第一次进场调试

dubin

9 天以前 c0fc45a7cd97c2ded531b85575e6f26ff269db1b

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

@@ -4,6 +4,7 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.baomidou.mybatisplus.plugins.Page;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.exception.CoolException;
@@ -38,6 +39,8 @@
import com.zy.core.thread.LedThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -94,6 +97,10 @@
    private WrkMastService wrkMastService;
    @Autowired
    private BasRgvMapService basRgvMapService;
    @Autowired
    private BasCrnOptService crnOptService;
    @Autowired
    private ConfigService configService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -101,6 +108,9 @@
    private boolean isToOrigin;

    public Integer wrkNo = 10000;

    /*堆垛机入出库任务下发控制参数*/
//    Integer ioControl=configService.selectCrnIo(Integer mark);

    /**
     * 组托
@@ -130,6 +140,37 @@
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                boolean fail = false;
                // 检测是否有出库任务 如果有出库任务 入库就停止
                List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", 12).in("io_type",101,103,104,107,110));
                // 检测104站（堆垛机出库站 入库站）是否有物 如果有物没有工作号 入库停止 如果有物工作号是出库 入库停止 如果有物工作号是入库 可以入库 如果有物工作号不存在 入库停止
                StaProtocol staProtocol104 = devpThread.getStation().get(104);
                if (staProtocol104 == null){
                    log.error("104站点信息未获取");
                    continue;
                }
                //104站有物 有工作号 判断这个任务的类型
                WrkMast wrkMast1 = null;
                if (staProtocol104.isLoading() && staProtocol104.getWorkNo() != 0){
                    wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol104.getWorkNo()));
                }

                if (wrkMast1 != null){
                    if (wrkMast1.getIoType() > 100){
                        fail = true;
                    }
                }

                // 检测102站是否有物  有物继续向下执行
                if (!staProtocol.isLoading()){
                    continue;
                }

                // 如果工作号不是 9999 （入库任务） 不向下执行
                if (staProtocol.getWorkNo() != 9999){
                    continue;
                }

                if (staProtocol.isFrontErr()) {
                    errMsg = "前超限";
                    back = true;
@@ -158,11 +199,32 @@
                    errMsg = "扫码失败";
                    back = true;
                }
                // 判断托盘码格式
                if (!back &&(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode))){
                    errMsg = "托盘码格式有误--->" + barcode;
                    back = true;
                }
                if (!back && (!barcode.startsWith("5") && !barcode.startsWith("6") &&  !barcode.startsWith("7") && !barcode.startsWith("8"))) {
                    errMsg = "托盘码格式有误--->" + barcode;
                    back = true;
                }
                if (!back && !wrkMastList.isEmpty()) {
                    errMsg = "堆垛机有出库任务,入库停止";
                    back = true;
                }if (!back && staProtocol104.isLoading() && staProtocol104.getWorkNo() == 0 && (barcode.startsWith("6") || barcode.startsWith("5"))){
                    errMsg = "104站有物但是无工作号,请检查";
                    back = true;
                }if (!back && ((wrkMast1 != null && fail))){
                    errMsg = "1号堆垛机有出库任务,入库停止";
                    back = true;
                }if (!back && (staProtocol104.isLoading() && wrkMast1 == null) && (barcode.startsWith("5") || barcode.startsWith("6"))){
                    errMsg = "104站有物但是对应的工作号无工作档,请检查";
                    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()) {
@@ -171,13 +233,13 @@
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);
                    staProtocol.setWorkNo(wrkNo);//退回 工作号:10000
                    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());
                    log.error("输送线下发（全板退回）：" + wrkNo + "," + inSta.getBackSta());
                    break;//超限托盘退回不生成工作档
                }

                // 判断是否满足入库条件
@@ -185,54 +247,36 @@
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && staProtocol.isPakMk()) {
                        && staProtocol.isPakMk()
                        && staProtocol.getWorkNo()==9999) {
                    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());
                        log.error("输送线下发（扫码全板退回）：" + wrkNo + "," + inSta.getBackSta());
                        continue;
                    }
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    if (wrkMast != null) {
//                        int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
//                        if (wrkNo1 != 0){
//                            if (ledThread != null) {
//                                News.error(methodName + ":扫码失败，请重试");
//                            }
//
//                        }
                        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()));
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        staProtocol.setStaNo(wrkMast.getStaNo().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");
                        }
                        continue;
//                        barcodeThread.setBarcode("");
//                        staProtocol.setWorkNo(wrkMast.getWrkNo());
//                        staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast.getSourceStaNo()));
//                        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) {
//                            News.error(methodName + ":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;
//                        }

