#输送报警对接+回退

zjj

2024-01-07 bdf490f12fa38c99593fdace907fa5379cc04413

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

@@ -39,16 +39,14 @@
import com.zy.core.thread.LedThread;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import net.bytebuddy.asm.Advice;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

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

/**
@@ -92,6 +90,8 @@
    @Value("${wms.url}")
    private String wmsUrl;

    public short wrkNo = 10000;

    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
@@ -118,23 +118,51 @@
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                //9998退回，9996空板
                if (!Cools.isEmpty(barcode) && (staProtocol.getWorkNo() != 9998 || staProtocol.getWorkNo() != 9996)) {
                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        String errorMsg = "15站扫码失败，已退回14站";
                        staProtocol.setWorkNo((short) 9998);
                        staProtocol.setStaNo((short) 14);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        // led 异常显示
                        if (ledThread != null) {
                            News.error(methodName +  ":扫码失败，请重试");
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                        }
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                if (staProtocol.isFrontErr()) {
                    errMsg = "前超限";
                    back = true;
                }
                if (!back && staProtocol.isBackErr()) {
                    errMsg = "后超限";
                    back = true;
                }
                if (!back && staProtocol.isHighErr()) {
                    errMsg = "高超限";
                    back = true;
                }
                if (!back && staProtocol.isLeftErr()) {
                    errMsg = "左超限";
                    back = true;
                }
                if (!back && staProtocol.isRightErr()) {
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.isWeightErr()) {
                    errMsg = "超重";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeErr()) {
                    errMsg = "扫码失败";
                    back = true;
                }
                // 退回
                if (back) {
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                    if (!staProtocol.isLoading()){
                        continue;
                    }
                } else {
                    continue;
                    if (!staProtocol.isPakMk()) {
                        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));
                }

                // 判断是否满足入库条件
@@ -163,8 +191,8 @@
                    if (wrkMast != null) {
                        News.error(methodName + ":工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        if (ledThread != null) {
                            News.error(methodName +  ":扫码失败，请重试");
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={"+ wrkMast.getWrkNo() + "}, 请手动取消已存在工作档"));
                            News.error(methodName + ":扫码失败，请重试");
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={" + wrkMast.getWrkNo() + "}, 请手动取消已存在工作档"));
                        }
                        continue;
                    }
@@ -201,7 +229,7 @@
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                News.error(methodName  + ":更新plc站点信息失败");
                                News.error(methodName + ":更新plc站点信息失败");

                                throw new CoolException("更新plc站点信息失败");
                            }
@@ -219,7 +247,7 @@
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                }
                            }
                            News.error(methodName  +":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);

                        }

@@ -344,7 +372,7 @@
                            News.error(methodName + ":更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
                        }
                    } else {
                        News.error(methodName +":发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                        News.error(methodName + ":发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }

                }
@@ -382,7 +410,7 @@
                String barcode = barcodeThread.getBarcode();

                if (!Cools.isEmpty(barcode) && (staProtocol.getWorkNo() != 9998 || staProtocol.getWorkNo() != 9996)) {
                    log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), 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)) {
                        staProtocol.setWorkNo((short) 9998);
                        staProtocol.setStaNo((short) 14);
@@ -482,7 +510,7 @@
                        locMast.setLocSts("Q");
                        locMast.setModiTime(new Date());
                        if (!locMastService.updateById(locMast)) {
                            News.error(methodName+ ":修改库位状态失败");
                            News.error(methodName + ":修改库位状态失败");

                            throw new CoolException("修改库位状态失败");
                        }
@@ -517,35 +545,8 @@
        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();

        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            //查询工作档
            List<WrkMast> wrkMasts= wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .eq("crn_no",crnSlave.getCrnOutStn())
                    .and()
                    .gt("io_type",100)
                    .orderBy("appe_time")
            );
            if(Cools.isEmpty(wrkMasts)){
                continue;
            }
            //遍历任务档，按生成时间进行排序
            for (WrkMast wrkMast: wrkMasts) {
                // 判断工作档条件
                if (wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
                    continue;
                }
                CrnSlave.CrnStn crnStn = null;
                for (CrnSlave.CrnStn crnStn1 : crnSlave.getCrnOutStn()) {
                    if (crnStn1.getStaNo() == wrkMast.getSourceStaNo()) {
                        crnStn = crnStn1;
                        break;
                    } else {
                        continue;
                    }
                }
                if (Cools.isEmpty(crnStn)) {
                    continue;
                }

