zy-wcs.git - Gitblit

			@@ -4,38 +4,33 @@
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.core.common.Cools;
			import com.core.common.SpringUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.controller.CrnController;
			import com.zy.asrs.controller.OpenController;
			import com.zy.asrs.controller.SiteController;
			import com.zy.asrs.domain.enums.TaskStatusType;
			import com.zy.asrs.domain.enums.WorkNoType;
			import com.zy.asrs.domain.param.CrnOperatorParam;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.entity.param.TaskOverToWms;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.CommandUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.*;
			import com.zy.common.model.MatDto;
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.CollectionUtils;
			import com.zy.common.utils.HttpHandler;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			import com.zy.core.cache.MessageQueue;
			import com.zy.core.cache.SlaveConnection;
			import com.zy.core.cache.*;
			import com.zy.core.enums.*;
			import com.zy.core.model.CrnSlave;
			import com.zy.core.model.DevpSlave;
			import com.zy.core.model.Task;
			import com.zy.core.model.command.CommandPackage;
			import com.zy.core.model.*;
			import com.zy.core.model.command.CrnCommand;
			import com.zy.core.model.protocol.CrnProtocol;
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.model.command.LedCommand;
			import com.zy.core.model.protocol.*;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.BarcodeThread;
			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;
			@@ -44,7 +39,10 @@
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

			import java.io.IOException;
			import java.time.LocalDateTime;
			import java.util.*;
			import java.util.concurrent.ConcurrentHashMap;
			import java.util.stream.Collectors;

			/**
			* 立体仓库WCS系统主流程业务
			@@ -55,12 +53,8 @@
			@Transactional
			public class MainServiceImpl {

			public static final long COMMAND_TIMEOUT = 5 * 1000;

			@Autowired
			private SlaveProperties slaveProperties;
			@Autowired
			private WrkMastMapper wrkMastMapper;
			@Autowired
			private LocMastService locMastService;
			@Autowired
			@@ -76,40 +70,47 @@
			@Autowired
			private TaskWrkService taskWrkService;
			@Autowired
			private ConfigService configService;
			@Autowired
			private StaDescMapper staDescMapper;
			@Autowired
			private CommandInfoService commandInfoService;

			@Autowired
			private OpenServiceImpl openServiceImpl;
			@Autowired
			private StaDescService staDescService;

			@Autowired
			private ApiLogService apiLogService;
			@Autowired
			private CommonService commonService;
			@Autowired
			private CrnController crnController;
			@Autowired
			private BasDevpPositionService basDevpPositionService;

			@Value("${wms.url}")
			private String wmsUrl;
			@Value("${wms.inboundTaskApplyPath}")
			private String inboundTaskApplyPath;
			@Value("${wms.movePath}")
			private String movePath;
			@Value("${wms.taskStatusFeedbackPath}")
			private String taskStatusFeedbackPath;
			@Autowired
			private CrnController crnController;
			@Autowired
			private SiteController siteController;

			@Value("${wms.rgvOpen}")
			private boolean rgvOpen;

			public void generateStoreWrkFile() throws IOException, InterruptedException {
			@Value("${constant-parameters.trackEntireLength}")
			private Long trackEntireLength;

			@Value("${constant-parameters.trackBenchmark}")
			private Long trackBenchmark;

			@Value("${constant-parameters.trackProportion}")
			private Long trackProportion;

			@Value("${constant-parameters.avoidDistance}")
			private Long avoidDistance;
			@Autowired
			private TaskWrkLogServiceImpl taskWrkLogService;
			@Autowired
			private BasPlcerrorLogServiceImpl basPlcerrorLogService;
			public Long currentTimeMilliConnectCrnAuto= 0L;

			public void generateStoreWrkFile() {
			try {


			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			@@ -117,13 +118,277 @@
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			if (staProtocol == null \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Short workNo = staProtocol.getWorkNo();
			Short stano = staProtocol.getStaNo();
			Integer workNo = staProtocol.getWorkNo();
			if (workNo!=9998 && workNo!=9997){
			continue;
			}
			Integer stano = staProtocol.getStaNo();

			// 尺寸检测异常
			boolean back = false;
			String errMsg = "-";
			if (staProtocol.getGrossWt()>=600){
			errMsg = "超重："+staProtocol.getGrossWt()+"kg";
			back = true;
			}
			if (staProtocol.isFrontErr()) {
			if (!back){
			errMsg = "前超限";
			} else {
			errMsg = errMsg+"---"+"前超限";
			}
			back = true;
			}
			if (staProtocol.isBackErr()) {
			if (!back){
			errMsg = "后超限";
			} else {
			errMsg = errMsg+"---"+"后超限";
			}
			back = true;
			}
			if (staProtocol.isHighErr()) {
			if (!back){
			errMsg = "高超限";
			} else {
			errMsg = errMsg+"---"+"高超限";
			}
			back = true;
			}
			if (staProtocol.isLeftErr()) {
			if (!back){
			errMsg = "左超限";
			} else {
			errMsg = errMsg+"---"+"左超限";
			}
			back = true;
			}
			if (staProtocol.isRightErr()) {
			if (!back){
			errMsg = "右超限";
			} else {
			errMsg = errMsg+"---"+"右超限";
			}
			back = true;
			}
			// if (!back && staProtocol.isWeightErr()) {
			// errMsg = "超重";
			// back = true;
			// }
			if (staProtocol.isBarcodeErr()) {
			if (!back){
			errMsg = "扫码失败";
			} else {
			errMsg = errMsg+"---"+"扫码失败";
			}
			back = true;
			}
			// 退回
			if (back) {
			if (stano == inSta.getBackSta().shortValue()) {
			continue;
			}
			if (workNo == 0 && stano == 0) {
			continue;
			}
			if (!staProtocol.isPakMk()) {
			continue;
			}
			System.out.println("扫码入库失败，{"+inSta.getStaNo()+"}入库站因{"+errMsg+"}异常，托盘已被退回");
			// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			devpThread.setPakMkRun(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
			if (taskWrk != null) {
			taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
			taskWrk.setModiTime(new Date());
			taskWrkMapper.updateById(taskWrk);
			}
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& (workNo == 9998 \|\| workNo == 9997)
			&& staProtocol.isPakMk()
			&& staProtocol.isPakMkWalk()
			) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			int signI = 0;
			while (signI<6){
			Thread.sleep(200);
			signI = signI +1;
			// 获取条码扫描仪信息
			if (Cools.isEmpty(barcode) \|\| barcode.equals("000000")) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "循环次数："+signI+"；扫码值："+barcode);

			BarcodeThread barcodeThreadO = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThreadO == null) {
			continue;
			}
			barcode = barcodeThreadO.getBarcode();
			} else {
			break;
			}
			}


			if (!Cools.isEmpty(barcode) && !barcode.equals("99999999") && !barcode.equals("000000")) {
			// 请求wms接口，获取工作号和目标库位
			ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, workNo == 9998? 0 : 1);

			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
			if (!Cools.isEmpty(taskWrk1)) {
			log.info("托盘码：" + barcode + "任务档存在");
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && (taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString()) \|\| taskWrk1.getStartPoint().equals(String.valueOf((staProtocol.getSiteId()+1))))) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));

			if (Cools.isEmpty(staDesc)) {
			log.info("托盘码：" + barcode + "任务档存在");
			return;
			} else {
			staProtocol.setWorkNo(taskWrk1.getWrkNo());
			staProtocol.setStaNo(staProtocol.getSiteId());
			devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}
			return;
			}
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("Content-Type", "application/json");
			String response;
			try {
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			.setUri(wmsUrl)
			.setPath(inboundTaskApplyPath)
			.setJson(JSON.toJSONString(toWmsDTO))
			.build()
			.doPost();
			} catch (Exception e) {
			log.error("请求入库调用接口失败");
			log.error("异常信息打印：" + e);
			try {
			BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
			if (Cools.isEmpty(basDevp)) {
			log.error("站点号异常" + inSta.getStaNo());
			} else if (basDevp.getStaErr() != 0) {
			basDevp.setStaErr(2);
			basDevpService.updateById(basDevp);
			}
			} catch (Exception e1) {
			// 退回
			log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1);
			}
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), e.getMessage());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			continue;
			}

