceStaNo(emptyInSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        param.setBarcode(barcode);
                        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);

                            LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                                    .eq("loc_no", dto.getLocNo()));

                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            staProtocol.setPalletSize(locMast.getLocType2());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                News.errorNoLog("" + mark + " - 1" + " - 更新plc站点信息失败");
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            if (ledThread != null) {
                                String errorMsg = jsonObject.getString("msg");
                                if (!Cools.isEmpty(errorMsg)) {
                                    MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
                                }
                            }
                            News.error("" + mark + " - 3" + " - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                    }
                } else {
                    News.errorNoLog("" + mark + " - 4" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isAutoing() + "、可入信号：" + staProtocol.isInEnable()
                            + "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo()
                            + "、锁定标记" + staProtocol.isPakMk());
                }
            }
        }
        News.infoNoLog("" + mark + " - 0" + " - 空栈板初始化入库,叉车入库站放货执行完成");
    }

    /**
     * 空托盘入库-产线
     */
    public synchronized void storeEmptyPltLine(Integer mark) {
        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();
                }

                LedThread ledThread = null;
                if (!Cools.isEmpty(emptyInSta.getLed())) {
                    ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
                }

                if (!staProtocol.isLoading()) {
                    continue;
                }

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

                // 站点条件判断
                if (staProtocol.isAutoing()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999)
                        && staProtocol.isPakMk()
                        && staProtocol.getEmptyInType() == 2
                ) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行：空栈板初始化入库,叉车入库站放货");

                    String barcode = barcodeThread.getBarcode();
                    if (!Cools.isEmpty(barcode)) {
                        News.info("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode);
                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                            News.info("" + mark + " - 2" + " - 扫码失败1 ===>> {}号条码扫描器检测条码信息：{},站点:{}", emptyInSta.getBarcode(), barcode, emptyInSta.getStaNo());
                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = "扫码失败，请重试";
                                MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
                            }
                            continue;
                        }
                    } else {
                        News.info("" + mark + " - 3" + " - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", emptyInSta.getBarcode(), barcode, emptyInSta.getStaNo());
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "扫码失败，请重试";
                            MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
                        }
                        continue;
                    }

                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                            .eq("barcode", barcode)
                    );
                    if (wrkMast != null) {
                        continue;
                    }

                    //检测是否有入库任务
                    List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                            .in("io_type", 1, 53, 57)
                            .in("source_sta_no", 1002, 1007)
                    );
                    if (!inWrkMasts.isEmpty()) {
                        News.error("" + mark + " - 2" + " - 检测存在入库任务，等待入库任务执行完成再入空托，工作号={}");
                        continue;
                    }

                    int workNo = commonService.getWorkNo(3);
                    // 生成工作档
                    WrkMast wrkMast1 = new WrkMast();
                    wrkMast1.setWrkNo(workNo);
                    wrkMast1.setIoTime(new Date());
                    wrkMast1.setWrkSts(2L); // 工作状态：设备上走
                    wrkMast1.setIoType(3); // 入出库状态：3.站到站
                    wrkMast1.setIoPri(13D); // 优先级
                    wrkMast1.setSourceStaNo(emptyInSta.getStaNo());
                    wrkMast1.setStaNo(1004);
                    wrkMast1.setBarcode(barcode);
                    // 操作人员数据
                    wrkMast1.setAppeTime(new Date());
                    wrkMast1.setModiTime(new Date());
                    boolean res = wrkMastService.insert(wrkMast1);
                    if (!res) {
                        throw new CoolException("保存工作档失败");
                    }

