#

lty

8 天以前 bcd4e611a77fcb65dfc7bc1aacf26eb68095293f

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

@@ -49,6 +49,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.io.IOException;
import java.util.*;
import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
@@ -109,12 +110,7 @@
    public Integer wrkNo = 10000;
    @Autowired
    private ConfigMapper configMapper;

    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
     */
    public synchronized void generateStoreWrkFile(Integer mark) {
    public synchronized void generateStoreWrkFile3(Integer mark) {
        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
@@ -125,16 +121,23 @@
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                StaProtocol staProtocolIn = devpThread.getStation().get(inSta.getStaNo() -1);
                if (staProtocolIn == null) {
                    continue;
                } else {
                    staProtocolIn = staProtocolIn.clone();
                }
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();

                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
@@ -226,7 +229,7 @@
//
//                        }
                        News.error(barcode + "条码已存在状态为（ 2.设备上走 ）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走 ）的任务,工作号=" + wrkMast.getWrkNo()));
//                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走 ）的任务,工作号=" + wrkMast.getWrkNo()));
                        continue;
//                        barcodeThread.setBarcode("");
//                        staProtocol.setWorkNo(wrkMast.getWrkNo());
@@ -291,27 +294,6 @@
                            }
                        } else {
                            if (jsonObject.getString("msg").equals("工作档已存在")) {

                                //工作档已存在    再次进去
//                                wrkMast = wrkMastMapper.selectPakInStepBarcode(barcode);
//                                if (wrkMast != null) {
//                                    barcodeThread.setBarcode("");
//                                    staProtocol.setWorkNo(9999);
//                                    //staProtocol.setWorkNo(wrkMast.getWrkNo());
//                                    //staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
//                                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
//                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                                    log.error("输送线下发2：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
//                                    ledThread.errorReset();
//                                    log.error("组托请求后LED错误清除");
//                                    if (!result) {
//                                        News.error(methodName + ":更新plc站点信息失败");
//
//                                        throw new CoolException("更新plc站点信息失败");
//                                    }
//                                }

                                continue;
                            }
                            staProtocol.setWorkNo(wrkNo);
@@ -344,6 +326,401 @@
//        News.infoNoLog(""+mark+" - 0"+" - 组托  ===》执行完成");