			JSONObject jsonObject = JSON.parseObject(response);
			apiLogService.save("wms请求入库货位接口"
			, wmsUrl + inboundTaskApplyPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(toWmsDTO)
			, response
			, true
			);
			log.info("入库请求参数{}" + JSON.toJSONString(toWmsDTO));
			log.info("入库请求返回参数{}" + JSON.toJSONString(response));
			if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
			try {
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), "上报成功等待任务");

			} catch (Exception e) {
			// 退回
			log.error("扫码检测程序异常" + inSta.getStaNo() + errMsg);
			log.error("扫码检测程序异常,异常信息" + e);

			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), "上报成功锁定失败");

			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}

			} else {
			// 退回
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), jsonObject.getString("message"));
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			} else {
			// 退回
			log.error("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);

			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), "扫码入库扫码失败！！！扫码值："+barcode);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
			if (taskWrk != null) {
			taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
			taskWrk.setModiTime(new Date());
			taskWrkMapper.updateById(taskWrk);
			}
			}
			}


			}
			}
			} catch (Exception e) {
			log.error("generateStoreWrkFile e", e);
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			public void generateStoreWrkFileIsEmptyMk() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Integer workNo = staProtocol.getWorkNo();
			if (workNo!=9997){
			continue;
			}
			Integer stano = staProtocol.getStaNo();

			// 尺寸检测异常
			boolean back = false;
			@@ -148,33 +413,31 @@
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			back = true;
			}
			// if (!back && staProtocol.isWeightErr()) {
			// errMsg = "超重";
			// back = true;
			// }
			// 退回
			if (back) {
			if (stano == inSta.getBackSta().shortValue()){
			if (stano == inSta.getBackSta().shortValue()) {
			continue;
			}
			if (workNo == 0 && stano == 0){
			if (workNo == 0 && stano == 0) {
			continue;
			}
			if (!staProtocol.isPakMk()){
			if (!staProtocol.isPakMk()) {
			continue;
			}
			System.out.println("扫码入库失败，{"+inSta.getStaNo()+"}入库站因{"+errMsg+"}异常，托盘已被退回");
			// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			staProtocol.setWorkNo(workNo);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
			if (taskWrk != null) {
			taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
			taskWrk.setModiTime(new Date());
			taskWrkMapper.updateById(taskWrk);
			}
			continue;
			@@ -182,173 +445,199 @@
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (workNo >= 0)
			&& staProtocol.isPakMk()) {
			&& (workNo == 9997)
			&& staProtocol.isPakMk()
			&& staProtocol.isPakMkWalk()
			) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode) && !barcode.equals("99999999")) {
			// 请求wms接口，获取工作号和目标库位
			ToWmsDTO toWmsDTO = new ToWmsDTO(barcode,staProtocol.getSiteId(),staProtocol.isHigh() ? 2 : 1);
			TaskWrk taskWrk1=taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode",barcode));
			if(!Cools.isEmpty(taskWrk1)){
			log.info("托盘码："+barcode+"任务档存在");
			continue;
			}
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("Content-Type","application/json");
			String response;
			if (Cools.isEmpty(barcode) \|\| barcode.equals("0") \|\| barcode.equals("000000")) {
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			continue;
			}
			// 请求wms接口，获取工作号和目标库位
			ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, 1);
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("Content-Type", "application/json");
			String response;
			try {
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			// .setHeaders(headParam)
			.setUri(wmsUrl)
			.setPath(inboundTaskApplyPath)
			.setJson(JSON.toJSONString(toWmsDTO))
			.build()
			.doPost();

			JSONObject jsonObject = JSON.parseObject(response);
			apiLogService.save("wms请求入库货位接口"
			,wmsUrl+inboundTaskApplyPath
			,null
			,"127.0.0.1"
			,JSON.toJSONString(toWmsDTO)
			,response
			,true
			);
			log.info("入库请求参数{}" + JSON.toJSONString(toWmsDTO));
			if (jsonObject.getInteger("code").equals(200) && !Cools.isEmpty(jsonObject.get("data").toString())) {
			GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);

			//查看该库位是否为空库位
			LocMast locMast=locMastService.selectOne(new EntityWrapper<LocMast>()
			.eq("loc_sts","O")
			.eq("loc_no",getWmsDto.getLocNo()));
			if(Cools.isEmpty(locMast)){
			try{
			HashMap<String, Object> headParam1 = new HashMap<>();
			headParam1.put("taskNo",getWmsDto.getTaskNo());
			headParam1.put("status",6);
			headParam1.put("ioType",1);
			headParam1.put("barcode",barcode);
			String response2;
			response2 = new HttpHandler.Builder()
			// .setHeaders(headParam)
			.setUri(wmsUrl)
			.setPath(taskStatusFeedbackPath)
			.setJson(JSON.toJSONString(headParam1))
			.build()
			.doPost();
			JSONObject jsonObject1 = JSON.parseObject(response2);
			apiLogService.save("wcs派发库位不为空上报wms"
			,wmsUrl+taskStatusFeedbackPath
			,null
			,"127.0.0.1"
			,JSON.toJSONString(headParam1)
			,response
			,true
			);
			}catch (Exception e){
			log.error("wcs派发库位不为空上报wms", getWmsDto.getWrkNo());
			throw new CoolException("wcs派发入库任务上报wms失败");
			}
			} catch (Exception e) {
			log.error("请求入库调用接口失败");
			log.error("异常信息打印：" + e);
			try {
			BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
			if (Cools.isEmpty(basDevp)) {
			log.error("站点号异常" + inSta.getStaNo());
			} else if (basDevp.getStaErr() != 0) {
			basDevp.setStaErr(2);
			basDevpService.updateById(basDevp);
			}
			} catch (Exception e1) {
			// 退回
			log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1);
			}
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			continue;
			}

			// 创新一个入库工作档
			TaskWrk taskWrk = taskWrkService.selectByTaskNo(getWmsDto.getWrkNo());
			if(Cools.isEmpty(taskWrk)) {
			taskWrk = createTask(getWmsDto,barcode);
			if (Cools.isEmpty(taskWrk)){
			log.error("库位异常，库位号：{}", getWmsDto.getTargetLocationCode());
			}else {
			taskWrkService.insert(taskWrk);
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId()));
			staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
			staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}
			JSONObject jsonObject = JSON.parseObject(response);
			apiLogService.save("wms请求入库货位接口"
			, wmsUrl + inboundTaskApplyPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(toWmsDTO)
			, response
			, true
			);
			log.info("入库请求参数{}" + JSON.toJSONString(toWmsDTO));
			log.info("入库请求返回参数{}" + JSON.toJSONString(response));
			if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
			try {
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			} catch (Exception e) {
			// log.error("扫码检测程序异常"+inSta.getStaNo()+"异常信息"+e);
			// 退回
			log.error("扫码检测程序异常" + inSta.getStaNo() + errMsg);
			log.error("扫码检测程序异常,异常信息" + e);

			}else {
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			} else {
			continue;
			}
			}
			}
			}
			} catch (Exception e) {
			log.error("generateStoreWrkFile e", e);
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}


			public void generateStoreWrkFileWalk() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInWalkSta()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Integer workNo = staProtocol.getWorkNo();

			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			// && staProtocol.isInEnable()
			// && (workNo == 0 \|\| (workNo>9000 && workNo<10000))
			&& staProtocol.isPakMkWalk()
			) {
			if (inSta.isBarcodeSign()){
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if (!Cools.isEmpty(barcode) && !barcode.equals("99999999")) {
			// 请求wms接口，获取工作号和目标库位
			ToWmsDTO toWmsDTO = new ToWmsDTO(barcode, staProtocol.getSiteId(), 0);
			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));

