123

ZY

2025-05-14 ce641926a957d238b202aa0d9dac3b8f15aff153

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

@@ -91,17 +91,17 @@
    @Value("${wms.url}")
    private String wmsUrl;

    private Short getWorkMode(Integer bay) {
        if (bay == 2 || bay == 7) {
    private Short getWorkMode(Short locType1, Integer bay) {
        if (locType1 == 2) {
            return (short) 3;
        } else if (bay == 3) {
            return (short) 1;
        } else if (bay == 4) {
            return (short) 2;
        } else if (bay == 5) {
            return (short) 1;
        } else if (locType1 == 5) {
            return (short) 3;
        } else {
            return (short) 0;
            if (bay == 5) {
                return (short) 1;
            } else {
                return (short) 2;
            }
        }
    }

@@ -189,31 +189,12 @@
                if (!staProtocol.isLoading()) {
                    continue;
                }
                String barcode11 = barcodeThread.getBarcode();
                if (Cools.isEmpty(barcode11)) {
                    if (staProtocol.isAutoing() && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 9999 && staProtocol.isPakMk() && staProtocol.getStamp() == 2) {
                        staProtocol.setStamp(3);
                        News.info("" + mark + " - 7" + " - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode11, inSta.getStaNo());
                        staProtocol.setWorkNo((short) 9989);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "扫码失败，请重试";
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                        }
                        continue;
                    }
                }
                if (staProtocol.isAutoing() && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
                        && staProtocol.isPakMk() && staProtocol.getStamp() >= 2 && staProtocol.getStamp() != 3) {// && !Cools.isEmpty(barcode)) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");
                if (staProtocol.isAutoing() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990) && staProtocol.isPakMk() && staProtocol.getStamp() >= 2 && staProtocol.getStamp() != 3) {// && !Cools.isEmpty(barcode)) {
                    News.warn("" + mark + " - 0" + " - 开始执行");

                    if (!Cools.isEmpty(barcode)) {
                        News.infoNoLog("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                        if ("NG".endsWith(barcode) || barcode.equals("00000000") || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                            staProtocol.setWorkNo((short) 9999);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -243,29 +224,39 @@
                    }

                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    //过滤判断，防止拣料再入库货物，经过入库站再入库时，被退回到退库站
                    WrkMast wrkMast1 = wrkMastMapper.selectPakInStepBarcode(barcode);
                    if (wrkMast1 != null) {
                        if (wrkMast1.getIoType() == 103 || wrkMast1.getIoType() == 107 || wrkMast1.getIoType() == 104) {
                    WrkMast wrkMast = wrkMastMapper.selectPakInStepBarcode(barcode);
                    if (wrkMast != null && wrkMast.getWrkSts() == 2) {
                        int wrkNo1 = basDevpService.count(new QueryWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
                        if (wrkNo1 != 0) {
                            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());
                            if (ledThread != null) {
                                News.error(":扫码失败，请重试");
                                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;
                        }
                    }
                    if (wrkMast != null) {
                        News.error("" + mark + " - 4" + " - 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());
                        staProtocol.setWorkNo((short) 9999);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        barcodeThread.setBarcode("");
                        staProtocol.setWorkNo(Short.parseShort(wrkMast.getWrkNo() + ""));
                        staProtocol.setStaNo(Short.parseShort(wrkMast.getStaNo() + ""));
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.info("输送线下发(存在设备上走的工作档，直接下发！))：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());

                        ledThread.errorReset();
                        log.info("组托请求后LED错误清除");

                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
                            News.error(":更新plc站点信息失败");
                            log.error("输送线下发(存在设备上走的工作档，直接下发！)==>更新plc站点信息失败");
//                            throw new CoolException("更新plc站点信息失败");
                            continue;
                        }