            // 遍历堆垛机出库站
            for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
                // 获取堆垛机出库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
@@ -555,8 +556,15 @@
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {


                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
                    if (wrkMast == null) {
                        continue;
                    }
                    // 判断工作档条件
                    if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
                        continue;
                    }
                    // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                    CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
                    CrnProtocol crnProtocol = crnThread.getCrnProtocol();
@@ -594,68 +602,6 @@
            }
        }
    }

//    public synchronized void crnStnToOutStn1() {
//        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
//
//        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
//            // 遍历堆垛机出库站
//            for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
//                // 获取堆垛机出库站信息
//                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
//                StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
//                if (staProtocol == null) {
//                    continue;
//                } else {
//                    staProtocol = staProtocol.clone();
//                }
//                if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
//                    // 查询工作档
//                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
//                    if (wrkMast == null) {
//                        continue;
//                    }
//                    // 判断工作档条件
//                    if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
//                        continue;
//                    }
//                    // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
//                    CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
//                    CrnProtocol crnProtocol = crnThread.getCrnProtocol();
//                    if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
//                        // 移动中
//                        continue;
//                    }
//                    //  判断堆垛机状态等待确认
//                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
//                            && crnProtocol.statusType == CrnStatusType.WAITING
//                            && crnProtocol.forkPosType == CrnForkPosType.HOME) {
//
//                        // 命令下发区 --------------------------------------------------------------------------
//
//                        // 下发站点信息
//                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
//                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
//                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
//                            continue;
//                        }
//
//                        // 更新工作档状态为14失败
//                        wrkMast.setWrkSts(14L);
//                        wrkMast.setCrnEndTime(new Date());
//                        if (wrkMastMapper.updateById(wrkMast) != 0) {
//                            // 复位堆垛机
//                            crnThread.setResetFlag(true);
//                        } else {
//                            News.error(methodName + ":更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
//                        }
//
//                    }
//
//                }
//            }
//        }
//    }

    /**
     * 入出库  ===>>  堆垛机入出库作业下发
@@ -773,8 +719,230 @@

    /**
     * 入库  ===>>  堆垛机站到库位
     * 根据入库时间进行排序入库,同一堆垛机先查询所有工作档任务号，再根据优先级、时间排序，确保先进先出
     */
    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
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
                flag = true;
            }
            if (!flag) {
                continue;
            }
            // 获取工作状态为2（设备上走）的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(),crnStn.getStaNo());
            if(null == wrkMast) {
                log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                continue;
            }
            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
            if (locMast == null) {
                log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
                continue;
            }
            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
                log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
                continue;
            }
            CrnThread crnThreadNow = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
            CrnProtocol crnProtocolNow = crnThreadNow.getCrnProtocol();

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

            // 命令下发区 --------------------------------------------------------------------------
            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.PAKIN); // 任务模式:  库位移转
            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
            crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
            log.error("1"+crnCommand+crnProtocol);
            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 {
                System.err.println("入库到库位命令下发");
                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                Date now = new Date();
                wrkMast.setWrkSts(3L);
                wrkMast.setCrnStrTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                }
            }
        }

    }

    /**
     * 入库  ===>>  堆垛机站到库位
     * 根据入库时间进行排序入库
     */
    public synchronized void crnStnToLoc2(CrnSlave slave, CrnProtocol crnProtocol) {
        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
        List<WrkMast> wrkMasts= new ArrayList<>();
        //指针
        int count=-1;
        int i=0;