                    }
                    WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                            .eq("barcode", barcode)
                            .in("io_type", 107, 103, 57));
                            .in("io_type", 107, 103, 104));
                    if (!Cools.isEmpty(checkPick)) {
                        continue;
                    }
@@ -240,11 +284,12 @@
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        locTypeDto.setLocType1((short) 1);
                        locTypeDto.setLocType1(staProtocol.toSqlModel().getLocType1());
                        param.setBarcode(barcode);
                        param.setIoType(1);
                        param.setSourceStaNo(inSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        param.setLocType1(locTypeDto.getLocType1()); // 高低
                        param.setWeight(staProtocol.getWeight()); // 重量
                        String response = new HttpHandler.Builder()
                                .setTimeout(30,TimeUnit.SECONDS)
                                .setUri(wmsUrl)
@@ -261,7 +306,7 @@
                            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());
                            log.error("输送线下发（全板）：" + dto.getWorkNo() + "," + dto.getStaNo());

                            ledThread.errorReset();
                            log.error("组托请求后LED错误清除");
@@ -273,42 +318,19 @@
                            }
                        } 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);
                            wrkNo++;
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//
//                            if (ledThread != null) {
                            log.error("输送线下发（全板退回）：" + staProtocol.getWorkNo() + "," + staProtocol.getStaNo());

                            String errorMsg = jsonObject.getString("msg");
                            if (!Cools.isEmpty(errorMsg)) {
                                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);
                        }


@@ -322,7 +344,7 @@

            }
        }
//        News.infoNoLog(""+mark+" - 0"+" - 组托  ===》执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 组托  ===》执行完成");

    }

@@ -344,7 +366,7 @@
                    staProtocol = staProtocol.clone();
                }

//                // 入出库模式判断
                // 入出库模式判断
                if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) {
                    continue;
                }
@@ -415,10 +437,39 @@
//                    News.error("站点信息未获得");
                    continue;
                }
                // 检测102站是否有物 有物继续向下执行
                if (!staProtocol.isLoading()){
                    continue;
                }
                // 如果工作号不是 9999 （入库任务） 不向下执行
                if (staProtocol.getWorkNo() != 9999){
                    continue;
                }
                // 检测是否有出库任务 如果有出库任务 入库就停止
                List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", 12).in("io_type",101,103,104,107,110));
                // 检测104站（堆垛机出库站 入库站）是否有物 如果有物没有工作号 入库停止 如果有物工作号是出库 入库停止 如果有物工作号是入库 可以入库 如果有物工作号不存在 入库停止
                StaProtocol staProtocol104 = devpThread.getStation().get(104);
                if (staProtocol104 == null){
                    log.error("104站点信息未获取");
                    continue;
                }
                //104站有物 有工作号 判断这个任务的类型
                WrkMast wrkMast1 = null;
                if (staProtocol104.isLoading() && staProtocol104.getWorkNo() != 0){
                    wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol104.getWorkNo()));
                }
                // 尺寸检测异常
                boolean back = false;
                boolean fail = false;
                String errMsg = "";
                if (!back && staProtocol.isFrontErr()) {

                if (wrkMast1 != null){
                    if (wrkMast1.getIoType() > 100){
                        fail = true;
                    }
                }

                if (staProtocol.isFrontErr()) {
                    errMsg = "前超限";
                    back = true;
                }
@@ -446,14 +497,33 @@
                    errMsg = "扫码失败";
                    back = true;
                }
                if(staProtocol.getSiteId() > 400){
                    back = false;
                // 判断托盘码格式
                if (!back &&(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode))){
                    errMsg = "托盘码格式有误--->" + barcode;
                    back = true;
                }
                if (!back && (!barcode.startsWith("5") &&  !barcode.startsWith("6") &&  !barcode.startsWith("7") && !barcode.startsWith("8"))) {
                    errMsg = "托盘码格式有误--->" + barcode;
                    back = true;
                }
                if (!back && !wrkMastList.isEmpty()) {
                    errMsg = "堆垛机有出库任务,入库停止";
                    back = true;
                }if (!back && staProtocol104.isLoading() && staProtocol104.getWorkNo() == 0 && (barcode.startsWith("6") || barcode.startsWith("5"))){
                    errMsg = "104站有物但是无工作号,请检查";
                    back = true;
                }if (!back && (wrkMast1 != null && fail)){
                    errMsg = "1号堆垛机有出库任务,入库停止";
                    back = true;
                }if (!back && (staProtocol104.isLoading() && Cools.isEmpty(wrkMast1)) && (barcode.startsWith("5") || barcode.startsWith("6"))){
                    errMsg = "104站有物但是对应的工作号无工作档,请检查";
                    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);
                    News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", pickSta.getStaNo(), errMsg);
                    MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
                    if (!staProtocol.isLoading()) {
                        continue;
@@ -463,11 +533,9 @@
                    }
                    staProtocol.setWorkNo(wrkNo);
                    News.info("{}入库回退：{}，任务号：{}", pickSta.getStaNo(), errMsg, wrkNo);
                    wrkNo++;
                    staProtocol.setStaNo(pickSta.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：" + 9999 + "," + pickSta.getBackSta());
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());