			// StaDescService staDescService = SpringUtils.getBean(StaDescService.class);
			//
			// ToWmsDTO toWmsDTO = new ToWmsDTO();
			// Map<String, Object> map = new HashMap<>();
			// map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
			// List<Integer> list = openServiceImpl.getInEnableRoadway();
			// TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
			//
			// if (Cools.isEmpty(taskWrk)){
			// continue;
			// }
			// //StaDesc staDesc1 = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_no",inSta.getBackSta()));
			// if (taskWrk.getTargetPoint() != null && taskWrk.getStartPoint() != null){
			// if ( taskWrk.getWrkNo() != null && taskWrk.getWrkNo().shortValue() == workNo ){
			// continue;
			// }
			// //获取堆垛机站点
			// StaDesc staDesc = new StaDesc();
			// if (devp.getId() <= 1){
			// staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			// .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).lt("stn_no", 200));
			// }else {
			// staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			// .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).lt("stn_no", 400).ge("stn_no", 250));
			// }
			// staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
			// staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
			// Thread.sleep(500);
			// }else {
			// //TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
			// toWmsDTO.setWarehouseId("1688469798893297665");
			// toWmsDTO.setContainerCode(barcode);
			// toWmsDTO.setApplyType("TUNNEL_LOCATION");
			// toWmsDTO.setTaskTunnel(taskWrk.getCrnNo());
			// toWmsDTO.setCanInboundTunnels(list);
			// String response = null;
			// try {
			// response = new HttpHandler.Builder()
			// .setHeaders(map)
			// .setUri(wmsUrl)
			// .setPath(inboundTaskApplyPath)
			// .setJson(JSON.toJSONString(toWmsDTO))
			// .build()
			// .doPost();
			// }catch (Exception e){
			// log.error("wms通讯失败,"+e.getMessage());
			// continue;
			// }
			// apiLogService.save("wms请求入库货位接口"
			// ,wmsUrl+"wcsManager/wcsInterface/inboundTaskApply"
			// ,null
			// ,"127.0.0.1"
			// ,JSON.toJSONString(toWmsDTO)
			// ,response
			// ,true
			// );
			// JSONObject jsonObject = JSON.parseObject(response);
			// if (jsonObject.getInteger("code").equals(200)) {
			// GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
			// taskWrk.setOriginTargetPoint(getWmsDto.getTargetLocationCode());
			// taskWrk.setTargetPoint(Utils.getWcsLocNo(getWmsDto.getTargetLocationCode()));
			// taskWrk.setStartPoint(String.valueOf(inSta.getBackSta()));
			// if (!taskWrkService.updateById(taskWrk)){
			// log.error("保存wms库位号失败");
			// }
			//
			// }else {
			// log.error("wms通讯失败,"+jsonObject.get("msg"));
			//
			// }
			// }
			if (!Cools.isEmpty(taskWrk1)) {
			log.info("托盘码：" + barcode + "任务档存在");
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));

			if (Cools.isEmpty(staDesc)) {
			log.info("托盘码：" + barcode + "任务档存在");
			return;
			} else {
			staProtocol.setWorkNo(taskWrk1.getWrkNo());
			staProtocol.setStaNo(staDesc.getCrnStn());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}
			return;
			}
			} else {
			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>());

			if (!Cools.isEmpty(taskWrk1)) {
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));

			if (Cools.isEmpty(staDesc)) {
			return;
			} else {
			staProtocol.setWorkNo(taskWrk1.getWrkNo());
			staProtocol.setStaNo(staDesc.getCrnStn());
			devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}
			return;
			}
			}
			} else {
			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("IO_TYPE",1).eq("WRK_STS",1).eq("START_POINT",staProtocol.getSiteId().toString()));

			if (!Cools.isEmpty(taskWrk1)) {
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));

			if (Cools.isEmpty(staDesc)) {
			return;
			} else {
			staProtocol.setWorkNo(taskWrk1.getWrkNo());
			staProtocol.setStaNo(BarcodeUtils.getStaNo(staProtocol.getSiteId()));
			devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), "-");
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			Date now = new Date();
			// taskWrk1.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
			// taskWrk.setAssignTime(now);//派发时间
			taskWrk1.setExecuteTime(now);
			taskWrk1.setWrkSts(2);//工作状态 3.吊车入库
			taskWrk1.setCrnNo(staDesc.getCrnNo());//堆垛机号
			taskWrk1.setModiTime(now);
			taskWrk1.setModiUser(9988L);
			taskWrkService.updateById(taskWrk1);


			}
			}
			return;
			}
			}
			}

			@@ -361,34 +650,83 @@
			}
			}


			/**
			* 堆垛机站出库到出库站
			*/
			public void crnStnToOutStn() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			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;
			}

			CrnSlave crnSlave = new CrnSlave(crn);
			if (Cools.isEmpty(crnProtocol.getLaneNo()) \|\| crnProtocol.getLaneNo()==0){
			continue;
			}

			if (!crn.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			crnSlave.updateCrnInStn(crnOther);
			}
			}
			}
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo()));
			for (StaDesc staDesc : staDescs){
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == 0)) {
			// 查询工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
			if (taskWrk == null) {

			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("CRN_NO", crnProtocol.getLaneNo()).eq("CRN_STN", crnStn.getStaNo()));
			for (StaDesc staDesc : staDescs) {
			try {
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()),taskWrk.getWrkNo().shortValue(),(short)0,"Y",false,false);
			taskWrk.setStatus(5);
			taskWrk.setWrkSts(14);
			taskWrkService.updateById(taskWrk);
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == 0)) {
			// 查询工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnProtocol.getLaneNo(), staDesc.getStnNo().toString());
			if (taskWrk == null) {
			continue;
			}
			log.info("下发输送线任务：taskWrk:" + JSON.toJSONString(taskWrk));
			// R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
			staProtocol.setWorkNo(taskWrk.getWrkNo());
			staProtocol.setStaNo(BarcodeUtils.getStaNo(staProtocol.getSiteId()));
			boolean offer = false;
			try {
			offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			} catch (Exception e) {
			log.error("下发输送线任务失败：异常:" + e);
			log.error("下发输送线任务失败：异常:offer:" + offer);
			}
			// JSONObject jsonObject = JSON.parseObject(JSON.toJSONString(r));
			if (offer) {
			log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk));
			Date now = new Date();
			taskWrk.setStatus(TaskStatusType.OVER3.id);
			taskWrk.setWrkSts(14);
			taskWrk.setModiTime(now);
			taskWrk.setCompleteTime(now);
			taskWrkService.updateById(taskWrk);
			} else {
			log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(taskWrk));
			// log.error("下发输送线任务失败：异常信息:"+JSON.toJSONString(r));
			}
			}
			} catch (Exception e) {
			log.error("出库到出库站异常:异常信息：" + e);
			}
			}

			@@ -397,18 +735,126 @@
			}

			/**
			* 堆垛机5分钟无任务则回到源点
			*/
			public void crnStnToOutStnSou() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			try{
			// 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 (System.currentTimeMillis()-currentTimeMilliConnectCrnAuto<10006010){
			continue;
			}
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.statusType == CrnStatusType.IDLE && crnProtocol.getLoaded().equals((short)0) && crnProtocol.getLaneNo()!=0 && crnProtocol.getTaskNo() == 0 ) {
			if (crnProtocol.getBay()!=1 \|\| crnProtocol.getLevel()!=1){
			//获取工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectByLaneNo(crnProtocol.getLaneNo());
			if (!taskWrks.isEmpty()) {
			continue;
			}
			List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<TaskWrkLog>().eq("CRN_NO",crnProtocol.getLaneNo()).orderBy("COMPLETE_TIME",false));
			if (!taskWrkLogs.isEmpty()) {
			boolean signT = false;
			for (TaskWrkLog taskWrkLog : taskWrkLogs){
			Date completeTime = taskWrkLog.getCompleteTime();
			if (completeTime==null){
			continue;
			}
			long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(completeTime, new Date());
			if (differenceInSeconds <= 6021000) {
			signT = true;
			break;
			} else {
			signT = false;
			break;
			}
			}
			if (signT){
			continue;
			}
			}
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
			crnCommand.setTaskNo((short)999); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.SITE_MOVE); // 任务模式: 站位移转4
			int row = crnProtocol.getLaneNo() * 2;
			crnCommand.setSourcePosX((short) row); // 源库位排
			crnCommand.setSourcePosY((short) 1); // 源库位列
			crnCommand.setSourcePosZ((short) 1); // 源库位层
			crnCommand.setDestinationPosX((short) row); // 目标库位排
			crnCommand.setDestinationPosY((short) 1); // 目标库位层
			crnCommand.setDestinationPosZ((short) 1); // 目标库位列
			if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机自动回源点失败，堆垛机号={}", crnProtocol.getCrnNo());

			if (System.currentTimeMillis()-currentTimeMilliConnectCrnAuto>10006010){
			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("CrnErr", crnProtocol.getCrnNo(), "堆垛机自动回源点失败");
			} catch (Exception e2){
			}
			if (currentTimeMilliConnectCrnAuto == 0){
			currentTimeMilliConnectCrnAuto = System.currentTimeMillis()-10006010-1;
			} else {
			currentTimeMilliConnectCrnAuto = System.currentTimeMillis();
			}
			}
			}
			}
			}
			} catch (Exception e){
			log.error("堆垛机5分钟无任务则回到源点失败");
			}
			}
			}