                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo((short) workNo);
                    staProtocol.setStaNo((short) 2003);
                    staProtocol.setPalletSize((short) 1);
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    if (!result) {
                        News.errorNoLog("" + mark + " - 1" + " - 更新plc站点信息失败");
                        throw new CoolException("更新plc站点信息失败");
                    }
                } else {
                    News.errorNoLog("" + mark + " - 4" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isAutoing() + "、可入信号：" + staProtocol.isInEnable()
                            + "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo()
                            + "、锁定标记" + staProtocol.isPakMk());
                }
            }
        }
        News.infoNoLog("" + mark + " - 0" + " - 空栈板初始化入库,叉车入库站放货执行完成");
    }

    /**
     * 出库  ===>> 工作档信息写入led显示器
     */
@@ -2625,473 +2242,4 @@
        return true;
    }

    /**
     * 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;
                    }

                    Integer ctnType = 1;
                    if (ctnType.equals(loc.getCtnType())) {
                        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.setCtnType(1);
                        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) {
            News.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) {
                    News.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) {
                        News.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());
                    }
                    News.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) {
                    News.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) {
                        News.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());
                    }
                    News.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
                }


            }

        }
    }

    // RGV  ===>> 执行对RGV操作
    public synchronized void rgvExecute(Integer mark) {
        ArrayList<Integer> list = new ArrayList<Integer>() {{
            add(2003);
            add(2002);
        }};
        for (Integer staNo : list) {
            Integer devpId = null;
            Integer rgvStaNoDevpId = null;
            Integer rgvStaNo = null;
            if (staNo == 2003) {
                devpId = 1;
                rgvStaNo = 2002;
                rgvStaNoDevpId = 2;
            } else {
                devpId = 2;
                rgvStaNo = 2003;
                rgvStaNoDevpId = 1;
            }

            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devpId);
            if (devpThread == null) {
                continue;
            }
            StaProtocol staProtocol = devpThread.getStation().get(staNo);
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }

            if (staProtocol.isAutoing()
                    && staProtocol.isLoading()
                    && staProtocol.isInEnable()
                    && staProtocol.getWorkNo() > 0
            ) {
                WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                        .eq("wrk_no", staProtocol.getWorkNo()));

                if (wrkMast == null) {
                    continue;
                }

                if (wrkMast.getWrkSts() == 201) {
                    continue;
                }

                SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvStaNoDevpId);
                if (devpThread2 == null) {
                    continue;
                }
                StaProtocol staProtocolRgvStaNo = devpThread2.getStation().get(rgvStaNo);
                if (staProtocolRgvStaNo == null) {
                    continue;
                }

                if (!staProtocolRgvStaNo.isAutoing()) {
                    continue;
                }

                if (staProtocolRgvStaNo.isLoading()) {
                    continue;
                }

                // 获取RGV信息
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, 1);
                if (rgvThread == null) {
                    continue;
                }

                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }

                if (rgvProtocol.statusType1 != RgvStatusType.IDLE && rgvProtocol.getTaskNo1() != 0) {
                    continue;
                }

                Object object = redisUtil.get(RedisConstantType.RGV_MOVE_LOCK + wrkMast.getWrkNo());
                if (object != null) {
                    continue;
                }

                RgvCommand command = new RgvCommand();
                command.setRgvNo(1); // RGV编号
                command.setAckFinish1((short) 0);  // 任务完成确认位
                command.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工作号
                command.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
                command.setSourceStaNo1(staNo.shortValue()); // 源站
                command.setDestinationStaNo1(rgvStaNo.shortValue());  // 目标站
                command.setCommand((short) 0);

                boolean result = MessageQueue.offer(SlaveType.Rgv, 1, new Task(4, command));
                if (!result) {
                    throw new CoolException("RGV指令下发失败");
                }

                wrkMast.setWrkSts(201L);//201.RGV搬运中
                wrkMast.setModiTime(new Date());
                wrkMastService.updateById(wrkMast);
                redisUtil.set(RedisConstantType.RGV_MOVE_LOCK + wrkMast.getWrkNo(), "lock", 60 * 60);
            }
        }
    }

    // RGV  ===>> 执行对RGV工作档的完成操作
    public synchronized void rgvFinished(Integer mark) {
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            if (rgvThread == null) {
                continue;
            }

