zy-wcs.git - Gitblit

			@@ -684,13 +684,17 @@
			//状态8，等待命令进行入库搬运动作

			//判断提升机是否空闲
			if (!liftProtocol.isIdle()) {
			if (!liftProtocol.isIdleNoTask()) {
			try {
			Thread.sleep(1000);//休眠1s
			} catch (InterruptedException e) {
			throw new RuntimeException(e);
			}
			continue;//提升机忙
			}
			//判断提升机任务号和当前工作档任务号是否一致
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			continue;
			}

			//判断提升机楼层是否到位，判断站点是否给出提升机到位信号
			@@ -986,13 +990,17 @@
			}else if(wrkMast.getWrkSts() == 25) {//状态25，需要向小车下发命令从提升机移动出去，需要判断提升机状是否空闲、提升机是否到达目标楼层、目标楼层站点是否存在、目标楼层站点是否给出提升机到位信号

			//判断提升机是否空闲
			if (!liftProtocol.isIdle()) {
			if (!liftProtocol.isIdleNoTask()) {
			try {
			Thread.sleep(1000);//休眠1s
			} catch (InterruptedException e) {
			throw new RuntimeException(e);
			}
			continue;//提升机忙
			}
			//判断提升机任务号和当前工作档任务号是否一致
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			continue;
			}

			//判断提升机楼层是否到位，判断站点是否给出提升机到位信号
			@@ -1071,14 +1079,14 @@
			BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
			Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

			String disLocNo = "190020" + Utils.getLev(liftSiteLocNo);//避让位置
			String disLocNo = "200020" + Utils.getLev(liftSiteLocNo);//避让位置
			LocMast locMast1 = locMastService.queryByLoc(disLocNo);
			if (locMast1 == null) {
			continue;//找不到库位
			}
			short disCode = Short.parseShort(locMast1.getQrCodeValue());
			//任务执行完后，小车进入移开提升机口站点位置，以免坠落
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, disCode, 1400, ShuttleRunDirection.BOTTOM.id, endStartCode, 1400, 500);
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, disCode, 2800, ShuttleRunDirection.BOTTOM.id, endStartCode, 2800, 1000);
			commands.add(moveCommand);

			//分配目标库位
			@@ -1147,10 +1155,25 @@
			assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
			assignCommand.setSourceLocNo(liftSiteLocNo);

			//获取当前小车所在楼层的站点信息
			BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
			Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

			String disLocNo = "200020" + Utils.getLev(liftSiteLocNo);//避让位置
			LocMast locMast1 = locMastService.queryByLoc(disLocNo);
			if (locMast1 == null) {
			continue;//找不到库位
			}
			short disCode = Short.parseShort(locMast1.getQrCodeValue());
			//任务执行完后，小车进入移开提升机口站点位置，以免坠落
			ShuttleCommand moveCommand2 = shuttleThread.getMoveCommand(endStartCode, disCode, 2800, ShuttleRunDirection.BOTTOM.id, endStartCode, 2800, 1000);

			List<ShuttleCommand> commands = this.shuttleAssignCommand(liftSiteLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//未找到路径
			}
			commands.add(moveCommand2);//任务执行完后，小车进入移开提升机口站点位置，以免坠落

			//此时车在提升机内部，需要多下达一步指令让车移动到提升机口
			short startCode = liftProtocol.getBarcode();//提升机内部二维码
			Short distCode = commands.get(0).getStartCodeNum();//目标二维码
			@@ -1193,11 +1216,21 @@
			ArrayList<ShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
			ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

			//判断其他空闲穿梭车是否离任务最近
			String distLocNo = null;//目标地点，入库=》提升机口，出库=》货物库位号
			if (wrkMast.getIoType() < 101) {
			//入库
			distLocNo = Utils.levToOutInStaLocNo(lev);
			}else {
			//出库
			distLocNo = locNo;
			}