                    // led 异常显示
@@ -475,27 +543,6 @@
                        MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
                    }
                    continue;
                }
                if(staProtocol.getSiteId() < 400){
                    if (!Cools.isEmpty(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;
                        }
                    } else {
                        continue;
                    }


                    if (!Cools.isEmpty(barcode)) {
//                    News.info(""+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;
                        }
                    } else {
                        continue;
                    }

                }


@@ -505,15 +552,12 @@
                    staProtocol = staProtocol.clone();
                }

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

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");
                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    if(staProtocol.getSiteId() > 400){
                        wrkMast = wrkMastMapper.selectPickStep3(staProtocol.getWorkNo());
                    }
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                    if (wrkMast == null) {
                        // 无拣料数据
@@ -523,16 +567,6 @@
                            || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                        continue;
                    }

                    // 拣、盘、并 作业站转换
//                    int stnNo = 0;
//                    if (wrkMast.getStaNo() == 109) {
//                        stnNo = 127;
//                    } else if (wrkMast.getStaNo() == 113) {
//                        stnNo = 128;
//                    } else {
//                        log.error("{}号任务数据异常！", wrkMast.getWrkNo());
//                    }
                    // 获取目标站
                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                            .eq("type_no", wrkMast.getIoType() - 50)
@@ -541,11 +575,11 @@
                    StaDesc staDesc = staDescService.selectOne(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(wrkNo++);
                        staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue() - (short) 1));
                        staProtocol.setWorkNo(wrkNo);
                        staProtocol.setStaNo(pickSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发4：" + 9989 + "," + (pickSta.getStaNo().shortValue() - (short) 1));
                        log.error("输送线下发（盘点、拣料、并板退回）：" + wrkNo + "," + pickSta.getBackSta());
                        //LED
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                        // led 异常显示
@@ -598,12 +632,10 @@

                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                    if(staProtocol.getSiteId() < 400){
                        staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString()));
                    }
                    staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString()));
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发5：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
                    log.error("输送线下发（盘点、拣料、并板）：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
                    if (!result) {
                        News.error("" + mark + " - 3" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }
@@ -616,7 +648,7 @@
            }

        }
//        News.infoNoLog(""+mark+" - 0"+" - 拣料、并板、盘点再入库  ===》执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 拣料、并板、盘点再入库  ===》执行完成");
    }


@@ -799,6 +831,34 @@
                } else {
                    staProtocol = staProtocol.clone();
                }
                //判断是不是2号堆垛机的106出库站
                if (staProtocol.getSiteId() == 106 && staProtocol.isLoading()){
                    CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, 2);
                    CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                    if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
                        // 移动中
                        continue;
                    }
                    if (crnProtocol.modeType == CrnModeType.AUTO
                            && crnProtocol.statusType == CrnStatusType.WAITING
                            && crnProtocol.forkPosType == CrnForkPosType.HOME){
                        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", crnProtocol.getTaskNo()).eq("wrk_sts",12));
                        if (wrkMast == null){
                            News.errorNoLog("2号堆垛机等待确认的工作档不存在");
                            continue;
                        }
                        wrkMast.setWrkSts(14L);
                        wrkMast.setCrnEndTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) != 0) {
                            // 复位堆垛机
                            log.error("出库任务完成下发堆垛机复位,{}", wrkMast.getWrkNo());
                            crnThread.setResetFlag(true);
                        } else {
                            News.error("" + mark + " - 1" + " - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                        }
                        break;
                    }
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
@@ -885,6 +945,9 @@
     */
    public synchronized void crnIoExecute(Integer mark) {

        /*堆垛机入出库任务下发控制参数*/
        Integer ioControl=configService.selectCrnIo();

        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -929,14 +992,68 @@
                        crnProtocol.setLastIo("O");
                    }
                }







//                if (ioControl==1){
//                    //入库优先  先执行入库再执行出库
//                    Integer inCount=wrkMastService.selectIn();
//                    if (inCount == 0 && basCrnp.getOutEnable().equals("Y")){
//                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
//                    }
//                    if (basCrnp.getInEnable().equals("Y")){
//                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
//                    }
//                }else if (ioControl==2){
//                    //出库优先 先执行出库再执行入库
//                    Integer outCount=wrkMastService.selectOut();
//                    if (outCount==0 && basCrnp.getInEnable().equals("Y")){
//                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
//                    }
//                    if (basCrnp.getOutEnable().equals("Y")){
//                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
//                    }
//                }else if(ioControl==3){
//                    //入出库交替执行 不做限制
//                    // 如果最近一次是入库模式
//                    if (crnProtocol.getLastIo().equals("I")) {
//                        if (basCrnp.getInEnable().equals("Y")) {
//                        //mark - 1 - ....
//                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
//                        crnProtocol.setLastIo("O");
//                        } else if (basCrnp.getOutEnable().equals("Y")) {
//                        //mark - 2 - ....
//                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
//                        crnProtocol.setLastIo("I");
//                        }
//                    }
//                    // 如果最近一次是出库模式
//                    else if (crnProtocol.getLastIo().equals("O")) {
//                        if (basCrnp.getOutEnable().equals("Y")) {
//                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
//                        crnProtocol.setLastIo("I");
//                        } else if (basCrnp.getInEnable().equals("Y")) {
//                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
//                        crnProtocol.setLastIo("O");
//                        }
//                    }
//                }
            }