			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			public synchronized void crnIoExecute() throws IOException {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.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());
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crnSlave.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crnSlave.getId());
			continue;
			}

			CrnSlave crn = new CrnSlave(crnSlave);
			if (Cools.isEmpty(crnProtocol.getLaneNo()) \|\| crnProtocol.getLaneNo()==0){
			continue;
			}

			if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			crn.updateCrnInStn(crnOther);
			}
			}
			}

			try{
			// 库位移转
			this.locToLoc(crn, crnProtocol);
			} catch (Exception e) {
			log.error("库位移转失败");
			}

			// 只有当堆垛机空闲并且无任务时才继续执行
			@@ -434,10 +880,19 @@
			crnProtocol.setLastIo("O");
			}
			}
			} else {
			if (crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getStatusType() == CrnStatusType.IDLE){
			if (crnProtocol.getTaskNo() != 0){
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");
			}
			if (crnProtocol.getLoaded() != 0){
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "载货台有物");
			}
			if (crnProtocol.getForkPos() != 0){
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "货叉位置不在中位");
			}
			}
			}
			// 库位移转
			this.locToLoc(crn, crnProtocol);

			}
			}

			@@ -446,7 +901,8 @@
			*/
			public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) throws IOException {
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("CRN_NO", crnProtocol.getLaneNo()).eq("CRN_STN", crnStn.getStaNo()));

			for (StaDesc staDesc : staDescs) {
			boolean flag = false;
			// 获取堆垛机入库站信息
			@@ -463,8 +919,9 @@
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			&& staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
			// && staProtocol.isInEnable()
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			@@ -472,30 +929,39 @@
			}

			// 获取工作状态为2（设备上走）的入库工作档
			TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
			if(null == taskWrk) {
			TaskWrk taskWrk = taskWrkMapper.selectPakIn(crnProtocol.getLaneNo(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
			if (null == taskWrk) {
			continue;
			}

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE)) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "堆垛机非空闲");
			continue;
			}
			if (crnProtocol.getTaskNo() != 0) {
			devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机工作号不为0");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");
			continue;
			}

			// 已经存在吊车执行任务时，则过滤
			if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
			if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
			devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机存在吊车任务");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
			continue;
			}

			int workNo = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号
			taskWrk.setWrkNo(workNo);//工作号
			// int workNo = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号
			// taskWrk.setWrkNo(workNo);//工作号
			Date now = new Date();
			taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
			taskWrk.setAssignTime(new Date());//派发时间
			// taskWrk.setAssignTime(now);//派发时间
			taskWrk.setExecuteTime(now);
			taskWrk.setWrkSts(3);//工作状态 3.吊车入库
			taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号
			taskWrk.setModiTime(new Date());
			taskWrk.setModiTime(now);
			taskWrk.setModiUser(9988L);
			taskWrkService.updateById(taskWrk);

			// //取出命令
			// List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
			@@ -520,7 +986,7 @@
			// //开始运行
			// String response = CrnStartRunning(taskWrk);
			// JSONObject jsonObject = JSON.parseObject(response);
			// if (jsonObject.getInteger("code").equals(200)) {
			// if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
			//
			// }else {
			// log.error("入库开始运行通讯失败,"+jsonObject.get("msg"));
			@@ -529,28 +995,45 @@
			// }

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(staDesc.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo(taskWrk.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(crnStn.getRow().shortValue()); // 源库位列
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位层
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位排
			crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位列
			crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位层
			crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排
			crnCommand.setCommand((short)1);
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) {
			log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			CrnCommand crnCommand1 = new CrnCommand();
			crnCommand1.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand1.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
			crnCommand1.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
			crnCommand1.setAckFinish((short) 0); // 任务完成确认位
			crnCommand1.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand1.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand1.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand1.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand1.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位列
			int bay1 = Utils.getBayShort(taskWrk.getTargetPoint()) + 1;
			crnCommand1.setDestinationPosY((short)bay1); // 目标库位层
			crnCommand1.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排
			// crnCommand.setCommand((short) 1);
			if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand1))) {
			log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand1));
			devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");

			throw new CoolException("堆垛机命令生成失败");
			}else{
			try{
			} else {
			try {
			devpThread.setErrorDev(staProtocol.getSiteId(), "-");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");

			taskWrkService.updateById(taskWrk);
			} catch (Exception e) {
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", taskWrk.getWrkNo());
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，异常：" + e);
			}
			try {
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo",taskWrk.getTaskNo());
			headParam.put("status",taskWrk.getStatus());
			headParam.put("ioType",taskWrk.getIoType());
			headParam.put("barcode",taskWrk.getBarcode());
			headParam.put("taskStatus",taskWrk.getStatusWms());
			headParam.put("ioType",taskWrk.getIoTypeWms());
			headParam.put("barCode",taskWrk.getBarcode());
			headParam.put("reportTime", LocalDateTime.now());
			headParam.put("weight",taskWrk.getScWeight().doubleValue());

			String response;
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			@@ -561,16 +1044,16 @@
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			apiLogService.save("wcs派发入库任务上报wms"
			,wmsUrl+taskStatusFeedbackPath
			,null
			,"127.0.0.1"
			,JSON.toJSONString(headParam)
			,response
			,true
			, wmsUrl + taskStatusFeedbackPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(headParam)
			, response
			, true
			);
			}catch (Exception e){
			log.error("wcs派发入库任务上报wms失败", taskWrk);
			throw new CoolException("wcs派发入库任务上报wms失败");
			} catch (Exception e) {
			log.error("wcs派发入库任务上报wms失败", JSON.toJSONString(taskWrk));
			// throw new CoolException("wcs派发入库任务上报wms失败");
			}

			}
			@@ -584,17 +1067,17 @@
			* 出库 ===>> 库位到堆垛机站
			* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
			*/
			public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
			List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null);
			if (taskWrksInitial.size()==0){
			public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
			List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(crnProtocol.getLaneNo(), null);
			if (taskWrksInitial.size() == 0) {
			return;
			}
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
			for (StaDesc staDesc : staDescs){
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("CRN_NO", crnProtocol.getLaneNo()).eq("CRN_STN", crnStn.getStaNo()));
			for (StaDesc staDesc : staDescs) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(),staDesc.getStnNo().toString());
			for (TaskWrk taskWrk : taskWrks){
			List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(crnProtocol.getLaneNo(), staDesc.getStnNo().toString());
			for (TaskWrk taskWrk : taskWrks) {
			if (taskWrk == null) {
			continue;
			}
			@@ -620,51 +1103,78 @@
			}

			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
			// if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {

			// // 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()) {
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			break;
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE)) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "堆垛机非空闲");
			continue;
			}
			if (crnProtocol.getTaskNo() != 0) {
			devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机工作号不为0");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");

			continue;
			}

			// 已经存在吊车执行任务时，则过滤
			if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
			if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
			devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机存在吊车任务");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
			break;
			}


