盘点再入库异常日志埋点

pang.jiabao

2025-04-17 b6eb5b27cd58a116f636b4bb4401edb2f6507e91

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

@@ -41,7 +41,6 @@
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;
@@ -87,6 +86,7 @@
    private BasErrLogService basErrLogService;
    @Autowired
    private BasCrnErrorMapper basCrnErrorMapper;

    @Value("${wms.url}")
    private String wmsUrl;

@@ -94,7 +94,7 @@
     * 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() {
    public synchronized void generateStoreWrkFile() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
@@ -105,9 +105,9 @@
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                if(!Cools.isEmpty(barcode)) {
                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)) {
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
                } else {
@@ -123,14 +123,20 @@
                    staProtocol = staProtocol.clone();
                }

//                // 入出库模式判断
//                if ( inSta.getStaNo()==180 && devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
                // 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;
                }
                if (inSta.getStaNo() == 402 && devpThread.ioModeOf4F == 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() == 9999)
                        && staProtocol.isPakMk()){// && !Cools.isEmpty(barcode)) {
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
                        && staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {

//                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
@@ -174,7 +180,9 @@
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        Integer code = jsonObject.getInteger("code");
                        if (code == 200) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            barcodeThread.setBarcode("");
@@ -186,7 +194,24 @@
                                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);
                            staProtocol.setWorkNo((short) 9995);
                            if (inSta.getStaNo() != 402) {
                                staProtocol.setStaNo((short) (inSta.getStaNo() + 1));
                            } else {
                                staProtocol.setStaNo((short) (inSta.getStaNo() - 1));
                            }
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                            if (!Cools.isEmpty(ledThread)) {
                                String errorMsg = jsonObject.getString("msg");
                                if (!Cools.isEmpty(errorMsg)) {
                                    LedCommand ledCommand = new LedCommand();
                                    ledCommand.setTitle(errorMsg);
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(9, ledCommand));
                                }
                            }
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }


@@ -264,7 +289,7 @@
     * 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
     */
    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
@@ -279,15 +304,19 @@
                }

//                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
                if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_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() == 9999)
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
                        && staProtocol.isPakMk()) {
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
                    if (wrkMast == null) { continue; }
                    if (wrkMast == null) {
                        continue;
                    }

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

@@ -318,7 +347,7 @@
    /**
     * 拣料、并板、盘点再入库
     */
    public synchronized void stnToCrnStnPick(){
    public synchronized void stnToCrnStnPick() {
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历拣料入库口
            for (DevpSlave.Sta pickSta : devp.getPickSta()) {
@@ -328,14 +357,14 @@
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                if(!Cools.isEmpty(barcode)) {
                    log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
                } else {
                    continue;
                }
//               if(!Cools.isEmpty(barcode)) {
//                   log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                   if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                       continue;
//                   }
//               } else {
//                   continue;
//               }

                // 获取拣料入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
@@ -348,29 +377,18 @@

//                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){

//                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                        //条码为空或者不符合，退库到172站点
//                        staProtocol.setWorkNo((short)9999);
//                        staProtocol.setStaNo((short)172);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }
//                        continue;
//                    }

                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
//                     WrkMast  wrkMast = wrkMastMapper.selectPickStep(barcode);
                    if (wrkMast == null) {
                        wrkMast = wrkMastMapper.selectPickStep(barcode);
                    }
                    if (wrkMast == null) {
                        // 无拣料数据
                        continue;
                    }
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
                        || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
                            || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                        continue;
                    }

@@ -404,19 +422,23 @@
                            throw new CoolException("保存工作主档历史档失败");
                        }

                        Date now = new Date();
                        // 堆垛机站点(目标站)
                        Integer staNo = staDesc.getCrnStn();
                        // 更新工作档数据状态
                        wrkMast.setIoTime(now);
                        wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
                        wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                        wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
                        wrkMast.setStaNo(staNo); // 目标站
                        wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
                        wrkMast.setSourceLocNo(""); // 源库位清空
                        wrkMast.setModiTime(new Date());
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            throw new CoolException("更新工作档数据状态失败");
                        }
                        // 更新明细档io_time (历史档关联使用）
                        wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
                        // 修改库位状态 Q.拣料/盘点/并板再入库
                        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
                        locMast.setLocSts("Q");
@@ -434,6 +456,7 @@
                    staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                    staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    log.warn("盘点再入库给输送线下发命令前：{}",JSON.toJSON(staProtocol));
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    if (!result) {
                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
@@ -449,8 +472,7 @@
    /**
     * 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()) {
@@ -513,19 +535,28 @@
    /**
     * 入出库  ===>>  堆垛机入出库作业下发
     */
    public synchronized void crnIoExecute(){
    public synchronized void crnIoExecute() {
        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;
            }