			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			if (shuttleProtocol == null \|\| shuttleProtocol.getShuttleNo() == null) {
			continue;
			}
			if (!shuttleProtocol.isIdle()) {
			@@ -1208,6 +1241,14 @@
			if (shuttleLocNo == null) {
			continue;
			}

			if (shuttleLocNo.equals(distLocNo)) {
			//车辆当前位置已经是目标库位，无需计算
			map.put("sameLay", true);//同层
			map.put("result", shuttleThread);
			return map;
			}

			int shuttleLocNoLey = Utils.getLev(shuttleLocNo);//库位号对应层高
			if (lev == shuttleLocNoLey) {
			//工作档楼层相同的穿梭车
			@@ -1225,16 +1266,6 @@
			for (ShuttleThread shuttleThread : sameLev) {
			if (recentShuttle == null) {//最近穿梭车为空，则默认赋予为最近穿梭车
			recentShuttle = shuttleThread;
			}

			//判断其他空闲穿梭车是否离任务最近
			String distLocNo = null;//目标地点，入库=》提升机口，出库=》货物库位号
			if (wrkMast.getIoType() < 101) {
			//入库
			distLocNo = Utils.levToOutInStaLocNo(lev);
			}else {
			//出库
			distLocNo = locNo;
			}

			//当前穿梭车库位号
			@@ -1313,6 +1344,9 @@
			&& shuttleProtocol.getTaskNo() != 0
			&& shuttleProtocol.getBusyStatus() == 0
			) {
			//标记复位
			shuttleProtocol.setPakMk(true);

			//将任务档标记为完成
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
			if (wrkMast != null) {
			@@ -1341,8 +1375,6 @@
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//标记复位
			shuttleProtocol.setPakMk(true);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			@@ -1411,8 +1443,13 @@
			continue;
			}

			//判断提升机是否处于空闲状态
			if (!liftProtocol.isIdle()) {

			// if (!liftProtocol.isIdle()) {
			// continue;
			// }

			//判断提升机是否处于空闲状态，没有判断任务号，可能提升机处于空闲，但是还有任务未完成
			if (!liftProtocol.isIdleNoTask()) {
			continue;
			}

			@@ -1434,6 +1471,21 @@
			}

			if (wrkMast.getWrkSts() == 2) {//2.设备上走
			if (liftProtocol.getTaskNo().intValue() != 0) {
			//存在未完成任务号
			continue;
			}
			if (liftProtocol.getPlatShuttleCheck()) {
			//提升机此时有四向车，可能有未完成的任务，禁止分配新任务
			continue;
			}

			//获取目标站
			StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());
			if (staProtocol.isLoading() \|\| !staProtocol.isInEnable()) {//目标站有物，不可入，禁止分配任务
			continue;
			}

			//工作档目标库位号
			String wrkMastLocNo = wrkMast.getLocNo();
			//工作档目标库位楼层
			@@ -1478,6 +1530,10 @@

			wrkMast.setWrkSts(3L);//3.提升机搬运中
			} else if (wrkMast.getWrkSts() == 6) {//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			//提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
			continue;
			}
			liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

			//判断小车是否在提升机内，且处于空闲状态
			@@ -1494,6 +1550,10 @@
			}
			if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
			continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
			}
			if (!liftProtocol.getPlatShuttleCheck()) {
			//提升机未检测到小车，禁止执行
			continue;
			}

			//工作档目标库位号
			@@ -1514,6 +1574,10 @@

			wrkMast.setWrkSts(7L);//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
			} else if(wrkMast.getWrkSts() == 23) {//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			//提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
			continue;
			}
			liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

			//判断小车是否在提升机内，且处于空闲状态
			@@ -1531,6 +1595,10 @@
			}
			if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
			continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
			}
			if (!liftProtocol.getPlatShuttleCheck()) {
			//提升机未检测到小车，禁止执行
			continue;
			}

			//工作档目标库位号
			@@ -1551,6 +1619,15 @@

			wrkMast.setWrkSts(24L);//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
			} else if (wrkMast.getWrkSts() == 27) {//27.小车出库搬运完成
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			//提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
			continue;
			}
			if (liftProtocol.getPlatShuttleCheck()) {
			//提升机此时有四向车，可能有未完成的任务，禁止分配新任务
			continue;
			}

			//工作档源库位号
			String wrkMastLocNo = wrkMast.getSourceLocNo();
			//工作档源库位楼层
			@@ -1643,8 +1720,18 @@
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
			if (wrkMast != null) {
			//判断提升机是否到达任务楼层
			String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
			int lev = Utils.getLev(locNo);//任务目标楼层