			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			taskWrk.setWrkSts(12);
			taskWrk.setStatus(2);
			taskWrk.setModiTime(now);
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			}
			CrnCommand command = new CrnCommand();
			command.setCrnNo(taskWrk.getCrnNo()); // 堆垛机编号
			command.setCrnNo(slave.getId()); // 堆垛机编号
			command.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机编号
			command.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
			command.setAckFinish((short) 0); // 任务完成确认位
			command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
			command.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排
			command.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列
			int bayS = Utils.getBayShort(taskWrk.getStartPoint()) + 1;
			command.setSourcePosY((short)bayS); // 源库位列
			command.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层
			command.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			command.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			command.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			command.setCommand((short)1);
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command),false)) {
			log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(command));
			// command.setCommand((short) 1);
			if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command))) {
			log.error("堆垛机命令生成失败，堆垛机号={}，巷道={}，任务数据={}", slave.getId(), taskWrk.getCrnNo(), JSON.toJSON(command));
			devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");
			throw new CoolException("堆垛机命令生成失败");
			}else{
			try{
			} else {
			try {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			taskWrk.setWrkSts(12);
			taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);
			taskWrk.setModiTime(now);
			taskWrk.setExecuteTime(now);
			devpThread.setErrorDev(staProtocol.getSiteId(), "-");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");

			if (taskWrkMapper.updateById(taskWrk) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			}
			} catch (Exception e) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，异常：" + e);
			}
			try {
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo",taskWrk.getTaskNo());
			headParam.put("status",taskWrk.getStatus());
			headParam.put("ioType",taskWrk.getIoType());
			headParam.put("barcode",taskWrk.getBarcode());
			headParam.put("taskStatus",taskWrk.getStatusWms());
			headParam.put("ioType",taskWrk.getIoTypeWms());
			headParam.put("barCode",taskWrk.getBarcode());
			headParam.put("reportTime", LocalDateTime.now());
			headParam.put("weight",taskWrk.getScWeight().doubleValue());

			String response;
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			@@ -674,69 +1184,37 @@
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			apiLogService.save("wcs派发入库任务上报wms"
			,wmsUrl+taskStatusFeedbackPath
			,null
			,"127.0.0.1"
			,JSON.toJSONString(headParam)
			,response
			,true
			apiLogService.save("wcs派发出库任务上报wms"
			, wmsUrl + taskStatusFeedbackPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(headParam)
			, response
			, true
			);
			}catch (Exception e){
			log.error("wcs派发出库任务上报wms失败", taskWrk);
			throw new CoolException("wcs派发入库任务上报wms失败");
			} catch (Exception e) {
			log.error("wcs派发出库任务上报wms失败", JSON.toJSONString(taskWrk));
			// throw new CoolException("wcs派发入库任务上报wms失败");
			}

			}

			// // 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, taskWrk.getStartPoint())) {
			//
			// taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
			//
			// List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
			// if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
			// continue;
			// }
			// String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
			// TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
			// if (!Cools.isEmpty(hallowLocNoTask)){
			// continue;
			// }
			// }
			//
			// //取出命令
			// List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
			// Integer commandStep = taskWrk.getCommandStep();
			// if (commandInfos.isEmpty()) {
			// continue;//命令空
			// }
			//
			// //判断末端命令是否执行
			// CommandInfo commandInfo2 = commandInfos.get(commandInfos.size() - 1);
			// if (commandInfo2.getCommandStatus() != CommandStatusType.CREATE.id) {
			// continue;//指令已执行
			// }
			//
			// CommandInfo commandInfo = commandInfos.get(commandStep);
			// CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
			// CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
			//
			// if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
			// log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			// } else {
			//
			// //开始运行
			// String response = CrnStartRunning(taskWrk);
			// JSONObject jsonObject = JSON.parseObject(response);
			// if (jsonObject.getInteger("code").equals(200)) {
			//
			// }else {
			// log.error("出库开始运行通讯失败,"+jsonObject.get("msg"));
			//
			// }
			// }

			} else {
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");
			if (staProtocol.isAutoing()){
			if (staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "能出：未打开");
			}
			if (staProtocol.getWorkNo() == 0){
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");
			}
			if (staProtocol.isOutEnable()){
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "没有可出");
			}
			if (staProtocol.isLoading()){
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "出库站有物");
			}
			} else {
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "出库站点：非自动");
			}
			}
			}
			}
			@@ -746,14 +1224,16 @@
			/**
			* 库位移转
			*/
			public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
			public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的移库工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>()
			.eq("crn_no",slave.getId())
			.eq("wrk_sts",11)
			.eq("io_type",3));
			for (TaskWrk taskWrk : taskWrks){
			List<TaskWrk> taskWrks = taskWrkMapper.selectList(
			new EntityWrapper<TaskWrk>()
			.eq("CRN_NO", crnProtocol.getLaneNo())
			.eq("WRK_STS", 11)
			.eq("IO_TYPE", 3)
			.orderBy("IO_PRI", false));
			for (TaskWrk taskWrk : taskWrks) {

			// 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, taskWrk.getStartPoint())) {
			@@ -769,7 +1249,8 @@
			}

			// 已经存在吊车执行任务时，则过滤
			if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
			if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
			continue;
			}

			@@ -785,38 +1266,43 @@
			// 命令下发区 --------------------------------------------------------------------------




			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机编号
			crnCommand.setTaskNo(taskWrk.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(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排
			crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列
			int bayS = Utils.getBayShort(taskWrk.getStartPoint()) + 1;
			crnCommand.setSourcePosY((short)bayS); // 源库位列
			crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层
			crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排
			crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列
			int bayE = Utils.getBayShort(taskWrk.getTargetPoint()) + 1;
			crnCommand.setDestinationPosY((short)bayE); // 目标库位列
			crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层
			crnCommand.setCommand((short) 1);
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) {
			// crnCommand.setCommand((short) 1);
			if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			taskWrk.setWrkSts(12);
			taskWrk.setStatus(2);
			taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);
			taskWrk.setModiTime(now);
			taskWrk.setExecuteTime(now);
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			}
			try{
			try {
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo",taskWrk.getTaskNo());
			headParam.put("status",taskWrk.getStatus());
			headParam.put("ioType",taskWrk.getIoType());
			headParam.put("barcode",taskWrk.getBarcode());
			headParam.put("taskStatus",taskWrk.getStatusWms());
			headParam.put("ioType",taskWrk.getIoTypeWms());
			headParam.put("barCode",taskWrk.getBarcode());
			headParam.put("reportTime", LocalDateTime.now());
			headParam.put("weight",taskWrk.getScWeight().doubleValue());

			String response;
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			@@ -827,16 +1313,16 @@
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			apiLogService.save("wcs派发移库任务上报wms"
			,wmsUrl+taskStatusFeedbackPath
			,null
			,"127.0.0.1"
			,JSON.toJSONString(headParam)
			,response
			,true
			, wmsUrl + taskStatusFeedbackPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(headParam)
			, response
			, true
			);
			}catch (Exception e){
			log.error("wcs派发出库任务上报wms失败", taskWrk);
			throw new CoolException("wcs派发入库任务上报wms失败");
			} catch (Exception e) {
			log.error("wcs派发移库库任务上报wms失败", taskWrk);
			// throw new CoolException("wcs派发移库库任务上报wms失败");
			}

			}
			@@ -849,146 +1335,133 @@
			/**
			* 执行对工作档的完成操作
			*/
			// public void storeFinished() {
			// 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; }
			//
			// // 状态：等待确认并且任务完成位 = 1
			// if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
			// //获取入库待确认工作档
			// TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
			// if (Cools.isEmpty(taskWrk)) {
			//// log.error("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;
			// }
			//
			// //获取指令ID
			// Integer commandId = crnProtocol.getCommandId();
			// CommandInfo commandInfo = new CommandInfo();
			// if (Cools.isEmpty(commandId)){
			// commandInfo = commandInfoService.selectOne(new EntityWrapper<CommandInfo>()
			// .eq("wrk_no",crnProtocol.getTaskNo())
			// .eq("device","Crn"));
			// }else {
			// commandInfo = commandInfoService.selectById(commandId);
			// }
			//
			//
			// if (commandInfo == null) {
			// //指令不存在
			// continue;
			// }
			// if (commandInfo.getCommandStatus() == 3){
			// continue;
			// }
			// commandInfo.setCommandStatus(CommandStatusType.COMPLETE.id);//指令完成
			// commandInfo.setCompleteTime(new Date());//指令完成时间
			// if (commandInfoService.updateById(commandInfo)) {//修改成功后复位堆垛机
			// // 堆垛机复位
			// crnThread.setResetFlag(true);
			// }
			// }
			// }
			// }