//            //堆垛机回原点任务中
//            if(crnThread.isBackHpFlag()){
//                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) {
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
                // 如果最近一次是入库模式
                if (crnProtocol.getLastIo().equals("I")) {
                    if (basCrnp.getInEnable().equals("Y")) {
@@ -549,64 +580,71 @@
            }
            // 库位移转
            this.locToLoc(crn, crnProtocol);
//            this.crnRebackHp(crnProtocol, crnThread);

        }
    }

    /**
     * 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
     */
    public void crnRebackHp(){
        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;
    public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) {
//        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;
//            }
//            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) {
                return;
            }
            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;

            // 已经存在吊车执行任务时，则过滤3,12
            if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
                return;
            }
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                // 已经存在吊车执行任务时，则过滤
                if (wrkMastMapper.selectWorking(crn.getId()) != null) {
                    continue;
                }

                //堆垛机有执行中任务，过滤
                if (wrkMastMapper.selectCrnWorking(crn.getId()) != null) {
                    continue;
                }

                //输送线没有入库任务，过滤
                if (wrkMastMapper.selectDevWorking(crn.getId()) == null) {
                    continue;
                }

                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
                crnCommand.setTaskNo((short) 1); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  回原点
                crnCommand.setSourcePosX((short) 0);     // 源库位排
                crnCommand.setSourcePosY((short) 0);     // 源库位列
                crnCommand.setSourcePosZ((short) 0);     // 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, crn.getId(), new Task(2, crnCommand))) {
                    log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crn.getId(), JSON.toJSON(crnCommand));
                }
            //堆垛机有执行中任务，过滤3,4,11,12
            if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) {
                return;
            }

            //输送线没有入库任务，过滤2
            if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
                return;
            }
            log.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
            // 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.GO_ORIGIN); // 任务模式:  回原点
            crnCommand.setSourcePosX((short) 0);     // 源库位排
            crnCommand.setSourcePosY((short) 0);     // 源库位列
            crnCommand.setSourcePosZ((short) 0);     // 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))) {
                log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
            }
            crnThread.setBackHpFlag(true);
        }
//        }
    }

    /**
     * 入库  ===>>  堆垛机站到库位
     */
    public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
    public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
            boolean flag = false;
            // 获取堆垛机入库站信息
@@ -624,7 +662,7 @@
                continue;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                flag = true;
            }
            if (!flag) {
@@ -632,7 +670,7 @@
            }
            // 获取工作状态为2（设备上走）的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            if(null == wrkMast) {
            if (null == wrkMast) {
//                log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                continue;
            }
@@ -654,7 +692,7 @@

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

            // 双深库位且浅库位有货，则需先对浅库位进行库位移转
@@ -672,21 +710,24 @@
                        if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                            log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                        }
                        continue;
                    }
                    continue;

                } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                    // 此标记避免多次执行移库任务
                    if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                        wrkMast.setUpdMk("Y");
                        wrkMast.setIoPri(14D);
                        wrkMastMapper.updateById(wrkMast);
                        // 生成工作档,将浅库位移转到新的库位中
                        moveLocForDeepLoc(slave, shallowLoc);
                        // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
//                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
                    }
                    continue;
                } else if (shallowLoc.getLocSts().equals("Q")){
                } else if (shallowLoc.getLocSts().equals("Q")) {
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    if (null != waitWrkMast && waitWrkMast.getWrkSts()==4) {
                    if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                        continue;
                    }
                }
@@ -734,125 +775,266 @@

    /**
     * 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){
    public synchronized 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
            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
            if (wrkMast == null) {
                continue;
            }
            // 工作档状态判断
            if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == 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={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                continue;
            }
            // 获取源库位信息
            LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
            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={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                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) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            for (WrkMast wrkMast : wrkMasts) {
                if (wrkMast == null) {
                    continue;
                }
                // 工作档状态判断
                if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == 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={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                    continue;
                }
                // 获取源库位信息
                LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
                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={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                    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;
//                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