                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "工作档已存在该条码号===>>" + barcode;
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                        }
                    }
                    WrkMast checkPick = wrkMastMapper.selectOne(new QueryWrapper<WrkMast>()
                            .eq("barcode", barcode)
                            .in("io_type", 107, 103, 57));
                    if (!Cools.isEmpty(checkPick)) {
                        continue;
                    }

@@ -279,18 +270,13 @@
                        param.setLocType1(locTypeDto.getLocType1());
                        if (inSta.getStaNo() == 102) {
                            param.setLocType2((short) 3);
                        } else if (inSta.getStaNo() == 211) {
                        } else if (inSta.getStaNo() == 211 || inSta.getStaNo() == 104) {
                            param.setLocType1((short) 5);
                            param.setLocType2((short) 4);
                        } else if (inSta.getStaNo() == 201) {
                            param.setLocType2((short) 4);
                        }
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        String response = new HttpHandler.Builder().setUri(wmsUrl).setPath("/rpc/pakin/loc/v1").setJson(JSON.toJSONString(param)).build().doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
@@ -324,16 +310,17 @@
                            staProtocol.setWorkNo((short) 9999);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            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");
                            }

                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = jsonObject.getString("msg");
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                            }
                            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");
                            }


                        }

                    } catch (Exception e) {
@@ -342,9 +329,7 @@
                    }

                } else {
                    News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isAutoing() + "、可入信号：" + staProtocol.isInEnable()
                            + "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo()
                            + "、锁定标记" + staProtocol.isPakMk() + "、入库印记：" + staProtocol.getStamp());
                    News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isAutoing() + "、可入信号：" + staProtocol.isInEnable() + "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo() + "、锁定标记" + staProtocol.isPakMk() + "、入库印记：" + staProtocol.getStamp());
                }

            }
@@ -380,9 +365,7 @@
                if (!staProtocol.isLoading()) {
                    continue;
                }
                if (staProtocol.isAutoing() && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
                        && staProtocol.isPakMk()) {
                if (staProtocol.isAutoing() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999) && staProtocol.isPakMk()) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
@@ -409,9 +392,7 @@
                    }

                } else {
                    News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isLoading() + "、可入信号：" + staProtocol.isInEnable()
                            + "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo()
                            + "、锁定标记" + staProtocol.isPakMk() + "、入库印记：" + staProtocol.getStamp());
                    News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isLoading() + "、可入信号：" + staProtocol.isInEnable() + "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo() + "、锁定标记" + staProtocol.isPakMk() + "、入库印记：" + staProtocol.getStamp());
                }
            }
        }
@@ -437,10 +418,20 @@
                    staProtocol = staProtocol.clone();
                }

                if (barcodeThread == null) {
                String barcode = "";
                if (barcodeThread == null && staProtocol.getSiteId() != 104) {
                    continue;
                } else if (staProtocol.getSiteId() == 104) {
                    if (staProtocol.getWorkNo() == 9996) {
                        // 获取到拣料任务的托盘码
                        WrkMast wrkMast = wrkMastMapper.selectOne(new QueryWrapper<WrkMast>().eq("wrk_sts", 14).eq("io_type", 103).eq("source_sta_no", 104));
                        if (wrkMast != null) {
                            barcode = wrkMast.getBarcode();
                        }
                    }
                } else {
                    barcode = barcodeThread.getBarcode();
                }
                String barcode = barcodeThread.getBarcode();
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
@@ -498,7 +489,7 @@
                    continue;
                }
                if (!Cools.isEmpty(barcode)) {
                    News.info("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                    News.infoNoLog("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
@@ -519,13 +510,18 @@
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");
                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                    // WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                    if (wrkMast == null) {
                        // 无拣料数据
                        continue;
                        WrkMast wrkMast1 = wrkMastMapper.selectPakInStepBarcode(barcode);
                        if (!(wrkMast1 != null && wrkMast1.getWrkSts() == 2 && wrkMast1.getIoType() == 53)) {
                            // 无拣料数据
                            continue;
                        } else {
                            wrkMast1.setIoType(103);
                            wrkMast = wrkMast1;
                        }
                    }
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
                            || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107) || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                        continue;
                    }