			/**
			* 执行对工作档的完成操作
			*/
			public void storeFinished() throws InterruptedException {
			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; }

			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
			//获取入库待确认工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
			if (Cools.isEmpty(taskWrk)&&crnProtocol.getTaskNo() !=999) {
			log.error("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());
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			Thread.sleep(300);
			//确认完成信号
			CrnOperatorParam crnOperatorParam=new CrnOperatorParam();
			crnOperatorParam.setCrnNo(crn.getId());

			crnController.crnTaskComplete(crnOperatorParam);
			if(!Cools.isEmpty(taskWrk)){
			if(taskWrk.getIoType()==1&&taskWrk.getWrkSts()==3){
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(5);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			locMast.setLocSts("F");//F.在库
			locMast.setBarcode(taskWrk.getBarcode());//托盘码
			locMast.setModiTime(new Date());
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			}else if(taskWrk.getIoType()==2&&taskWrk.getWrkSts()==12){
			taskWrk.setWrkSts(13);//出库完成
			taskWrk.setStatus(5);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
			locMast.setLocSts("O");//O.空库位
			locMast.setBarcode("");//托盘码
			locMast.setModiTime(new Date());
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			}else if(taskWrk.getIoType()==3&&taskWrk.getWrkSts()==12){
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(5);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			locMast.setLocSts("F");//F.在库
			locMast.setBarcode(taskWrk.getBarcode());//托盘码
			locMast.setModiTime(new Date());
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			CrnSlave crn = new CrnSlave(crnSlave);
			if (Cools.isEmpty(crnProtocol.getLaneNo()) \|\| crnProtocol.getLaneNo()==0){
			continue;
			}

			LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
			locMast1.setLocSts("O");//O.空库位
			locMast1.setBarcode("");//托盘码
			locMast1.setModiTime(new Date());
			locMast1.setModiUser(9999L);
			locMastService.updateById(locMast1);
			}
			taskWrkService.updateById(taskWrk);


			try{
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo",taskWrk.getTaskNo());
			headParam.put("status",taskWrk.getStatus());
			headParam.put("ioType",taskWrk.getIoType());
			headParam.put("barcode",taskWrk.getBarcode());
			String response;
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			.setUri(wmsUrl)
			.setPath(taskStatusFeedbackPath)
			.setJson(JSON.toJSONString(headParam))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			apiLogService.save("wcs派发入库任务上报wms"
			,wmsUrl+taskStatusFeedbackPath
			,null
			,"127.0.0.1"
			,JSON.toJSONString(headParam)
			,response
			,true
			);
			}catch (Exception e){
			log.error("wcs完结任务上报wms失败", taskWrk);
			throw new CoolException("wcs派发入库任务上报wms失败");
			if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			crn.updateCrnInStn(crnOther);
			}
			}
			}

			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			//获取入库待确认工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crnProtocol.getLaneNo(), crnProtocol.getTaskNo().intValue());
			if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
			log.error("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={}，巷道号={}，工作号={}", crn.getId(), crnProtocol.getLaneNo(), crnProtocol.getTaskNo());
			continue;
			}
			// Thread.sleep(300);
			//确认完成信号
			// CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
			// crnOperatorParam.setCrnNo(crn.getId());
			Date now = new Date();

			// crnController.crnTaskComplete(crnOperatorParam);
			// MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))
			crnThread.setResetFlag(true);

			if (!Cools.isEmpty(taskWrk)) {
			if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(TaskStatusType.OVER.id);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			locMast.setLocSts("F");//F.在库
			locMast.setBarcode(taskWrk.getBarcode());//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(13);//出库完成
			taskWrk.setStatus(TaskStatusType.OVER.id);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
			locMast.setLocSts("O");//O.空库位
			locMast.setBarcode("");//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(TaskStatusType.OVER.id);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			locMast.setLocSts("F");//F.在库
			locMast.setBarcode(taskWrk.getBarcode());//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);

			LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
			locMast1.setLocSts("O");//O.空库位
			locMast1.setBarcode("");//托盘码
			locMast1.setModiTime(now);
			locMast1.setModiUser(9999L);
			locMastService.updateById(locMast1);
			}
			taskWrk.setModiTime(now);
			taskWrk.setCompleteTime(now);
			taskWrkService.updateById(taskWrk);


			// try {
			// HashMap<String, Object> headParam = new HashMap<>();
			// headParam.put("taskNo",taskWrk.getTaskNo());
			// headParam.put("taskStatus",taskWrk.getStatusWms());
			// headParam.put("ioType",taskWrk.getIoTypeWms());
			// headParam.put("barCode",taskWrk.getBarcode());
			// headParam.put("reportTime", LocalDateTime.now());
			// headParam.put("weight",taskWrk.getScWeight().doubleValue());
			//
			// String response;
			// log.error("wcs完结任务上报wms==》", headParam);
			//
			// response = new HttpHandler.Builder()
			// // .setHeaders(headParam)
			// .setUri(wmsUrl)
			// .setPath(taskStatusFeedbackPath)
			// .setJson(JSON.toJSONString(headParam))
			// .build()
			// .doPost();
			// log.error("wcs完结任务上报wms==》", response);
			//
			//// JSONObject jsonObject = JSON.parseObject(response);
			//// log.error("wcs完结任务上报wms==》", jsonObject);
			//
			// apiLogService.save("wcs派发入库任务上报wms"
			// , wmsUrl + taskStatusFeedbackPath
			// , null
			// , "127.0.0.1"
			// , JSON.toJSONString(headParam)
			// , response
			// , true
			// );
			// } catch (Exception e) {
			// log.error("wcs完结任务上报wms失败", taskWrk);
			// log.error("wcs完结任务上报wms失败,报错信息：", e);
			//// throw new CoolException("wcs派发入库任务上报wms失败");
			// }
			}

			}
			} catch (Exception e){
			log.error("堆垛机执行对工作档的完成操作失败 ===>> [id:{}] [error:{}]", crnSlave.getId(), e.getMessage());
			}
			}
			}
			@@ -996,260 +1469,252 @@
			/**
			* 堆垛机异常信息记录
			*/
			public void recCrnErr(){
			public void recCrnErr() {
			Date now = new Date();
			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;
			}
			if (false) {
			// if (crnProtocol.getModeType() != CrnModeType.STOP) {
			// 有任务
			if (crnProtocol.getTaskNo() != 0) {
			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			if (crnProtocol.getModeType() != CrnModeType.STOP) {
			// 有任务
			if (crnProtocol.getTaskNo() != 0) {
			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(crnProtocol.getTaskNo()));
			if (taskWrk == null) {
			continue;
			}
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm().intValue());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			taskWrk.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			taskWrk.getWrkSts().longValue(), // 工作状态
			taskWrk.getIoType(), // 入出库类型
			taskWrk.getCrnNo(), // 巷道号
			crn.getId(), // 堆垛机号
			taskWrk.getTargetPoint(), // 目标库位
			0, // 目标站
			0, // 源站
			taskWrk.getStartPoint(), // 源库位
			taskWrk.getBarcode(), // 条码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			taskWrk.getCreateTime(), // 任务时间(接收时间)
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (crnProtocol.getAlarm() == null \|\| crnProtocol.getAlarm() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			// 无任务
			} else {
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			// 记录新异常
			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
			null, // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			crnProtocol.getLaneNo(), // 堆垛机
			crn.getId(), // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			crn.getId(), // 堆垛机
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			(int) crnProtocol.getAlarm1(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (crnProtocol.getAlarm1() == null \|\| crnProtocol.getAlarm1() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			// 无任务
			} else {
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm() > 0) {
			// 记录新异常
			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
			null, // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			crn.getId(), // 堆垛机
			null, // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int)crnProtocol.getAlarm1(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			}
			}
			}