            // 库位移转
            //mark - 3 - ....
//            this.locToLoc(crn, crnProtocol, mark);
            this.locToLoc(crn, crnProtocol, mark);
//            this.crnRebackHp(crnProtocol, crnThread);

        }
//        News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
    }

    /**
@@ -1114,6 +1231,7 @@
            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 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.setSourcePosY((short)(wrkMast.getBarcode().startsWith("7")? 0:1));     // 源库位列
            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
            crnCommand.setDestinationPosX((short) (locMast.getRow1() + slave.getOffset()));     // 目标库位排
            crnCommand.setDestinationPosY((short) (locMast.getBay1() + slave.getOffset()));     // 目标库位列
@@ -1158,8 +1276,11 @@
            // 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());
            if (wrkMasts.isEmpty()) {
                wrkMasts = wrkMastMapper.selectPakOutStep11To2(slave.getId(), 103);
            }
            for (WrkMast wrkMast : wrkMasts) {
                if (wrkMast == null) {
                 if (wrkMast == null) {
                    continue;
                }
                // 工作档状态判断
@@ -1175,14 +1296,51 @@
                }
                // 获取堆垛机出库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
                StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getSourceStaNo());
                if (staProtocol == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
                    break;
//                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                //工作档目标站为101 且 101有物  目标站为101 且工作档状态为12 15 14 停止给堆垛机下全板出库以外的任务
                if (wrkMast.getStaNo() == 101){
                    List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("sta_no", 101).in("wrk_sts", 12, 14, 15));
                    StaProtocol staProtocol101 = devpThread.getStation().get(101);
                    StaProtocol staProtocol102 = devpThread.getStation().get(102);
                    StaProtocol staProtocol103 = devpThread.getStation().get(103);
                    if (staProtocol101 == null) {
                        News.infoNoLog("" + mark + " - 2" + " - 3" + " - 工作档目标站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
                        break;
                    } else {
                        staProtocol101 = staProtocol101.clone();
                    }
                    if (staProtocol101.isLoading() || !Cools.isEmpty(wrkMastList) || staProtocol101.getWorkNo() != 0 || staProtocol102.isLoading() || staProtocol102.getWorkNo() != 0 || staProtocol103.isLoading() || staProtocol103.getWorkNo() != 0){
                        break;
                    }
                }
//                StaProtocol staProtocol1 = staProtocol.getSiteId()==101?devpThread.getStation().get(crnStn.getStaNo() + 1):devpThread.getStation().get(crnStn.getStaNo() - 1);
//                StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() - 1);
//                StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() + 1);
//                if (staProtocol1 == null) {
//                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
//                    break;
//                } else {
//                    staProtocol1 = staProtocol1.clone();
//                }
//                StaProtocol staProtocol2 = staProtocol.getSiteId()==101?devpThread.getStation().get(crnStn.getStaNo() + 2):devpThread.getStation().get(crnStn.getStaNo());
//                StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() - 2);
//                StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() + 2);
//                if (staProtocol2 == null) {
//                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
//                    break;
//                } else {
//                    staProtocol2 = staProtocol2.clone();
//                }
                //出入口输送线只允许存在一个托盘
//                if(staProtocol.isLoading() || staProtocol1.isLoading() || staProtocol2.isLoading() || staProtocol.getWorkNo() != 0 || staProtocol1.getWorkNo() != 0 || staProtocol2.getWorkNo() != 0) {
//                    break;
//                }

//            // 入出库模式判断
//            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
@@ -1198,9 +1356,27 @@
                    break;
//                    continue;
                }

                // 堆垛机出库站可出信号校验参数
                Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "OutStationVerify"));
                boolean out = false;
                if (config != null){
                    if (config.getValue().equals("Y")){
                        if (staProtocol.isOutEnable()){
                            out = true; // 校验堆垛机出库站可出信号  出库站可出
                        }else {
                            out = false; // 校验堆垛机出库站信号 出库站不可出
                        }
                    }else if (config.getValue().equals("N")){
                        out = true; // 不校验堆垛机出库站可出信号
                    }else {
                        throw new CoolException("校验堆垛机出库站可出信号参数异常 请马上检查参数对应的值");
                    }
                }

                // 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()) {
                        && staProtocol.getWorkNo() == 0 && out) {
                    // 命令下发区 --------------------------------------------------------------------------