@@ -539,14 +535,13 @@
//                        log.error("{}号任务数据异常！", wrkMast.getWrkNo());
//                    }
                    // 获取目标站
                    Wrapper<StaDesc> wrapper = new QueryWrapper<StaDesc>()
                            .eq("type_no", wrkMast.getIoType() - 50)
                            .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站

                    Wrapper<StaDesc> wrapper = new QueryWrapper<StaDesc>().eq("type_no", wrkMast.getIoType() - 50).eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
                            .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                    StaDesc staDesc = staDescService.getOne(wrapper);
                    if (Cools.isEmpty(staDesc)) {
                        News.error("" + mark + " - 2" + " - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
                        staProtocol.setWorkNo((short) 9989);
                        staProtocol.setWorkNo((short) 9999);
                        staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue() - (short) 1));
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -609,8 +604,7 @@
                    }

                } else {
                    News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isLoading() + "、可入信号：" + staProtocol.isInEnable()
                            + "、空板信号：" + staProtocol.isEmptyMk());
                    News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isLoading() + "、可入信号：" + staProtocol.isInEnable() + "、空板信号：" + staProtocol.isEmptyMk());
                }

            }
@@ -652,10 +646,15 @@
                        // 移动中
                        continue;
                    }
                    CrnStatusType statusType = crnProtocol.getStatusType();
                    CrnStatusType statusTypeTwo = crnProtocol.getStatusTypeTwo();
                    Boolean wait = false;
                    if (statusType == CrnStatusType.WAITING_ONE || statusTypeTwo == CrnStatusType.WAITING_TWO || (statusType == CrnStatusType.WAITING_All && statusTypeTwo == CrnStatusType.WAITING_All)) {
                        wait = true;
                    }
                    //  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) {
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue()) && wait && crnProtocol.forkPosType == CrnForkPosType.HOME) {

                        News.warnNoLog("" + mark + " - 0" + " - 开始执行");

                        // 命令下发区 --------------------------------------------------------------------------
@@ -666,18 +665,16 @@
                        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
                            Short mode = crnProtocol.getMode();
                            if (mode == 1) {
                            if (statusType == CrnStatusType.WAITING_ONE) {
                                crnThread.setResetFlag(true);
                            } else if (mode == 2) {
                            } else if (statusTypeTwo == CrnStatusType.WAITING_TWO) {
                                crnThread.setResetFlagTwo(true);
                            } else if (mode == 3) {
                            } else if (statusTypeTwo == CrnStatusType.WAITING_All) {
                                crnThread.setResetFlag(true);
                                crnThread.setResetFlagTwo(true);
                            }
@@ -686,11 +683,7 @@
                        }

                    } else {
                        News.errorNoLog("" + mark + " - 6" + " - 堆垛机信息不符合入库条件！！！"
                                + " 堆垛机状态：" + crnProtocol.modeType + "==自动AUTO：" + CrnModeType.AUTO
                                + "、堆垛机任务号：" + crnProtocol.getTaskNo() + "==工作档任务号：" + wrkMast.getWrkNo().shortValue()
                                + "、状态枚举：" + crnProtocol.statusType + "==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
                                + "、货叉位置：" + crnProtocol.forkPosType + "==HOME：0  // 货叉原位：" + CrnForkPosType.HOME);
                        News.errorNoLog("" + mark + " - 6" + " - 堆垛机信息不符合入库条件！！！" + " 堆垛机状态：" + crnProtocol.modeType + "==自动AUTO：" + CrnModeType.AUTO + "、堆垛机任务号：" + crnProtocol.getTaskNo() + "==工作档任务号：" + wrkMast.getWrkNo().shortValue() + "、状态枚举：" + crnProtocol.statusType + "==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING_ONE + "、货叉位置：" + crnProtocol.forkPosType + "==HOME：0  // 货叉原位：" + CrnForkPosType.HOME);
                    }