			}
			}

			//自动派发任务
			public void autoDistribute() {
			Config config = configService.selectByCode("autoDistribute");
			if (config == null) {
			return;
			}

			if (config.getValue().equals("false")) {//判断是否开启自动派发任务
			return;
			}

			for (TaskWrk taskWrk : taskWrkService.selectReceive()) {

			try {
			taskWrkService.distribute(taskWrk.getTaskNo(), 9527L);
			} catch (CoolException e) {
			log.info(e.getMessage());
			} catch (Exception e){
			log.error("堆垛机异常信息记录失败 ===>> [id:{}] [error:{}]", crn.getId(), e.getMessage());
			}
			}
			}

			//自动完成任务
			public synchronized void autoCompleteTask() {
			List<TaskWrk> taskWrks = taskWrkMapper.selectWorkingTask();
			for (TaskWrk taskWrk : taskWrks) {
			//获取命令集合
			List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
			if (taskWrk.getCommandStep() < commandInfos.size()) {
			continue;//当前步序没有到达最后一条命令
			}

			//判断末端命令是否执行完成
			CommandInfo commandInfo = commandInfos.get(commandInfos.size() - 1);
			if (commandInfo.getCommandStatus() != CommandStatusType.COMPLETE.id) {
			continue;//指令未完成
			}

			Date now = new Date();
			//指令已完成，更新任务
			if (taskWrk.getIoType() == 1) {
			//入库任务
			taskWrk.setWrkSts(4);//3.吊车入库中 => 4.入库完成
			//taskWrk.setStatus(TaskStatusType.COMPLETE.id);
			taskWrk.setModiTime(now);
			taskWrkService.updateById(taskWrk);

			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			locMast.setLocSts("F");//F.在库
			locMast.setBarcode(taskWrk.getBarcode());//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 2) {
			//出库任务
			taskWrk.setWrkSts(14);//12.吊车出库中 => 14.出库完成
			// taskWrk.setStatus(TaskStatusType.COMPLETE.id);
			taskWrk.setModiTime(now);
			taskWrkService.updateById(taskWrk);

			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
			locMast.setLocSts("O");//O.空库位
			locMast.setBarcode("");//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			/**
			* 堆垛机异常信息记录
			*/
			public void recDevErr() {
			Date now = new Date();
			for (DevpSlave devpSlave : slaveProperties.getDevp()) {
			try{
			// 获取堆垛机信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
			Map<Integer, StaProtocol> station = devpThread.getStation();
			for (StaProtocol staProtocol : station.values()){
			try{
			if (staProtocol == null) {
			continue;
			}
			// if (staProtocol.isAutoing()) {
			// // 有任务
			// if (staProtocol.getWorkNo() != 0) {
			//// BasErrLog latest = basPlcerrorLogService.se(crn.getId(), crnProtocol.getTaskNo().intValue());
			// // 有异常
			// if (latest == null) {
			// if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(crnProtocol.getTaskNo()));
			// if (taskWrk == null) {
			// continue;
			// }
			// BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm().intValue());
			// String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			// BasErrLog basErrLog = new BasErrLog(
			// null, // 编号
			// taskWrk.getWrkNo(), // 工作号
			// now, // 发生时间
			// null, // 结束时间
			// taskWrk.getWrkSts().longValue(), // 工作状态
			// taskWrk.getIoType(), // 入出库类型
			// crn.getId(), // 堆垛机
			// null, // plc
			// taskWrk.getTargetPoint(), // 目标库位
			// 0, // 目标站
			// 0, // 源站
			// taskWrk.getStartPoint(), // 源库位
			// taskWrk.getBarcode(), // 条码
			// (int) crnProtocol.getAlarm(), // 异常码
			// errName, // 异常
			// 1, // 异常情况
			// taskWrk.getCreateTime(), // 任务时间(接收时间)
			// null, // 添加人员
			// now, // 修改时间
			// null, // 修改人员
			// "任务中异常" // 备注
			// );
			// if (!basErrLogService.insert(basErrLog)) {
			// log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			// }
			// }
			// } else {
			// // 异常修复
			// if (crnProtocol.getAlarm() == null \|\| crnProtocol.getAlarm() == 0) {
			// latest.setEndTime(now);
			// latest.setUpdateTime(now);
			// latest.setStatus(2);
			// if (!basErrLogService.updateById(latest)) {
			// log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			// }
			// }
			// }
			// // 无任务
			// } else {
			// BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// // 有异常
			// if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			// // 记录新异常
			// 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
			// null, // 工作号
			// now, // 发生时间
			// null, // 结束时间
			// null, // 工作状态
			// null, // 入出库类型
			// crn.getId(), // 堆垛机
			// null, // plc
			// null, // 目标库位
			// null, // 目标站
			// null, // 源站
			// null, // 源库位
			// null, // 条码
			// (int) crnProtocol.getAlarm(), // 异常码
			// errName, // 异常
			// 1, // 异常情况
			// now, // 添加时间
			// null, // 添加人员
			// now, // 修改时间
			// null, // 修改人员
			// "无任务异常" // 备注
			// );
			// if (!basErrLogService.insert(basErrLog)) {
			// log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			// }
			// }
			// // 无异常
			// } else {
			// // 异常修复
			// if (latest != null && latest.getStatus() == 1) {
			// latest.setEndTime(now);
			// latest.setUpdateTime(now);
			// latest.setStatus(2);
			// if (!basErrLogService.updateById(latest)) {
			// log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			// }
			// }
			// }
			// }
			// }
			} catch (Exception devErr){
			log.error("输送线站点异常信息记录失败 ===>> [id:{}] [error:{}]", staProtocol.getStaNo(), devErr.getMessage());
			}
			}
			} catch (Exception e){
			log.error("输送线异常信息记录失败 ===>> [id:{}] [error:{}]", devpSlave.getId(), e.getMessage());
			}
			}
			}


			public synchronized String CrnStartRunning(TaskWrk taskWrk){
			String tasktype = null;
			switch (taskWrk.getIoType()){
			case 1:
			tasktype= "RK";
			break;
			case 2:
			tasktype= "CK";
			break;
			case 3:
			tasktype= "YK";
			break;
			default:
			tasktype= "未知";
			}
			Map<String, Object> map = new HashMap<>();
			map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
			TaskOverToWms taskOverToWms = new TaskOverToWms();
			taskOverToWms.setFeedbackFrom("WCS"); //来源
			taskOverToWms.setWarehouseId("1688469798893297665"); //仓库标识
			taskOverToWms.setTaskNo(taskWrk.getTaskNo()); //任务号
			taskOverToWms.setTaskType(tasktype); // 任务类型
			taskOverToWms.setContainerCode(taskWrk.getBarcode()); // 容器编码
			if (taskWrk.getIoType() ==1 \|\| taskWrk.getIoType() == 3){
			taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //设备编码
			taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //目标库位
			}else if (taskWrk.getIoType() ==2){
			Map<Integer,String> map1 = new HashMap<>();
			map1.put(102,"J-1101");
			map1.put(106,"J-1103");
			map1.put(110,"J-1105");
			map1.put(114,"J-1107");
			map1.put(118,"J-1109");
			map1.put(122,"J-1111");
			map1.put(305,"H-1101");
			map1.put(405,"G-1101");
			taskOverToWms.setEquipmentCode(map1.get(taskWrk.getTargetPoint())); //设备编码
			taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint()); //源库位
			}