			//标记复位
			liftProtocol.setPakMk(true);

			switch (wrkMast.getWrkSts().intValue()) {
			case 3://3.提升机搬运中 ==> 4.提升机搬运完成
			if (liftProtocol.getLev().intValue() != lev) {
			continue;//提升机没有到达目标
			}
			//给目标站设置工作号
			StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());//目标站
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			@@ -1653,17 +1740,30 @@
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			wrkMast.setWrkSts(4L);
			break;
			case 7://7.提升机迁移小车中 ==> 8.提升机迁移小车完成
			if (liftProtocol.getLev().intValue() != lev) {
			continue;//提升机没有到达目标
			}
			wrkMast.setWrkSts(8L);
			break;
			case 24://24.提升机迁移小车中 ==> 25.提升机迁移小车完成
			if (liftProtocol.getLev().intValue() != lev) {
			continue;//提升机没有到达目标
			}
			wrkMast.setWrkSts(25L);
			break;
			case 28://28.提升机搬运中 ==> 29.提升机搬运完成
			if (liftProtocol.getPositionArrivalFeedback().intValue() != 2) {
			continue;//提升机是否达到输送线楼层
			}
			wrkMast.setWrkSts(29L);
			wrkMast.setWrkSts(34L);//34.出库完成，暂时先直接完成出库工作档，后续需要根据输送线给出的状态来确定34.出库完成状态
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			break;
			default:
			}
			@@ -1671,13 +1771,9 @@
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			//标记复位
			liftProtocol.setPakMk(true);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
			News.info("提升机已确认且任务完成状态。提升机号={}", liftProtocol.getLiftNo());
			} else {
			News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
			}
			@@ -1686,6 +1782,9 @@
			//查询是否有充电任务
			WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue());
			if (wrkCharge != null) {
			//标记复位
			liftProtocol.setPakMk(true);

			switch (wrkCharge.getWrkSts().intValue()) {
			case 54://提升机搬运中
			wrkCharge.setWrkSts(55L);//提升机搬运完成
			@@ -2407,7 +2506,7 @@
			continue;
			}

			WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttleProtocol.getShuttleNo().intValue(), WrkChargeType.charge);
			WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttleProtocol.getShuttleNo().intValue());
			if (wrkCharge != null) {//已有充电任务
			continue;
			}
			@@ -2449,7 +2548,7 @@
			*/
			public synchronized void executeShuttleCharge() {
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
			WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
			if (wrkCharge == null) {
			continue;
			}
			@@ -2672,8 +2771,12 @@
			assignCommand.setCommands(commands);

			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));

			wrkCharge.setWrkSts(60L);//60.充电任务完成
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}

			if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id) {
			@@ -2682,222 +2785,6 @@
			}
			}

			}

			/**
			* 轮询充电桩是否有空闲小车
			*/
			@Deprecated
			public synchronized void queryChargeLocOfComplete() {
			// 与充电任务不同步进行
			if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) { return; }
			if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) { return; }
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			// 检索充电桩
			for (SteChargeType value : SteChargeType.values()) {
			Integer steNo = basSteService.hasCarOfLocNo(value.locNo);
			if (steNo != null) {
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			BasSte basSte = basSteService.selectById(steNo);
			if (Cools.isEmpty(steProtocol, basSte)) {
			continue;
			}
			if (steProtocol.getCharge() < 99) {
			continue;
			}
			if (steProtocol.getMode() == 0) {
			continue;
			}
			if (!steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
			continue;
			}
			// // 1号充电桩
			// if (value.equals(SteChargeType.FIRST) && devpThread.charge0) {
			// continue;
			// }
			// // 2号充电桩
			// if (value.equals(SteChargeType.SECOND) && devpThread.charge1) {
			// continue;
			// }
			// // 3号充电桩
			// if (value.equals(SteChargeType.THIRD) && devpThread.charge2) {
			// continue;
			// }
			// // 小车是否处于充电状态
			// if (steProtocol.getChargeStatus() == 1) {
			// continue;
			// }
			// case 1 : 自动充电开馈电 ×
			// case 2 : 自动充电开满电 ✔
			// case 3 : 自动充电关馈电 ✔
			// case 4 : 自动充电关满电 ✔
			if (basSte.getAutoCharge().equals("Y")
			&& steProtocol.getCharge() < Float.parseFloat(basSte.getChargeLine())) {
			continue;
			}