                }
@@ -722,8 +715,7 @@
//                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
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行堆垛机入出库作业下发");
                // 如果最近一次是入库模式
                if (crnProtocol.getLastIo().equals("I")) {
@@ -835,16 +827,11 @@
                News.error("" + mark + " - 1" + " - 2" + " - 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")) {
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                flag = true;
            }
            if (!flag) {
                //TODO
                News.error("" + mark + " - 1" + " - 3" + " - 堆垛机入库站信息(以下需要全true):"
                        + "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
                        + "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isInEnable()
                        + "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
                News.errorNoLog("" + mark + " - 1" + " - 3" + " - 堆垛机入库站信息(以下需要全true):" + "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading() + "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isInEnable() + "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
                continue;
            }
            // 获取工作状态为2（设备上走）的入库工作档
@@ -870,7 +857,6 @@
//                News.infoNoLog(""+mark+" - 1"+" - 7"+" - 堆垛机控制过滤:堆垛机是否空闲={}，任务号={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo());
                continue;
            }
            System.out.println("aas");
            // 已经存在吊车执行任务时，则过滤
            if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                continue;
@@ -904,7 +890,7 @@
                        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, mark);
                        moveLocForDeepLoc(slave, shallowLoc, mark, wrkMast.getTenant());
                        // 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);
                    }
@@ -918,16 +904,13 @@
                    }
                }
            }
            System.out.println("434323");
            News.warnNoLog("" + mark + " - 1" + " - 15" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
                    , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue()
                    , locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue());
            News.warnNoLog("" + mark + " - 1" + " - 15" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue(), crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue(), locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue());

            // 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
            Short workMode = getWorkMode(locMast.getBay1());
            Short workMode = getWorkMode(locMast.getLocType1(), locMast.getBay1());
            if (workMode == 2) {
                //CrnTaskModeType该枚举类无效，只有1代表工位，2代表工位2，3双工位
                crnCommand.setTaskMode(CrnTaskModeType.PAKOUT);
@@ -937,6 +920,9 @@
                crnCommand.setDestinationPosXTwo(locMast.getRow1().shortValue());     // 目标库位排
                crnCommand.setDestinationPosYTwo(locMast.getBay1().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZTwo(locMast.getLev1().shortValue());     // 目标库位层
                if (crnStn.getStaNo() == 202) {
                    crnCommand.setSourcePosYTwo((short) 6);     // 源库位列
                }
            } else {
                if (workMode == 1) {
                    crnCommand.setTaskMode(CrnTaskModeType.PAKIN);
@@ -949,6 +935,9 @@
                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 (workMode == 1 && crnStn.getStaNo() == 202) {
                    crnCommand.setSourcePosY((short) 6);     // 源库位列
                }
            }
//            crnCommand.setAckFinish((short) 0);  // 任务完成确认位

@@ -968,7 +957,6 @@
//                        Thread.sleep(500);
//                    }catch(Exception ignore){}
//                }
                System.out.println("ererdfd");
                // 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);
@@ -1033,8 +1021,7 @@
//                    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()) {
                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
@@ -1078,7 +1065,7 @@
                                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, mark);
                                moveLocForDeepLoc(slave, shallowLoc, mark, wrkMast.getTenant());
                            }
                            News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                            continue;
@@ -1098,17 +1085,16 @@
//                        return;
                    }

                    News.warnNoLog("" + mark + " - 2" + " - 12" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
                            , sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue()
                            , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue());
                    News.warnNoLog("" + mark + " - 2" + " - 12" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue(), sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue(), crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue());

                    String locNo = sourceSta.getLocNo();