                    // 堆垛机控制过滤
@@ -1209,7 +1385,7 @@
                        break;
                    }

//                    // 双深库位且浅库位有货，则需先对浅库位进行库位移转
                    // 双深库位且浅库位有货，则需先对浅库位进行库位移转
//                    if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
//                        News.warnNoLog("" + mark + " - 2" + " - 6" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}", wrkMast.getWrkNo());
//                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
@@ -1270,17 +1446,32 @@

                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
//                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX((short) (sourceSta.getRow1() + slave.getOffset()));     // 源库位排
                    crnCommand.setSourcePosY((short) (sourceSta.getBay1() + slave.getOffset()));     // 源库位列
                    crnCommand.setSourcePosZ((short) (sourceSta.getLev1() + slave.getOffset()));     // 源库位层
                    crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                    crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    if (wrkMast.getCrnNo() == 2){
                        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((short) (sourceSta.getRow1() + slave.getOffset()));     // 源库位排
                        crnCommand.setSourcePosY((short) (sourceSta.getBay1() + slave.getOffset()));     // 源库位列
                        crnCommand.setSourcePosZ((short) (sourceSta.getLev1() + slave.getOffset()));     // 源库位层
                        crnCommand.setDestinationPosX(wrkMast.getIoType() == 101? crnStn.getRow().shortValue() : 3);     // 目标库位排
//                        crnCommand.setDestinationPosY((short)(Utils.getLev(wrkMast.getSourceLocNo()) <= 2? 0 : 1));     // 目标库位列
                        crnCommand.setDestinationPosY((short)1);     // 目标库位列
                        crnCommand.setDestinationPosZ((short)1);     // 目标库位层
                        crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    }else {
                        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((short) (sourceSta.getRow1() + slave.getOffset()));     // 源库位排
                        crnCommand.setSourcePosY((short) (sourceSta.getBay1() + slave.getOffset()));     // 源库位列
                        crnCommand.setSourcePosZ((short) (sourceSta.getLev1() + slave.getOffset()));     // 源库位层
                        crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                        crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                        crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    }
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
@@ -1511,7 +1702,10 @@
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

                if (crnProtocol.getTaskNo() == 9999){
                    crnThread.setResetFlag(true);
                    continue;
                }
                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                if (wrkMast == null) {
@@ -1538,7 +1732,7 @@


        }
//        News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成");
    }

    /**
@@ -1660,7 +1854,7 @@
            }

        }
//        News.infoNoLog(""+mark+" - 0"+" - 堆垛机异常信息记录执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 堆垛机异常信息记录执行完成");
    }


@@ -1674,6 +1868,12 @@
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历空板入库口
            for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                // 获取空板入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
@@ -1691,24 +1891,87 @@
                if (!staProtocol.isLoading()) {
                    continue;
                }
                // 如果工作号不是 9998 （入库任务） 不向下执行
                if (staProtocol.getWorkNo() != 9998){
                    continue;
                }

                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                // 检测是否有出库任务 如果有出库任务 入库就停止
                List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("io_type",101,103,104,107,110).in("wrk_sts", 12));
                // 检测104站（堆垛机出库站 入库站）是否有物 如果有物没有工作号 入库停止 如果有物工作号是出库 入库停止 如果有物工作号是入库 可以入库 如果有物工作号不存在 入库停止
                StaProtocol staProtocol104 = devpThread.getStation().get(104);
                if (staProtocol104 == null){
                    log.error("104站点信息未获取");
                    continue;
                }
                //104站有物 有工作号 判断这个任务的类型
                WrkMast wrkMast1 = null;
                if (staProtocol104.isLoading() && staProtocol104.getWorkNo() != 0){
                    wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol104.getWorkNo()));
                }
                // 判断托盘码格式
                if (Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)){
                    errMsg = "托盘码格式有误--->" + barcode;
                    back = true;
                }
                if (!back && (!barcode.startsWith("5") &&  !barcode.startsWith("6") &&  !barcode.startsWith("7") && !barcode.startsWith("8"))) {
                    errMsg = "托盘码格式有误--->" + barcode;
                    back = true;
                }
                if (!back && !wrkMastList.isEmpty()) {
                    errMsg = "堆垛机有出库任务,入库停止";
                    back = true;
                }if (!back && staProtocol104.isLoading() && staProtocol104.getWorkNo() == 0 && (barcode.startsWith("5") || barcode.startsWith("6"))){ // 104虽然有物没有工作号 但是如果102的货物要进的是2号堆垛机 不能阻拦 （1号堆垛机条码 5xxx 6xxx   2号堆垛机 7xxx 8xxx）
                    errMsg = "104站有物但是无工作号,请检查";
                    back = true;
                }if (!back && (wrkMast1 != null && wrkMast1.getIoType() > 100)){
                    errMsg = "1号堆垛机有出库任务,入库停止";
                    back = true;
                }if (!back && (staProtocol104.isLoading() && wrkMast1 == null) && (barcode.startsWith("5") || barcode.startsWith("6"))){ // 同上
                    errMsg = "104站有物但是对应的工作号无工作档,请检查";
                    back = true;
                }