    }
    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
     */
//    public synchronized void generateStoreWrkFile(Integer mark) {
//        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
//        // 根据输送线plc遍历
//        for (DevpSlave devp : slaveProperties.getDevp()) {
//            // 遍历入库口
//            for (DevpSlave.Sta inSta : devp.getInSta()) {
//                // 获取条码扫描仪信息
//                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
//                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
//                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
//                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
//                StaProtocol staProtocolIn = devpThread.getStation().get(inSta.getStaNo() -1);
//                if (staProtocolIn == null) {
//                    continue;
//                } else {
//                    staProtocolIn = staProtocolIn.clone();
//                }
//                if (barcodeThread == null) {
//                    continue;
//                }
//                String barcode = barcodeThread.getBarcode();
//                if(staProtocolIn.getStamp() == 1 && barcode!=null && !barcode.isEmpty()) {
//                    log.error("生成任务中");
//
//                    WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
//                            .eq("barcode", barcode)
//                            .in("io_type", 107, 103, 57));
//                    if (!Cools.isEmpty(checkPick)) {
//                        continue;
//                    }
//                    try {
//                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
//
//                        SearchLocParam param = new SearchLocParam();
//                        locTypeDto.setLocType1((short) 1);
//                        param.setBarcode(barcode);
//                        param.setIoType(1);
//                        param.setSourceStaNo(inSta.getStaNo());
//                        param.setLocType1(locTypeDto.getLocType1());
//                        param.setWeight(staProtocol.getWeight());
//                        String response = new HttpHandler.Builder()
//                                .setTimeout(30, TimeUnit.SECONDS)
//                                .setUri(wmsUrl)
//                                .setPath("/rpc/pakin/loc/v1")
//                                .setJson(JSON.toJSONString(param))
//                                .build()
//                                .doPost();
//                        JSONObject jsonObject = JSON.parseObject(response);
//                        if (jsonObject.getInteger("code").equals(200)) {
//                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
//                            barcodeThread.setBarcode("");
//                            staProtocolIn.setWorkNo(dto.getWorkNo());
////                            //staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
////                            staProtocol.setStaNo(dto.getStaNo().shortValue());
//                            devpThread.setPakMk(staProtocolIn.getSiteId(), false);
//                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocolIn));
//                            log.error("工作号下发2：" + dto.getWorkNo() + "," + dto.getStaNo());
//                            ledThread.errorReset();
//                            log.error("组托请求后LED错误清除");
//                            if (!result) {
//                                News.error(methodName + ":更新plc站点信息失败");
//
//                                throw new CoolException("更新plc站点信息失败");
//                            }
//                        }
//                    } catch (Exception e) {
//                        e.printStackTrace();
//                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
//                    }
//                }else{
//                    if (staProtocol == null) {
//                        continue;
//                    } else {
//                        staProtocol = staProtocol.clone();
//                    }
//
//                    // 尺寸检测异常
//                    boolean back = false;
//                    String errMsg = "";
//                    if (staProtocol.isFrontErr()) {
//                        errMsg = "前超限";
//                        back = true;
//                    }
//                    if (!back && staProtocol.isBackErr()) {
//                        errMsg = "后超限";
//                        back = true;
//                    }
//                    if (!back && staProtocol.isHighErr()) {
//                        errMsg = "高超限";
//                        back = true;
//                    }
//                    if (!back && staProtocol.isLeftErr()) {
//                        errMsg = "左超限";
//                        back = true;
//                    }
//                    if (!back && staProtocol.isRightErr()) {
//                        errMsg = "右超限";
//                        back = true;
//                    }
//                    if (!back && staProtocol.getWeight() > 1000) {
//                        errMsg = "超重或未读取";
//                        back = true;
//                    }
//                    if (!back && staProtocol.isBarcodeErr()) {
//                        errMsg = "扫码失败";
//                        back = true;
//                    }
//
//                    // 退回
//                    if (back) {
//                        log.info("errmsg: " + errMsg);
////                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
//                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
//
//                        if (!staProtocol.isLoading()) {
//                            continue;
//                        }
//                        if (!staProtocol.isPakMk()) {
//                            continue;
//                        }
//                        staProtocol.setWorkNo(wrkNo);
//                        News.info("{}PLC入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg, wrkNo);
//                        wrkNo++;
//                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        log.error("输送线下发1：" + wrkNo + "," + inSta.getBackSta());
//                    }
//
//                    // 判断是否满足入库条件
//                    if (staProtocol.isAutoing()
//                            && staProtocol.isLoading()
//                            && staProtocol.isInEnable()
//                            && !staProtocol.isEmptyMk()
//                            && staProtocol.isPakMk()) {
//                        if (Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
//                            News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
//
//                            staProtocol.setWorkNo(wrkNo);
//                            News.info("{}barcode入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg, wrkNo);
//                            wrkNo++;
//                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            log.error("输送线下发1：" + wrkNo + "," + inSta.getBackSta());
//                            continue;
//                        }
//                        // 判断重复工作档
//                        WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
//                        if (wrkMast != null) {
//                            News.error(barcode + "条码已存在状态为（ 2.设备上走 ）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
//                            continue;
//                        }
//                        WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
//                                .eq("barcode", barcode)
//                                .in("io_type", 107, 103, 57));
//                        if (!Cools.isEmpty(checkPick)) {
//                            continue;
//                        }
//                        try {
//                            LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
//
//                            SearchLocParam param = new SearchLocParam();
//                            locTypeDto.setLocType1((short) 1);
//                            param.setBarcode(barcode);
//                            param.setIoType(1);
//                            param.setSourceStaNo(inSta.getStaNo());
//                            param.setLocType1(locTypeDto.getLocType1());
//                            param.setWeight(staProtocol.getWeight());
//                            String response = new HttpHandler.Builder()
//                                    .setTimeout(30,TimeUnit.SECONDS)
//                                    .setUri(wmsUrl)
//                                    .setPath("/rpc/pakin/loc/v1")
//                                    .setJson(JSON.toJSONString(param))
//                                    .build()
//                                    .doPost();
//                            JSONObject jsonObject = JSON.parseObject(response);
//                            if (jsonObject.getInteger("code").equals(200)) {
//                                StartupDto dto = jsonObject.getObject("data", StartupDto.class);
//                                barcodeThread.setBarcode("");
//                                staProtocol.setWorkNo(dto.getWorkNo());
//                                //staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
//                                staProtocol.setStaNo(dto.getStaNo().shortValue());
//                                devpThread.setPakMk(staProtocol.getSiteId(), false);
//                                boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                                log.error("输送线下发2：" + dto.getWorkNo() + "," + dto.getStaNo());
//
//                                ledThread.errorReset();
//                                log.error("组托请求后LED错误清除");
//
//                                if (!result) {
//                                    News.error(methodName + ":更新plc站点信息失败");
//
//                                    throw new CoolException("更新plc站点信息失败");
//                                }
//                            } else {
//                                if (jsonObject.getString("msg").equals("工作档已存在")) {
//                                    continue;
//                                }
//                                staProtocol.setWorkNo(wrkNo);
//                                wrkNo++;
//                                staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                                devpThread.setPakMk(staProtocol.getSiteId(), false);
//                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                                log.error("输送线下发2：" + staProtocol.getWorkNo() + "," + staProtocol.getStaNo());
//
//                                String errorMsg = jsonObject.getString("msg");
//                                if (!Cools.isEmpty(errorMsg)) {
//                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
//                                }
//                            }
//
//                        } catch (Exception e) {
//                            e.printStackTrace();
//                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
//                        }
//
//                    }
//                }
//            }
//        }
//
//    }