                    // 获取目标库位信息
                    LocMast sta = locMastService.getById(sourceSta.getLocNo());
                    // 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
                    Short workMode = getWorkMode(sourceSta.getBay1());
                    Short workMode = getWorkMode(sta.getLocType1(), sourceSta.getBay1());
                    if (workMode == 2) {
                        //CrnTaskModeType该枚举类无效，只有1代表工位，2代表工位2，3双工位
                        crnCommand.setTaskMode(CrnTaskModeType.PAKOUT);
@@ -1118,6 +1104,9 @@
                        crnCommand.setDestinationPosXTwo(crnStn.getRow().shortValue());     // 目标库位排
                        crnCommand.setDestinationPosYTwo(crnStn.getBay().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZTwo(crnStn.getLev().shortValue());     // 目标库位层
                        if (crnStn.getStaNo() == 202) {
                            crnCommand.setDestinationPosYTwo((short) 6);     // 源库位列
                        }
                    } else {
                        if (workMode == 1) {
                            crnCommand.setTaskMode(CrnTaskModeType.PAKIN);
@@ -1130,6 +1119,9 @@
                        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 (workMode == 1 && crnStn.getStaNo() == 202) {
                            crnCommand.setDestinationPosY((short) 6);     // 源库位列
                        }
                    }

                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
@@ -1310,18 +1302,17 @@
            return;
        }

        News.warnNoLog("" + mark + " - 3" + " - 3" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
                , sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue()
                , sta.getRow1().shortValue(), sta.getBay1().shortValue(), sta.getLev1().shortValue());
        News.warnNoLog("" + mark + " - 3" + " - 3" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue(), sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue(), sta.getRow1().shortValue(), sta.getBay1().shortValue(), sta.getLev1().shortValue());

        // 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
        Short workMode = getWorkMode(sourceSta.getBay1());
        Short workMode = getWorkMode(sta.getLocType1(), sourceSta.getBay1());
        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
        if (workMode == 2) {
            //CrnTaskModeType该枚举类无效，只有1代表工位，2代表工位2，3双工位
            crnCommand.setTaskMode(CrnTaskModeType.PAKOUT);
            crnCommand.setSourcePosXTwo(sourceSta.getRow1().shortValue());     // 源库位排
            crnCommand.setSourcePosYTwo(sourceSta.getBay1().shortValue());     // 源库位列
            crnCommand.setSourcePosZTwo(sourceSta.getLev1().shortValue());     // 源库位层
@@ -1370,53 +1361,61 @@
            if (crnProtocol == null) {
                continue;
            }
            CrnStatusType statusType = crnProtocol.getStatusType();
            CrnStatusType statusTypeTwo = crnProtocol.getStatusTypeTwo();
            boolean wait = false;
            if (statusType == CrnStatusType.WAITING_ONE || statusTypeTwo == CrnStatusType.WAITING_TWO || (statusType == CrnStatusType.WAITING_All && statusTypeTwo == CrnStatusType.WAITING_All)) {
                wait = true;
            }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                News.warn("" + mark + " - 0" + " - 开始执行对工作档的完成操作");
                if (crnProtocol.getTaskNo() == 9999) {
            if (wait && crnProtocol.getTaskNo() != 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作");
//                if (crnProtocol.getTaskNo() == 9999) {
//                    // 堆垛机复位
//                    if (statusType == CrnStatusType.WAITING_ONE) {
//                        crnThread.setResetFlag(true);
//                    } else if (statusTypeTwo == CrnStatusType.WAITING_TWO) {
//                        crnThread.setResetFlagTwo(true);
//                    } else {
//                        crnThread.setResetFlag(true);
//                        crnThread.setResetFlagTwo(true);
//                    }
//                } else {
                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                if (wrkMast == null) {
                    News.error("" + mark + " - 1" + " - 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 {
                    //TODO
                    News.info("状态不对,状态={}，工作号={}", wrkMast.getWrkSts(), crnProtocol.getTaskNo());
                    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
                    Short mode = crnProtocol.getMode();
                    if (mode == 1) {
                    News.info("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
                    if (statusType == CrnStatusType.WAITING_ONE) {
                        crnThread.setResetFlag(true);
                    } else if (mode == 2) {
                    } else if (statusTypeTwo == CrnStatusType.WAITING_TWO) {
                        crnThread.setResetFlagTwo(true);
                    } else if (mode == 3) {
                    } else {
                        crnThread.setResetFlag(true);
                        crnThread.setResetFlagTwo(true);
                    }
                } else {
                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                    if (wrkMast == null) {
                        News.error("" + mark + " - 1" + " - 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
                        News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
                        Short mode = crnProtocol.getMode();
                        if (mode == 1) {
                            crnThread.setResetFlag(true);
                        } else if (mode == 2) {
                            crnThread.setResetFlagTwo(true);
                        } else if (mode == 3) {
                            crnThread.setResetFlag(true);
                            crnThread.setResetFlagTwo(true);
                        }
                    }
                    News.error("" + mark + " - 2" + " - 修改成功后复位堆垛机 失败！！，堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
                }