                // 退回
                if (back) {
                    log.info("errmsg: " + errMsg);
                    MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errMsg));

                    if (!staProtocol.isLoading()) {
                        continue;
                    }
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);//退回 工作号:10000
                    News.info("{}PLC入库回退：{}，任务号：{}", emptyInSta.getStaNo(), errMsg, wrkNo);
                    staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发：" + wrkNo + "," + emptyInSta.getBackSta());
                    break;//托盘退回不生成工作档
                }
                // 站点条件判断
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && staProtocol.isPakMk()
                        && (staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() > 9700)
                        && staProtocol.getWorkNo() == 9998
                ) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行：空栈板初始化入库,叉车入库站放货");

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
                        SearchLocParam param = new SearchLocParam();
                        locTypeDto.setLocType1((short) 1);
                        locTypeDto.setLocType1(staProtocol.toSqlModel().getLocType1());
                        param.setIoType(10);
                        param.setSourceStaNo(emptyInSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        param.setBarcode(barcode); // 空托盘入库需要根据托盘码分库位
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
@@ -1725,7 +1988,7 @@
                            //staProtocol.setStaNo(staProtocol.getSiteId().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6：" + dto.getWorkNo() + "," + staProtocol.getSiteId());
                            log.error("输送线下发（空板）：" + dto.getWorkNo() + "," + staProtocol.getSiteId());
                            if (!result) {
                                News.errorNoLog("" + mark + " - 1" + " - 更新plc站点信息失败");
                                throw new CoolException("更新plc站点信息失败");
@@ -1738,7 +2001,7 @@
                                LedCommand ledCommand = new LedCommand();
                                ledCommand.setWorkNo(dto.getWorkNo());
                                ledCommand.setIoType(1);
                                ledCommand.setTitle("全板入库");
                                ledCommand.setTitle("空板入库");
                                ledCommand.setLocNo(dto.getLocNo());
                                ledCommand.setStaNo(dto.getStaNo());
                                commands.add(ledCommand);
@@ -1775,7 +2038,7 @@
                }
            }
        }
//        News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成");
    }

    /**
@@ -1787,8 +2050,7 @@
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
            // 命令集合
            List<LedCommand> commands = new ArrayList<>();
            // 工作档集合
            List<WrkMast> wrkMasts = new ArrayList<>();
            List<Integer> workNoList = new ArrayList<>();
            for (Integer staNo : led.getStaArr()) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -1797,29 +2059,42 @@
                } else {
                    staProtocol = staProtocol.clone();
                }
                Integer wrkNo = null;
                Integer ioType = null;
                Integer targetStaNo = null;
                String sourceLocNo = null;
                String locNo = null;
                String barcode = null;
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo);

                // 获取工作档数据
                WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
                if (null == wrkMast) {
                WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no",staProtocol.getWorkNo()));
                if (wrkMast == null && barcodeThread != null) {
                    wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode",barcodeThread.getBarcode()));
                }
                if (wrkMast == null){
                    continue;
                }
                wrkMasts.add(wrkMast);
                wrkNo = wrkMast.getWrkNo();
                ioType = wrkMast.getIoType();
                sourceLocNo = wrkMast.getSourceLocNo();
                locNo = wrkMast.getLocNo();
                targetStaNo = wrkMast.getStaNo();
                barcode = wrkMast.getBarcode();
                News.warnNoLog("" + mark + " - 0" + " - 开始执行:出库  ===>> 工作档信息写入led显示器");
                workNoList.add(wrkNo);
                // 组装命令
                LedCommand ledCommand = new LedCommand();
                ledCommand.setWorkNo(wrkMast.getWrkNo());
                ledCommand.setIoType(wrkMast.getIoType());
                ledCommand.setWorkNo(wrkNo);
                ledCommand.setIoType(ioType);
                // 出库模式
                switch (wrkMast.getIoType()) {
                switch (ioType) {
                    case 1:
                        ledCommand.setTitle("全板入库");
                        break;
                    case 10:
                        ledCommand.setTitle("空板入库");
                        break;
                    case 53:
                        ledCommand.setTitle("拣料再入库");
                        break;
                    case 57:
                        ledCommand.setTitle("盘点再入库");
                        break;
                    case 101:
                        ledCommand.setTitle("全板出库");
@@ -1837,60 +2112,130 @@
                        ledCommand.setTitle("空板出库");
                        ledCommand.setEmptyMk(true);
                        break;
                    case 53:
                        ledCommand.setTitle("拣料入库");
                        break;
                    case 57:
                        ledCommand.setTitle("盘点入库");
                        break;
                    case 54:
                        ledCommand.setTitle("并板入库");
                        break;
                    default:
                        News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                        News.error("" + mark + " - 1" + " - 任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkNo, ioType);
                        break;
                }
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
                ledCommand.setBarcode(wrkMast.getBarcode());
                if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                ledCommand.setSourceLocNo(sourceLocNo);
                ledCommand.setLocNo(locNo);
                ledCommand.setStaNo(targetStaNo);
                ledCommand.setBarcode(barcode);