    public synchronized void generateStoreWrkFile(Integer mark) {
        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
        final Set<String> INVALID_BARCODES = new HashSet<>(Arrays.asList("NG", "NoRead", "00000000"));

        for (DevpSlave devp : slaveProperties.getDevp()) {
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                StaProtocol staProtocolIn = devpThread.getStation().get(inSta.getStaNo() - 1);

                if (staProtocolIn == null || barcodeThread == null) continue;
                staProtocolIn = staProtocolIn.clone();
                String barcode = barcodeThread.getBarcode();

                // 如果前工位有货 + 扫码器有条码
                if (staProtocolIn.getStamp() == 1 && barcode != null && !barcode.isEmpty()) {
                    if (wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                            .eq("barcode", barcode)
                            .in("io_type", 107, 103, 57)) != null) {
                        continue;
                    }

                    try {
                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
                        param.setSourceStaNo(inSta.getStaNo());
                        param.setLocType1((short) 1);
                        param.setWeight(staProtocolIn.getWeight());

                        String response = new HttpHandler.Builder()
                                .setTimeout(30, TimeUnit.SECONDS)
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();

                        JSONObject json = JSON.parseObject(response);
                        if (json.getInteger("code").equals(200)) {
                            StartupDto dto = json.getObject("data", StartupDto.class);
                            barcodeThread.setBarcode("");
                            staProtocolIn.setWorkNo(dto.getWorkNo());
                            devpThread.setPakMk(staProtocolIn.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocolIn));
                            ledThread.errorReset();
                            log.error("工作号下发2：" + dto.getWorkNo() + "," + dto.getStaNo());

                            if (!result) {
                                News.error(methodName + ":更新plc站点信息失败");
                                throw new CoolException("更新plc站点信息失败");
                            }
                        }
                    } catch (Exception e) {
                        log.error("组托任务异常：", e);
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }

                    continue;
                }

                // 尺寸/重量/扫码异常检测
                if (staProtocol == null) continue;
                staProtocol = staProtocol.clone();
                boolean back = false;
                String errMsg = "";

                if (staProtocol.isFrontErr()) { errMsg = "前超限"; back = true; }
                else if (staProtocol.isBackErr()) { errMsg = "后超限"; back = true; }
                else if (staProtocol.isHighErr()) { errMsg = "高超限"; back = true; }
                else if (staProtocol.isLeftErr()) { errMsg = "左超限"; back = true; }
                else if (staProtocol.isRightErr()) { errMsg = "右超限"; back = true; }
                else if (staProtocol.getWeight() > 1000) { errMsg = "超重或未读取"; back = true; }
                else if (staProtocol.isBarcodeErr()) { errMsg = "扫码失败"; back = true; }