            }

            //}
        }
        News.infoNoLog("" + mark + " - 0" + " - 对工作档的完成操作执行完成");
    }
@@ -1449,8 +1448,7 @@
                            }
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                            String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                            BasErrLog basErrLog = new BasErrLog(null,    // 编号
                                    wrkMast.getWrkNo(),    // 工作号
                                    now,    // 发生时间
                                    null,    // 结束时间
@@ -1497,8 +1495,7 @@
                        if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                            String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                            BasErrLog basErrLog = new BasErrLog(null,    // 编号
                                    null,    // 工作号
                                    now,    // 发生时间
                                    null,    // 结束时间
@@ -1565,10 +1562,10 @@
                    staProtocol = staProtocol.clone();
                }

                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
//                if (barcodeThread == null) {
//                    continue;
//                }
//                String barcode = barcodeThread.getBarcode();
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
@@ -1609,9 +1606,9 @@
                    if (!staProtocol.isLoading()) {
                        continue;
                    }
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
//                    if (!staProtocol.isPakMk()) {
//                        continue;
//                    }
                    staProtocol.setWorkNo((short) 9999);
                    News.info("{}入库回退：{}，任务号：{}", emptyInSta.getStaNo(), errMsg, (short) 9999);
                    staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
@@ -1631,11 +1628,7 @@
                }

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

                    try {
@@ -1647,18 +1640,13 @@
                        param.setLocType1(locTypeDto.getLocType1());
                        if (emptyInSta.getStaNo() == 102) {
                            param.setLocType2((short) 3);
                        } else if (emptyInSta.getStaNo() == 211) {
                        } else if (emptyInSta.getStaNo() == 211 || emptyInSta.getStaNo() == 104) {
                            param.setLocType1((short) 5);
                            param.setLocType2((short) 4);
                        } else if (emptyInSta.getStaNo() == 201) {
                            param.setLocType2((short) 4);
                        }
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        String response = new HttpHandler.Builder().setUri(wmsUrl).setPath("/rpc/pakin/loc/v1").setJson(JSON.toJSONString(param)).build().doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
@@ -1711,9 +1699,7 @@
                    }

                } else {
                    News.errorNoLog("" + mark + " - 4" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isAutoing() + "、可入信号：" + staProtocol.isInEnable()
                            + "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo()
                            + "、锁定标记" + staProtocol.isPakMk());
                    News.errorNoLog("" + mark + " - 4" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isAutoing() + "、可入信号：" + staProtocol.isInEnable() + "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo() + "、锁定标记" + staProtocol.isPakMk());
                }
            }
        }
@@ -1967,7 +1953,7 @@
     * 因双深库位阻塞，对浅库位进行移转（立即执行版)
     * tip：同步
     */
    private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc, Integer mark) {
    private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc, Integer mark, Long tenant) {