        WrkMast wrkMast=null;
        CrnSlave.CrnStn crnStn1=null;
        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
            boolean flag = false;
            // 获取堆垛机入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                News.error(methodName + ":入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                flag = true;
                // 获取工作状态为2（设备上走）的入库工作档
                wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
                if (null == wrkMast) {
//                News.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                    continue;
                }
                //打擂台
                wrkMasts.add(wrkMast);
                count++;
                if(count==0) continue;
                if(wrkMast.getWrkDate().getTime()<wrkMasts.get(i).getWrkDate().getTime() && wrkMast.getIoPri()>=wrkMasts.get(i).getIoPri())
                    i=count;
                crnStn1=crnStn;
            }
            if (!flag) {
                continue;
            }
        }


            if(!Cools.isEmpty(wrkMasts)){
            wrkMast=wrkMasts.get(i);
            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
            if (locMast != null) {
                if (locMast.getLocSts().equals("S") && locMast.getLocSts().equals("Q")) {
                    // 堆垛机控制过滤
                    if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() == 0) {
                    // 已经存在吊车执行任务时，则过滤
                        if (wrkMastMapper.selectWorking(slave.getId()) == null) {
                    // 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.getLocNo())) {
//                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
//                        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) {
//                                News.error(methodName + ":{}库位异常，未检索到相应工作档！", shallowLocNo);
//                            } else {
//                                waitWrkMast.setIoPri(15D);
//                                waitWrkMast.setModiTime(new Date());
//                                if (wrkMastMapper.updateById(waitWrkMast) == 0) {
//                                    News.error(methodName + ":调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
//                                }
//                                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);
//                            }
//                            continue;
//                        } else if (shallowLoc.getLocSts().equals("Q")) {
//                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
//                            if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
//                                continue;
//                            }
//                        }
//                    }
                    // 命令下发区 --------------------------------------------------------------------------
                    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(crnStn1.getRow().shortValue());     // 源库位排
                    crnCommand.setSourcePosY(crnStn1.getBay().shortValue());     // 源库位列
                    crnCommand.setSourcePosZ(crnStn1.getLev().shortValue());     // 源库位层
                    crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        News.error(methodName + ":堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {

//                long startTime = System.currentTimeMillis();
//                while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
//
//                    if (true) {
//                        break;
//                    }
//
//                    try{
//                        Thread.sleep(500);
//                    }catch(Exception ignore){}
//                }

                                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                                Date now = new Date();
                                wrkMast.setWrkSts(3L);
                                wrkMast.setCrnStrTime(now);
                                wrkMast.setModiTime(now);
                                if (wrkMastMapper.updateById(wrkMast) == 0) {
                                    News.error(methodName + ":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());
                                }
                            }
                        }
                    }
                }else News.error(methodName + ":入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
            }else News.error(methodName + ":查询库存无数据--库位号{}", wrkMast.getLocNo());
        }
    }

    public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol) {
        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();

        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
@@ -911,20 +1079,28 @@
     */
    public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();

        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());
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
        //按照工作档出库
        List<WrkMast> wrkMasts = wrkMastService.selectWrkIoType(slave.getId());
        if (!Cools.isEmpty(wrkMasts)) {
            for (WrkMast wrkMast : wrkMasts) {
                if (wrkMast == null) {
                CrnSlave.CrnStn crnStn = null;
                for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()) {
                    if (crnStn1.getStaNo() == wrkMast.getSourceStaNo()) {
                        crnStn = crnStn1;
                        break;
                    } else {
                        continue;
                    }
                }
                if (Cools.isEmpty(crnStn)) {
                    continue;
                }
                // 工作档状态判断
                if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
                    News.error(methodName + ":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());
                if (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")) {
@@ -1041,6 +1217,7 @@
                        break;
                    }
                }

            }
        }
    }
@@ -1186,7 +1363,7 @@
        // 获取目标库位信息
        LocMast sta = locMastService.selectById(wrkMast.getLocNo());
        if (null == sta) {
            News.error(methodName  + ":工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
            News.error(methodName + ":工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
            return;
        }
        // 获取堆垛机信息 并 判断是否可入出
@@ -1467,7 +1644,6 @@
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() == 9996)
                        && staProtocol.isPakMk()) {

                    try {
@@ -1606,7 +1782,7 @@
                ledCommand.setIoType(wrkMast.getIoType());
                ledCommand.setTitle(wrkMast.getIoType$());

                switch (wrkMast.getIoType()){
                switch (wrkMast.getIoType()) {
                    case 10:
                    case 110:
                        ledCommand.setEmptyMk(true);
@@ -2199,7 +2375,6 @@
//
//
//    }

    public synchronized void outOfDevp() {
        List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
        for (WrkMast wrkMast : wrkMasts) {