                    wrkDetls.forEach(wrkDetl -> {
                        Double total = 0.0;
                        EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
                        LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
                        if (Cools.isEmpty(locDetl)) {
                            total = wrkDetl.getAnfme();
                        } else {
                            total = locDetl.getAnfme();
                // 修改开始：处理多个wrkDetl，不合并
                if (ioType != 110 && ioType != 10) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkNo);

                    if (!wrkDetls.isEmpty()) {
                        // 获取库存信息
                        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>()
                                .eq("loc_no", wrkMast.getSourceLocNo()));
                        double totalAnfme = 0D;
                        double totalWeight = 0D;
                        for (LocDetl locDetl : locDetls) {
                            totalAnfme += locDetl.getAnfme();
//                        totalWeight += locDetl.getWeight();
                        }
                        if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(), total));

                        // 为每个WrkDetl创建独立的MatDto
                        for (WrkDetl wrkDetl : wrkDetls) {
                            // 注意：这里使用每个wrkDetl的原始数据，不合并
                            ledCommand.getMatDtos().add(new MatDto(
                                    wrkDetl.getMatnr()
                                    , wrkDetl.getMaktx()
                                    , wrkDetl.getAnfme()  // 使用单个物料的数量，不累加
                                    , wrkDetl.getWeight() // 使用单个物料的重量，不累加
                                    , totalAnfme          // 库存总数（这个是正常的）
                                    , totalWeight         // 库存总重量（这个是正常的）
                                    , wrkDetl.getSpecs()
                                    , wrkDetl.getSku()
                                    , wrkDetl.getZpallet()
                                    , wrkDetl.getModel()
                                    , wrkDetl.getSupp()
                                    , wrkDetl.getBarcode()
                                    , wrkDetl.getOrderNo()
                                    , wrkDetl.getBatch()
//                                , wrkDetl.getCstateid$()
                            ));
                        }
                        if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(), total));
                        }
                        if (wrkMast.getIoType() == 107) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(), total));
                        }
                    });
                    } else {
//                        List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectTodayByWrkNo(wrkNo);
//                        if (!wrkDetlLogs.isEmpty()) {
//                            // 获取库存信息
//                            List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>()
//                                    .eq("loc_no", sourceLocNo));
//                            double totalAnfme = 0D;
//                            double totalWeight = 0D;
//                            for (LocDetl locDetl : locDetls) {
//                                totalAnfme += locDetl.getAnfme();
//                                totalWeight += locDetl.getWeight();
//                            }
//
//                            // 为每个WrkDetlLog创建独立的MatDto
//                            for (WrkDetlLog wrkDetlLog : wrkDetlLogs) {
//                                // 注意：这里使用每个wrkDetlLog的原始数据，不合并
//                                ledCommand.getMatDtos().add(new MatDto(
//                                        wrkDetlLog.getMatnr()
//                                        , wrkDetlLog.getMaktx()
//                                        , wrkDetlLog.getAnfme()  // 使用单个物料的数量，不累加
//                                        , wrkDetlLog.getWeight() // 使用单个物料的重量，不累加
//                                        , totalAnfme              // 库存总数
//                                        , totalWeight             // 库存总重量
//                                        , wrkDetlLog.getSpecs()
//                                        , wrkDetlLog.getSku()
//                                        , wrkDetlLog.getZpallet()
//                                        , wrkDetlLog.getModel()
//                                        , wrkDetlLog.getSupp()
//                                        , wrkDetlLog.getKpCstmrName()
//                                        , wrkDetlLog.getOrderNo()
//                                        , wrkDetlLog.getBatch()
////                                    , wrkDetlLog.getCstateid$()
//                                ));
//                            }
//                        }
                    }
                }
                // 修改结束

                commands.add(ledCommand);
            }
            Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
            Set<Integer> workNos = new HashSet<>(workNoList);
            // 获取LED线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
            // 相同工作号集合则过滤
            if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
                continue;
            }

            // 命令下发 -------------------------------------------------------------------------------
            if (!commands.isEmpty()) {
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
                    News.error("{}号LED显示内容命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    News.error("{}号LED命令下发失败--->出库！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    continue;
                } else {
                    ledThread.setLedMk(false);
                }
            }

            try {
                // 修改主档led标记
                for (WrkMast wrkMast : wrkMasts) {
                    wrkMast.setOveMk("Y");
                    wrkMast.setModiTime(new Date());
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        throw new CoolException("更新工作档失败");
                for (Integer wrkNo : workNoList) {
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", wrkNo));
                    if (wrkMast != null) {
                        wrkMast.setOveMk("Y");
                        wrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.errorNoLog("" + mark + " - 4" + " - 更新工作档失败");
                            throw new CoolException("更新工作档失败");
                        }
                    }
                }