        try {
            News.warnNoLog("" + mark + "moveLocForDeepLoc" + " - 0" + " - 开始执行:因双深库位阻塞，对浅库位进行移转（立即执行版)");
@@ -1975,8 +1961,7 @@
            LocMast loc = null;
            for (Integer row : rows) {
                if (Utils.isDeepLoc(slaveProperties, row)) {
                    loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1(), shallowLoc.getLocType2());

                    loc = locMastService.queryFreeLocMast(row, shallowLoc.getBay1(), shallowLoc.getLocType1(), shallowLoc.getLocType2());
                    if (loc != null) {
                        if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
                            String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
@@ -1987,14 +1972,26 @@
                        }
                    }
                    if (null != loc) {
                        //调整的原因：双工位的情况，5列，只能2号工位取放，34列，只能工位1取放
//                        if (shallowLoc.getLocType1() == 1) {
//                            if (shallowLoc.getBay1() == 5 && loc.getBay1() == 5) {
//                                break;
//                            } else if (shallowLoc.getBay1() == 3 || shallowLoc.getBay1() == 4) {
//                                if (loc.getBay1() == 3 || loc.getBay1() == 4) {
//                                    break;
//                                }
//                            }
//                            loc = null;
//                        } else {
                        break;
                        // }
                    }
                }
            }
            if (null == loc) {
                for (Integer row : rows) {
                    if (Utils.isShallowLoc(slaveProperties, row)) {
                        loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1(), shallowLoc.getLocType2());
                        loc = locMastService.queryFreeLocMast(row, shallowLoc.getBay1(), shallowLoc.getLocType1(), shallowLoc.getLocType2());

                        if (null != loc) {//对应深库位非在库状态,不能移库
                            String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
@@ -2005,7 +2002,19 @@
                        }

                        if (null != loc) {
//                            //调整的原因：双工位的情况，5列，只能2号工位取放，34列，只能工位1取放
//                            if (shallowLoc.getLocType1() == 1) {
//                                if (shallowLoc.getBay1() == 5 && loc.getBay1() == 5) {
//                                    break;
//                                } else if (shallowLoc.getBay1() == 3 || shallowLoc.getBay1() == 4) {
//                                    if (loc.getBay1() == 3 || loc.getBay1() == 4) {
//                                        break;
//                                    }
//                                }
//                                loc = null;
//                            } else {
                            break;
                            // }
                        }
                    }
                }
@@ -2028,7 +2037,7 @@
            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.setFullPlt(shallowLoc.getLocSts().equals("F") ? "Y" : "N"); // 满板
            wrkMast.setPicking("N"); // 拣料
            wrkMast.setExitMk("N"); // 退出
            wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
@@ -2036,6 +2045,7 @@
            wrkMast.setLinkMis("N");
            wrkMast.setAppeTime(new Date());
            wrkMast.setModiTime(new Date());
            wrkMast.setTenant(tenant);
            int res = wrkMastMapper.insert(wrkMast);
            if (res == 0) {
                News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 2" + " - 保存工作档失败");
@@ -2052,6 +2062,7 @@
                    VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
                    wrkDetl.setAppeTime(new Date());
                    wrkDetl.setModiTime(new Date());
                    wrkDetl.setTenant(tenant);
                    if (!wrkDetlService.save(wrkDetl)) {
                        News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 3" + " - 保存工作档明细失败");
                        throw new CoolException("保存工作档明细失败");
@@ -2261,9 +2272,7 @@
                                    // 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) {
                                    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;
                                    }
@@ -2279,9 +2288,7 @@
                                    // 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) {
                                    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;
                                    }
@@ -2323,7 +2330,7 @@

    public synchronized void autoEmptyOut() {
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        Integer autoOutSite = 12;
        Integer autoOutSite = 103;
        //如果站点可出禁用，则不生成空盘出库任务
        StaProtocol staProtocol = devpThread.getStation().get(autoOutSite);
        if (staProtocol == null) {
@@ -2333,37 +2340,27 @@
        }
        if (staProtocol.isAutoing()  //自动
                && !staProtocol.isLoading()  //无物
                && staProtocol.isOutEnable()  //可出信号
                && staProtocol.getWorkNo() == 0
        ) {
            WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(autoOutSite);
            if (null != pakoutEmpty) {
                return;
//                && staProtocol.isOutEnable()  //可出信号
                && staProtocol.getWorkNo() == 0) {
//            WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(autoOutSite);
//            if (null != pakoutEmpty) {
//                return;
//            }