                // 尺寸异常回退
                if (back) {
                    log.info("errmsg: " + errMsg);
                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));

                    if (!staProtocol.isLoading() || !staProtocol.isPakMk()) continue;
                    staProtocol.setWorkNo(wrkNo++);
                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发1：" + wrkNo + "," + inSta.getBackSta());
                    continue;
                }

                // 入库条件满足，开始请求入库地址
                if (staProtocol.isAutoing() && staProtocol.isLoading()
                        && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && staProtocol.isPakMk()) {

                    if (Cools.isEmpty(barcode) || INVALID_BARCODES.contains(barcode)) {
                        News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                        staProtocol.setWorkNo(wrkNo++);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发1：{} , {}", wrkNo, inSta.getBackSta());
                        continue;
                    }

                    if (wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode) != null ||
                            wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                                    .eq("barcode", barcode)
                                    .in("io_type", 107, 103, 57)) != null) {
                        News.error(barcode + "条码已存在状态为（2.设备上走）的数据，请查看WCS输送线界面");
                        continue;
                    }

                    try {
                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
                        param.setSourceStaNo(inSta.getStaNo());
                        param.setLocType1((short) 1);
                        param.setWeight(staProtocol.getWeight());

                        String response = new HttpHandler.Builder()
                                .setTimeout(30, TimeUnit.SECONDS)
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();

                        JSONObject json = JSON.parseObject(response);
                        if (json.getInteger("code").equals(200)) {
                            StartupDto dto = json.getObject("data", StartupDto.class);
                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            ledThread.errorReset();
                            log.error("输送线下发2：" + dto.getWorkNo() + "," + dto.getStaNo());

                            if (!result) {
                                News.error(methodName + ":更新plc站点信息失败");
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            String msg = json.getString("msg");
                            if (!"工作档已存在".equals(msg)) {
                                staProtocol.setWorkNo(wrkNo++);
                                staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                log.error("输送线下发2：" + staProtocol.getWorkNo() + "," + staProtocol.getStaNo());
                                if (!Cools.isEmpty(msg)) {
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, msg));
                                }
                            }
                        }
                    } catch (Exception e) {
                        log.error("组托任务异常：", e);
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }
                }
            }
        }
    }


    /**
     * wms入库
@@ -967,6 +1344,13 @@
                if (crnProtocol.getBay() == 121) {
                    return;
                }
                int x=1;
                switch (crnProtocol.getCrnNo()){
                    case 1: x =1; break;
                    case 2: x =3; break;
                    case 3: x =5; break;
                    case 4: x =7; break;
                }

                // 已经存在吊车执行任务时，则过滤3,12
                if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
@@ -979,7 +1363,7 @@
                }

                //输送线没有入库任务，过滤2
                if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
                if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) != null) {
                    return;
                }
                News.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
@@ -989,9 +1373,9 @@
                crnCommand.setTaskNo((short) 9999); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.X_MOVE); // 任务模式:  回原点
                crnCommand.setSourcePosX((short) 1);     // 源库位排
                crnCommand.setSourcePosX((short) x);     // 源库位排
                crnCommand.setSourcePosY((short) 121);     // 源库位列
                crnCommand.setSourcePosZ((short) 1);     // 源库位层
                crnCommand.setSourcePosZ((short) 2);     // 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
@@ -1002,6 +1386,13 @@
            }
        } else {
            int y = 1; // 默认列
            int x=1;
            switch (crnProtocol.getCrnNo()){
                case 1: x =1; break;
                case 2: x =3; break;
                case 3: x =5; break;
                case 4: x =7; break;
            }
            int staNoInt = Integer.parseInt(staNo);

            int z = staNoInt / 100; // 层
@@ -1025,10 +1416,6 @@
                    return;
                }

                // 输送线没有入库任务
                if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
                    return;
                }

                News.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
@@ -1037,7 +1424,7 @@
                crnCommand.setTaskNo((short) 9999);
                crnCommand.setAckFinish((short) 0);
                crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);
                crnCommand.setSourcePosX((short) 1); // 默认排始终为1
                crnCommand.setSourcePosX((short) x); // 默认排始终为1
                crnCommand.setSourcePosY((short) y); // 动态列
                crnCommand.setSourcePosZ((short) z); // 动态层
                crnCommand.setDestinationPosX((short) 0);