//            // 入出库模式判断
//            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }


            // 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());
                continue;
            }
            // 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) {
                // 入出库模式判断
                //if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
                if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
                    continue;
                }
                if (wrkMast.getStaNo() == 402 && devpThread.ioModeOf4F != IoModeType.PAKOUT_MODE) {
                    continue;
                }

                // 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, wrkMast.getSourceLocNo())) {
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
                    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")) {
                        WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                        if (null == waitWrkMast) {
                            log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                        } else {
                            if(waitWrkMast.getWrkSts() == 11) {
                                waitWrkMast.setIoPri(15D);
                                waitWrkMast.setModiTime(new Date());
                                if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                    log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                }
                                continue;
                            } else {
                // 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;
//                    continue;
                }
                // 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) {
//                        continue;
                        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, wrkMast.getSourceLocNo())) {
                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
                        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")) {
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            if (null == waitWrkMast) {
                                log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                            } else {
                                if (waitWrkMast.getWrkSts() == 11) {
                                    waitWrkMast.setIoPri(15D);
                                    waitWrkMast.setModiTime(new Date());
                                    if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                        log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                    }
                                    continue;
                                } else {

                                }
                            }
                        } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
//                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            //2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                            // 此标记避免多次执行移库任务
//                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
//                                || Cools.isEmpty(waitWrkMast)) {
                            if (Cools.isEmpty(waitWrkMast)) {
                                wrkMast.setUpdMk("Y");
                                wrkMastMapper.updateById(wrkMast);
                                // 生成工作档,将浅库位移转到新的库位中
                                moveLocForDeepLoc(slave, shallowLoc);
                            }
                            log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                            continue;
                        } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                            if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                                continue;
                            }
                        }
                    } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                        // 此标记避免多次执行移库任务
                        if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                            wrkMast.setUpdMk("Y");
                            wrkMastMapper.updateById(wrkMast);
                            // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
                            moveLocForDeepLoc(slave, shallowLoc);
                        }
                        log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
                        continue;
                    }
                }

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

                // 1.堆垛机开始移动
                CrnCommand crnCommand = new CrnCommand();
                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.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 (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.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();
                    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());
                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    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.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 (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.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();
                        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());
                        }
                        break;
                    }
                }
            }
        }
    }

//    /**
//     * 出库  ===>>  库位到堆垛机站
//     */
//    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
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
//            if (wrkMast == null) {
//                continue;
//            }
//            // 工作档状态判断
//            if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == 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={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
//                continue;
//            }
//            // 获取源库位信息
//            LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
//            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={}", wrkMast.getLocNo(), sourceSta.getLocSts());
//                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) {
//                continue;
//            } else {
//                staProtocol = staProtocol.clone();
//            }
//
////            // 入出库模式判断
////            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
//
//
//            // 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());
//                continue;
//            }
//            // 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) {
//                    continue;
//                }
//
//                // 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, wrkMast.getSourceLocNo())) {
//                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
//                    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")) {
//                        WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
//                        if (null == waitWrkMast) {
//                            log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
//                        } else {
//                            if(waitWrkMast.getWrkSts() == 11) {
//                                waitWrkMast.setIoPri(15D);
//                                waitWrkMast.setModiTime(new Date());
//                                if (wrkMastMapper.updateById(waitWrkMast) == 0) {
//                                    log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
//                                }
//                                continue;
//                            } else {
//
//                            }
//                        }
//                    } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
//                        // 此标记避免多次执行移库任务
//                        if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
//                            wrkMast.setUpdMk("Y");
//                            wrkMastMapper.updateById(wrkMast);
//                            // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
//                            moveLocForDeepLoc(slave, shallowLoc);
//                        }
//                        log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
//                        continue;
//                    }
//                }
//
//                // 已经存在吊车执行任务时，则过滤
//                if (wrkMastMapper.selectWorking(slave.getId()) != null) {
//                    return;
//                }
//
//                // 1.堆垛机开始移动
//                CrnCommand crnCommand = new CrnCommand();
//                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.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 (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
//                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.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();
//                    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());
//                    }
//                }
//            }
//        }
//    }