            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }

            //  状态：等待确认 并且  任务完成位 = 1
            if (rgvProtocol.statusType1 == RgvStatusType.WAITING && rgvProtocol.getTaskNo1() != 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行对RGV工作档的完成操作");
                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
                if (wrkMast == null) {
                    News.error("" + mark + " - 1" + " - RGV处于等待确认且任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgvSlave.getId(), rgvProtocol.getTaskNo1());
                    continue;
                }

                if (wrkMast.getWrkSts() != 201) {
                    continue;
                }

                if (wrkMast.getIoType() == 3) {
                    //站到站走另外一个方法
                    continue;
                }

                Integer devpId = null;
                Integer devpStaNo = null;
                String locNo = null;
                Long updateWrkSts = null;
                if (wrkMast.getIoType() < 100) {
                    //入库
                    updateWrkSts = 2L;
                    devpId = 1;
                    devpStaNo = 2003;
                    locNo = wrkMast.getLocNo();
                } else {
                    //出库
                    updateWrkSts = 15L;
                    devpId = 2;
                    devpStaNo = 2002;
                    locNo = wrkMast.getSourceLocNo();
                }

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

                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.getWorkNo() == 0
                ) {
                    LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                            .eq("loc_no", locNo));
                    staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                    staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                    staProtocol.setPalletSize(locMast.getLocType2());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devpId, new Task(2, staProtocol));
                    if (!result) {
                        throw new CoolException("更新plc站点信息失败");
                    }
                    wrkMastMapper.updateWrkSts(updateWrkSts, wrkMast.getWrkNo());
                    rgvThread.setResetFlag1(true);
                }
            }
        }
        News.infoNoLog("" + mark + " - 0" + " - 对工作档的完成操作执行完成");
    }

    // RGV  ===>> 执行对RGV工作档的完成操作 站到站
    public synchronized void rgvFinished2(Integer mark) {
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            if (rgvThread == null) {
                continue;
            }

            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }

            //  状态：等待确认 并且  任务完成位 = 1
            if (rgvProtocol.statusType1 == RgvStatusType.WAITING && rgvProtocol.getTaskNo1() != 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行对RGV工作档的完成操作");
                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
                if (wrkMast == null) {
                    News.error("" + mark + " - 1" + " - RGV处于等待确认且任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgvSlave.getId(), rgvProtocol.getTaskNo1());
                    continue;
                }

                if (wrkMast.getWrkSts() != 201) {
                    continue;
                }

                if (wrkMast.getIoType() != 3) {
                    //不是站到站
                    continue;
                }

                Integer devpId = 2;
                Integer devpStaNo = 2002;

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

                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.getWorkNo() == 0
                ) {

                    short locType2 = 1;
                    String barcode = wrkMast.getBarcode();
                    if (barcode.startsWith("11")) {
                        locType2 = 1;
                    } else if (barcode.startsWith("13")) {
                        locType2 = 2;
                    } else if (barcode.startsWith("16")) {
                        locType2 = 3;
                    } else {
                        continue;
                    }

                    staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                    staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                    staProtocol.setPalletSize(locType2);
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devpId, new Task(2, staProtocol));
                    if (!result) {
                        throw new CoolException("更新plc站点信息失败");
                    }
                    rgvThread.setResetFlag1(true);

                    wrkMastService.delete(new EntityWrapper<WrkMast>()
                            .eq("wrk_no", wrkMast.getWrkNo()));
                }
            }
        }
        News.infoNoLog("" + mark + " - 0" + " - 对工作档的完成操作执行完成");
    }

//    /**
//     * 入出库模式切换函数
//     */
//    public synchronized 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 101://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;
//                    }
//                }
//
//            }
//
//        } catch (Exception e) {
//            e.printStackTrace();
//        }
//
//
//    }
}