@@ -1903,6 +2248,7 @@
            }

        }
        News.infoNoLog("" + mark + " - 0" + " - 出库  ===>> 工作档信息写入led显示器执行完成");
    }

    /**
@@ -2167,7 +2513,12 @@

                    LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
                    LocMast loc = locMastService.queryDemoLoc(crn.getId());
                    if (null == sourceLoc || null == loc) {
                    if (null == sourceLoc) {
                        continue;
                    }

                    if (null == loc) {
                        log.error("库位已全部标记");
                        continue;
                    }

@@ -2226,6 +2577,7 @@
                    if (loc.getLocSts().equals("O")) {
                        loc.setLocSts("S"); // S.入库预约
                        loc.setModiTime(new Date());
                        loc.setLocType2((short) 1); // 标记
                        if (!locMastService.updateById(loc)) {
                            throw new CoolException("更新目标库位状态失败");
                        }
@@ -2377,10 +2729,8 @@
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        List<Integer> list = new ArrayList<>();
        list.add(101);
        list.add(112);
        Map<Integer, Integer> map = new HashMap<>();
        map.put(101, 102);
        map.put(112, 111);
        for (Integer site : list) {
            WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", map.get(site)));
            if (!Cools.isEmpty(wrkMast)) {
@@ -2404,7 +2754,7 @@
                }
                Short loctype1 = 1;
                if (site == 101) {
                    loctype1 = 2;
                    loctype1 = 1;
                }
                LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
                locTypeDto.setSiteId(site);
@@ -3165,4 +3515,86 @@
        }
    }

    public synchronized void crnMove() {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }
            BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
            if (basCrnp == null) {
                log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
                continue;
            }

            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                if (crnProtocol.getBay()==1 && crnProtocol.getLevel() == 1 && crnProtocol.getCrnNo() == 1) {
                    continue;
                }
                if (crnProtocol.getCrnNo() == 2 && crnProtocol.getLevel() == 1 && (crnProtocol.getBay() == 0 || crnProtocol.getBay() == 1)){
                    continue;
                }
                Page<BasCrnOpt> basCrnOptPage = crnOptService.selectPage(new Page<>(1, 1), new EntityWrapper<BasCrnOpt>().eq("crn_no", crn.getId()).orderBy("send_time", false));
                if (basCrnOptPage != null && basCrnOptPage.getRecords() != null && basCrnOptPage.getRecords().size() > 0) {
                    if (System.currentTimeMillis() - basCrnOptPage.getRecords().get(0).getSendTime().getTime() < 1000 * 60 * 3) {
                        continue;
                    }
                } else {
                    if (System.currentTimeMillis() - crnProtocol.getLastCommandTime() < 1000 * 60 * 2) {
                        continue;
                    }
                }
                List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                        .eq("crn_no", crn.getId())
                        .notIn("wrk_sts", 5, 14, 15)
                );
                if (!wrkMasts.isEmpty()) {
                    continue;
                }

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

                News.info("堆垛机无任务自动回入库口待机==>>" + crnProtocol.getCrnNo() + "号堆垛机");
                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
//                if (crnProtocol.getCrnNo()==3 || crnProtocol.getCrnNo()==4){
//                    crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
//                    crnCommand.setTaskNo((short) 9999); // 工作号
//                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
//                    crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  堆垛机移动
//                    crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
//                    crnCommand.setSourcePosY((short) 0);     // 源库位列
//                    crnCommand.setSourcePosZ((short) 1);     // 源库位层
//                    crnCommand.setDestinationPosX((short) 0);     // 目标库位排
//                    crnCommand.setDestinationPosY((short) 0);     // 目标库位列
//                    crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
//                    crnCommand.setCommand((short) 1);
//                }else {
                    crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                    crnCommand.setTaskNo((short) 9999); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
//                    crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  堆垛机移动
                    crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);//余姚锐麒回原点任务模式:  站位转移
                    crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                    crnCommand.setSourcePosY((short) 1);     // 源库位列
                    crnCommand.setSourcePosZ((short) 1);     // 源库位层
                    crnCommand.setDestinationPosX((short) 0);     // 目标库位排
                    crnCommand.setDestinationPosY((short) 0);     // 目标库位列
                    crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
                    crnCommand.setCommand((short) 1);//任务确认位
//                }
                if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
                    News.error("堆垛机移动命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
                }
                crnThread.setBackHpFlag(true);
                try {
                    Thread.sleep(500);
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        }
    }
}