			WrkCharge wrkCharge = wrkChargeService.selectWorking(steNo, WrkChargeType.reset);

			if (wrkCharge == null) {
			// 开始穿梭车复位任务
			wrkCharge = new WrkCharge();
			wrkCharge.setSteNo(steNo);
			wrkCharge.setWrkNo(commonService.getChargeWorkNo(6));
			wrkCharge.setWrkSts(41L); // 41.小车准备复位
			wrkCharge.setCrnNo(2); // 固定2号堆垛机
			wrkCharge.setIoPri((double) 10);
			wrkCharge.setSourceLocNo(value.locNo);
			wrkCharge.setLocNo(basSte.getIdleLoc());
			wrkCharge.setMemo("reset");
			wrkCharge.setAppeTime(new Date());
			if (!wrkChargeService.insert(wrkCharge)) {
			News.error("保存{}号穿梭车复位任务失败!!!", steNo);
			} else {
			break;
			}
			}
			}
			}
			}

			/**
			* 小车从充电桩至待机库位
			*/
			@Deprecated
			public synchronized void steFromChargeToIdleLoc() {
			WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.reset);
			if (wrkCharge == null) { return; }
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
			SteProtocol steProtocol = steThread.getSteProtocol();
			BasSte basSte = basSteService.selectById(wrkCharge.getSteNo());
			if (Cools.isEmpty(steProtocol, basSte)) {
			return;
			}
			// 搬运至固定通道
			if (wrkCharge.getWrkSts() == 41L) {
			// 搬小车至小车走向通道
			List<String> channel = slaveProperties.getChannel();
			for (String channelLocNo : channel) {
			Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
			if (null != otherSte) {
			News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
			} else {
			// 固定堆垛机
			int crnNo = 1;
			if (null != wrkMastMapper.selectWorkingByCrn(crnNo)) {
			return;
			}

			LocMast channelLoc = locMastService.selectById(channelLocNo);

			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnNo); // 堆垛机编号
			crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(steProtocol.getRow()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), false).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
			News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改穿梭车运行中排列层
			steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), false), channelLoc.getBay1(), channelLoc.getLev1());
			// 修改工作档状态 41.小车准备复位 => 42.吊车搬运
			Date now = new Date();
			wrkCharge.setWrkSts(42L);
			wrkCharge.setCrnStrTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.error("修改复位任务状态 41.小车准备复位 => 42.吊车搬运失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			break;
			}

			}
			}
			} else if (wrkCharge.getWrkSts() == 43L) {
			// 小车行驶通道
			if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
			steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.BACK_ORIGIN); // 去左端

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());
			if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
			News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
			} else {
			// 修改工作档状态 43.小车到达 ===> 44.小车走行
			wrkCharge.setWrkSts(44L);
			Date now = new Date();
			wrkCharge.setCrnEndTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.error("修改复位任务状态 43.小车到达 ===> 44.小车走行失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			}
			} else if (wrkCharge.getWrkSts() == 45L) {
			if (null != wrkMastMapper.selectWorkingByCrn(wrkCharge.getCrnNo())) {
			return;
			}

			LocMast idleLoc = locMastService.selectById(basSte.getIdleLoc());

			Integer otherSte = existOtherSte(idleLoc.getLocNo(), wrkCharge.getSteNo());
			if (null != otherSte) {
			News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), idleLoc.getLocNo(), otherSte);
			} else {
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { return; }
			// 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) {
			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(idleLoc.getLocNo(), true).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(idleLoc.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(idleLoc.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
			News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改穿梭车运行中排列层
			steThread.modifyPos(Utils.getGroupRow(idleLoc.getLocNo(), true), idleLoc.getBay1(), idleLoc.getLev1());
			// 修改工作档状态 45.小车待搬 => 46.放至待机位
			Date now = new Date();
			wrkCharge.setWrkSts(46L);
			wrkCharge.setCrnStrTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.error("修改工作档状态 45.小车待搬 => 46.放至待机位失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			}

			}
			}
			}

			public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";