    /**
     * 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) {
@@ -920,34 +1102,40 @@
    /**
     * 执行对工作档的完成操作
     */
    @Async
    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());
            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.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                if (wrkMast == null) {
                    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 (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)){
                    wrkMast.setWrkSts(4L);
                } else  {
                    continue;
                }
                Date now = new Date();
                wrkMast.setCrnEndTime(now);
                wrkMast.setModiTime(now);
                // 修改成功后复位堆垛机
                if (wrkMastMapper.updateById(wrkMast) > 0) {
                if (crnProtocol.getTaskNo() == 9999) {
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
                } else {
                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                    if (wrkMast == null) {
                        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 (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                        wrkMast.setWrkSts(4L);
                    } else {
                        continue;
                    }
                    Date now = new Date();
                    wrkMast.setCrnEndTime(now);
                    wrkMast.setModiTime(now);
                    // 修改成功后复位堆垛机
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        // 堆垛机复位
                        crnThread.setResetFlag(true);
                    }
                }

            }
@@ -957,8 +1145,7 @@
    /**
     * 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
@@ -980,7 +1167,7 @@
                                continue;
                            }
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                            String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
                            String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    wrkMast.getWrkNo(),    // 工作号
@@ -1019,7 +1206,7 @@
                            }
                        }
                    }
                // 无任务
                    // 无任务
                } else {
                    BasErrLog latest = basErrLogService.findLatest(crn.getId());
                    // 有异常
@@ -1027,7 +1214,7 @@
                        // 记录新异常
                        if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                            String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
                            String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    null,    // 工作号
@@ -1042,7 +1229,7 @@
                                    null,    // 源站
                                    null,    // 源库位
                                    null,    // 条码
                                    (int)crnProtocol.getAlarm(),    // 异常码
                                    (int) crnProtocol.getAlarm(),    // 异常码
                                    errName,    // 异常
                                    1,    // 异常情况
                                    now,    // 添加时间
@@ -1055,7 +1242,7 @@
                                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) {
@@ -1079,8 +1266,7 @@
    /**
     * 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()) {
@@ -1094,11 +1280,17 @@
                }

//                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
//                if ( emptyInSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
                if (emptyInSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
                    continue;
                }
                if (emptyInSta.getStaNo() == 402 && devpThread.ioModeOf4F == IoModeType.PAKOUT_MODE) {
                    continue;
                }

                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999 || staProtocol.getWorkNo() == 9990 || staProtocol.getWorkNo() == 9997) && staProtocol.isPakMk()) {
                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999) && staProtocol.isPakMk()) {

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -1126,14 +1318,12 @@
                                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);
                            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();
                    }




//                    // 检索库位
@@ -1199,8 +1389,7 @@
    /**
     * 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());
@@ -1218,13 +1407,23 @@
                }
                // 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 || 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;
@@ -1246,10 +1445,12 @@
                        break;
                }
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                ledCommand.setLocNo(wrkMast.getLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
                if (wrkMast.getIoType() != 110) {
//                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.getMatNo(), wrkDetl.getMatName(), wrkDetl.getQty())));
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())));
                }
                commands.add(ledCommand);
            }
@@ -1262,12 +1463,22 @@
            }
            // 命令下发 -------------------------------------------------------------------------------
            if (!commands.isEmpty()) {
                if (!MessageQueue.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;
                if (led.getId() == 7) {
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
                        log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                        continue;
                    } else {
                        ledThread.setLedMk(false);
                    }
                } else {
                    ledThread.setLedMk(false);
                    if (!MessageQueue.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 {
@@ -1294,8 +1505,7 @@
    /**
     * 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());
@@ -1334,20 +1544,29 @@
                if (staProtocol == null) {
                    continue;
                }
                if (staProtocol.getWorkNo() != 0) {
                if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
                    reset = false;
                    break;
                }
            }
            // 获取led线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
            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 {
                if (led.getId() == 7) {
                    ledThread.setLedMk(true);
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
                        log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    } else {

                    }
                } else {
                    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 {