            LocMast byId = locMastService.getById("0200405");
            if (byId != null&&byId.getLocSts().equalsIgnoreCase("D")){

            }
            try {
                String response = new HttpHandler.Builder()
                        .setUri(wmsUrl)
                        .setPath("/rpc/auto/emptyOut/v1")
                        .build()
                        .doPost();
                JSONObject jsonObject = JSON.parseObject(response);
                if (jsonObject.getInteger("code").equals(200)) {
                    JSONObject data = (JSONObject) jsonObject.get("data");
                    News.info((String) data.get("msg"));
                } else {
                    News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1", "", response);
                }
            } catch (Exception e) {
                e.printStackTrace();
                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
            }

        }
    }

    @Autowired
    private WrkMastService wrkMastService;

    public synchronized void autoEmptyIn() {
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        Integer autoInSite = 12;
        StaProtocol staProtocol = devpThread.getStation().get(autoInSite);
        StaProtocol staProtocol = devpThread.getStation().get(103);
        if (staProtocol == null) {
            return;
        } else {
@@ -2371,25 +2368,44 @@
        }
        if (staProtocol.isAutoing()  //自动
                && staProtocol.isLoading()  //有物
                && staProtocol.isInEnable()  //可入信号
                && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990) //工作号为0或者工作号是9991~9999（输送机留用）
//                && staProtocol.isInEnable()  //可入信号
                && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() >= 9990) //工作号为0或者工作号是9991~9999（输送机留用）
        ) {

            try {
                LocTypeDto locTypeDto = new LocTypeDto((short) 1, (short) 1, (short) 1);
                Date now = new Date();
                // 生成工作档
                WrkMast wrkMast = new WrkMast();
                int workNo = commonService.getWorkNo(0);
                wrkMast.setWrkNo(workNo);
                wrkMast.setIoTime(now);
                wrkMast.setWrkSts(2L);
                wrkMast.setIoPri(13D);
                wrkMast.setIoType(10);
                wrkMast.setCrnNo(1);
                wrkMast.setSourceStaNo(101);
                wrkMast.setStaNo(103);
                wrkMast.setLocNo("0200405");
                wrkMast.setFullPlt("N"); // 满板：N
                wrkMast.setPicking("N"); // 拣料
                wrkMast.setExitMk("N"); // 退出
                wrkMast.setEmptyMk("Y"); // 空板
                wrkMast.setLinkMis("Y");
                // 操作人员数据
                wrkMast.setAppeTime(now);
                wrkMast.setModiTime(now);
                wrkMast.setMemo("自动空托入库");
                boolean res = wrkMastService.save(wrkMast);


                String response = new HttpHandler.Builder()
                        .setUri(wmsUrl)
                        .setPath("/rpc/auto/emptyIn/v1")
                        .setJson(JSON.toJSONString(locTypeDto))
                        .build()
                        .doPost();
                JSONObject jsonObject = JSON.parseObject(response);
                if (jsonObject.getInteger("code").equals(200)) {
                    News.info((String) jsonObject.get("msg"));
                } else {
                    News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
                // 更新目标库位状态
                LocMast locMast = locMastService.getById("0200405");
                if (locMast.getLocSts().equals("O")) {
                    locMast.setLocSts("S"); // S.入库预约
                    locMast.setModiUser(789L);
                    locMast.setModiTime(now);
                    if (!locMastService.updateById(locMast)) {
                        throw new CoolException("改变库位状态失败");
                    }
                }
            } catch (Exception e) {
                e.printStackTrace();