                    }
                }
            }
        }
@@ -1358,15 +1577,16 @@
     * tip：同步
     */
    @Transactional
    public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast){
    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(new Date());
        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);
@@ -1376,12 +1596,12 @@
        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.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(new Date());
        wrkMast.setModiTime(new Date());
        wrkMast.setAppeTime(now);
        wrkMast.setModiTime(now);
        int res = wrkMastMapper.insert(wrkMast);
        if (res == 0) {
            throw new CoolException("保存工作档失败");
@@ -1392,11 +1612,11 @@
            for (LocDetl locDetl : locDetls) {
                WrkDetl wrkDetl = new WrkDetl();
                wrkDetl.setWrkNo(workNo);
                wrkDetl.setIoTime(new Date());
                wrkDetl.setQty(locDetl.getQty());
                wrkDetl.setIoTime(now);
                wrkDetl.setAnfme(locDetl.getAnfme());
                VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
                wrkDetl.setAppeTime(new Date());
                wrkDetl.setModiTime(new Date());
                wrkDetl.setAppeTime(now);
                wrkDetl.setModiTime(now);
                if (!wrkDetlService.insert(wrkDetl)) {
                    throw new CoolException("保存工作档明细失败");
                }
@@ -1405,8 +1625,8 @@
        // 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(new Date());
            if (!locMastService.updateById(shallowLoc)){
            shallowLoc.setModiTime(now);
            if (!locMastService.updateById(shallowLoc)) {
                throw new CoolException("更新源库位状态失败");
            }
        } else {
@@ -1432,148 +1652,178 @@
     * 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){
        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());
    private synchronized 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 (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 (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) { break; }
            }
        }
        if (null == loc) {
            for (Integer row : rows) {
                if (Utils.isShallowLoc(slaveProperties, row)) {
                    loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
                    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) {
            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.setQty(locDetl.getQty());
                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");
            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");
            // 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");
            }
        } 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");
            // 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");
            }
        } 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(){
        for (CrnSlave crn : slaveProperties.getCrn()) {
            if (!crn.getDemo()) { continue; }   // 必须为演示状态
    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");
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    continue;
                }
                // 工作档明细保存

                // 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();
@@ -1587,36 +1837,40 @@
//                        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");
                    // 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");
                    }
                } 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");
                    // 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");
                    }
                } 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(){
    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());
@@ -1629,7 +1883,9 @@
            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; }
                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());
@@ -1640,7 +1896,7 @@
                    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());
                    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) {
@@ -1652,7 +1908,7 @@
                    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());
                    log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
                }


@@ -1664,28 +1920,65 @@
    /**
     * 入出库模式切换函数
     */
    public void ioConvert() {
    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());

                WrkMast pakout = wrkMastMapper.selectWorkingPakout();
                if (pakout != null) {
                    if (devpThread.ioMode != IoModeType.PAKOUT_MODE) {
                        // 出库切换中
                        devpThread.ioMode = IoModeType.PAKOUT_BOOTING;

                        WrkMast pakin = wrkMastMapper.selectWorkingPakin();
                        if (pakin == null) {
                            // 出库模式
                            devpThread.ioMode = IoModeType.PAKOUT_MODE;
                        }
                for (DevpSlave.Sta inSta : devp.getInSta()) {
                    if (inSta.getStaNo() == 2) {
                        continue;
                    }
                } else {
                    // 入库模式
                    devpThread.ioMode = IoModeType.PAKIN_MODE;
                    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;
                        case 402://1F
                            if (pakout != null) {
                                if ((pakout.getIoType() == 103 || pakout.getIoType() == 107) && pakout.getWrkSts() == 14 && devpThread.getStation().get(inSta.getStaNo() - 1).getWorkNo() == 0) {
                                } else if ((pakout.getIoType() == 103 || pakout.getIoType() == 107) && pakout.getWrkSts() == 14 && devpThread.getStation().get(inSta.getStaNo() - 1).getWorkNo() != 0) {
                                    // 入库模式
                                    devpThread.ioModeOf4F = IoModeType.PAKIN_MODE;
                                } else if (devpThread.ioModeOf4F != IoModeType.PAKOUT_MODE) {
                                    // 出库切换中
                                    devpThread.ioModeOf4F = 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.ioModeOf4F = IoModeType.PAKOUT_MODE;
                                    }
                                }
                            } else {
                                List<WrkMast> wrkMasts = wrkMastMapper.selectWorkings();
                                if (wrkMasts.size() == 0) {
                                    // 入库模式
                                    devpThread.ioModeOf4F = IoModeType.PAKIN_MODE;
                                } else {
                                }
                            }
                            break;
                    }
                }

            }

        } catch (Exception e) {
@@ -1695,5 +1988,18 @@

    }

    public synchronized 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());
                }
            }

        }
    }


}