			taskOverToWms.setTaskStatus("executing"); //任务状态
			String response = null;
			try {
			response = new HttpHandler.Builder()
			.setHeaders(map)
			.setUri(wmsUrl)
			.setPath("wcsManager/wcsInterface/taskStatusFeedback")
			.setJson(JSON.toJSONString(taskOverToWms))
			.build()
			.doPost();
			}catch (Exception e){
			log.error("堆垛机任务完成，请求wms任务完成接口失败");
			}
			apiLogService.save("堆垛机开始运行"
			,wmsUrl+"wcsManager/wcsInterface/taskStatusFeedback"
			,null
			,"127.0.0.1"
			,JSON.toJSONString(taskOverToWms)
			,response
			,true
			);
			return response;
			}

			private TaskWrk createTask(GetWmsDto dto, String barcode){
			private TaskWrk createTask(GetWmsDto dto, String barcode) {
			String wcsLocNo = dto.getLocNo();
			if(Cools.isEmpty(wcsLocNo)){
			if (Cools.isEmpty(wcsLocNo)) {
			return null;
			}
			Date now = new Date();
			@@ -1259,6 +1724,9 @@
			taskWrk.setWrkNo(workNo1);
			taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收
			taskWrk.setCreateTime(now);
			taskWrk.setAssignTime(now);
			taskWrk.setModiTime(now);
			taskWrk.setModiUser(5555L);
			taskWrk.setIoType(1);//任务类型
			taskWrk.setIoPri(Cools.isEmpty(dto.getTaskPriority()) ? 300 : Integer.parseInt(dto.getTaskPriority()));//优先级
			taskWrk.setBarcode(barcode);//条码
			@@ -1266,28 +1734,947 @@
			taskWrk.setCrnNo(locMast.getCrnNo());
			taskWrk.setTargetPoint(wcsLocNo);
			taskWrk.setStartPoint(dto.getStaNo().toString());
			if(taskWrk.getIoType() == 1){
			if (taskWrk.getIoType() == 1) {
			taskWrk.setWrkSts(2);
			if (!Cools.isEmpty(taskWrk.getTargetPoint())) {
			taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint());
			}

			// } else if (param.getIoType() == 2) {
			// taskWrk.setWrkSts(11);
			// if (!Cools.isEmpty(param.getStartPoint())) {
			// taskWrk.setStartPoint(Utils.getWcsLocNo(param.getStartPoint()));//起点
			// taskWrk.setOriginStartPoint(param.getStartPoint());
			// }
			// taskWrk.setTargetPoint(param.getTargetPoint());
			// }else if (param.getIoType() == 3){
			// taskWrk.setWrkSts(11);
			// if (!Cools.isEmpty(param.getStartPoint())) {
			// taskWrk.setStartPoint(param.getStartPoint());//起点
			// taskWrk.setOriginStartPoint(param.getStartPoint());
			// }
			}
			return taskWrk;
			}

			public String rgvOtherTaskWrk(RgvSlave slave) {

			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
			TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
			ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
			if (!allTaskProtocol.isEmpty()) {
			for (TaskProtocol taskProtocol : allTaskProtocol.values()) {
			if (taskProtocol.getTaskNo() != 0) {
			return taskProtocol.getTaskNo().toString();
			}
			}
			}
			return "无";

			}

			public boolean rgvDetection(RgvSlave slave) {
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
			RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

			if (rgvProtocol == null \|\| rgvTaskProtocol == null) {
			return false;
			}
			if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocol.getRgvPos().equals(0L) \|\| rgvTaskProtocol.getAvoid() == -1
			\|\| ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) \|\| (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
			return false;
			}
			if (rgvProtocol.getLoaded()==1){
			return false;
			}
			RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
			RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());

			if (rgvProtocolOther == null) {
			return false;
			}
			if (rgvProtocolOther.statusEnable) {
			if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocolOther.getRgvPos().equals(0L) \|\| rgvTaskProtocolOther.getAvoid() == -1 \|\| rgvProtocolOther.getRgvPosDestination() == 0L) {
			return false;
			}
			}
			return true;
			}
			public boolean rgvOtherIDLEOther(RgvSlave slave) {
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
			RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());

			if (rgvProtocol == null \|\| rgvTaskProtocol == null) {
			return false;
			}
			if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocol.getRgvPos().equals(0L) \|\| rgvTaskProtocol.getAvoid() == -1
			\|\| ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) \|\| (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
			return false;
			}

			if (rgvProtocol.getLoaded()!=0) {
			return false;
			}
			return true;
			}
			public boolean rgvOtherIDLEOther2(RgvSlave slave) {
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
			RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());

			if (rgvProtocol == null \|\| rgvTaskProtocol == null) {
			return false;
			}
			if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO)
			\|\| rgvProtocol.getRgvPos().equals(0L)
			\|\| rgvTaskProtocol.getAvoid() == -1) {
			return false;
			}

			if (rgvProtocol.getLoaded()!=0) {
			return false;
			}
			return true;
			}
			public boolean rgvOtherIDLE(RgvSlave slave,Integer staNo) {
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
			RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

			if (rgvProtocol == null \|\| rgvTaskProtocol == null) {
			return false;
			}
			if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocol.getRgvPos().equals(0L) \|\| rgvTaskProtocol.getAvoid() == -1
			\|\| ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) \|\| (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
			return false;
			}
			RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());

			if (rgvProtocolOther == null) {
			return true;
			}
			if (rgvProtocolOther.statusEnable) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
			long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
			-
			Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos()));
			if (abs<100){
			return true;
			}
			if (Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
			>=
			Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos())){
			return false;
			}
			}
			return true;
			}
			public boolean rgvOtherIDLE2(RgvSlave slave,Integer staNo) {
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
			RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

			if (rgvProtocol == null \|\| rgvTaskProtocol == null) {
			return false;
			}
			if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocol.getRgvPos().equals(0L) \|\| rgvTaskProtocol.getAvoid() == -1
			\|\| ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) \|\| (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
			return false;
			}
			RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());

			if (rgvProtocolOther == null) {
			return true;
			}
			if (rgvProtocolOther.statusEnable) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
			long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
			-
			Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos()));
			if (abs<100){
			return true;
			}
			if (Math.abs(basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos())
			>=
			Math.abs(basDevpPosition.getPlcPosition()-rgvProtocolOther.getRgvPos())){
			return false;
			}
			}
			return true;
			}

			public TaskWrk deviceDetection(RgvSlave.RgvStn inSta) {

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			return null;
			}
			// 判断是否满足取货条件
			if (!staProtocol.isPakMkTask()) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "任务已下发等待小车取");
			return null;
			}
			// 判断是否满足取货条件
			if (staProtocol.isAutoing()
			// && staProtocol.isLoading()
			// && staProtocol.isStaOk()
			&& staProtocol.getWorkNo() != 0) {
			TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo());
			if (taskWrk != null) {
			Integer stano = staProtocol.getStaNo();
			if (staProtocol.getSiteId() == 1004 \|\| staProtocol.getSiteId()==1020){
			if (!staProtocol.isPakMkRun()) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "异常回退标记，需要回退");
			return null;
			}
			if (!staProtocol.isLoading()) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "无物");
			return null;
			}
			if (!staProtocol.isInEnable()) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "等待可入信号");
			return null;
			}
			if (!staProtocol.isStaOk()) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "等待链条就绪");
			return null;
			}
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "-";
			if (staProtocol.getGrossWt()>=600){
			errMsg = "超重："+staProtocol.getGrossWt()+"kg";
			back = true;
			}
			if (staProtocol.isFrontErr()) {
			if (!back){
			errMsg = "前超限";
			} else {
			errMsg = errMsg+"---"+"前超限";
			}
			back = true;
			}
			if (staProtocol.isBackErr()) {
			if (!back){
			errMsg = "后超限";
			} else {
			errMsg = errMsg+"---"+"后超限";
			}
			back = true;
			}
			if (staProtocol.isHighErr()) {
			if (!back){
			errMsg = "高超限";
			} else {
			errMsg = errMsg+"---"+"高超限";
			}
			back = true;
			}
			if (staProtocol.isLeftErr()) {
			if (!back){
			errMsg = "左超限";
			} else {
			errMsg = errMsg+"---"+"左超限";
			}
			back = true;
			}
			if (staProtocol.isRightErr()) {
			if (!back){
			errMsg = "右超限";
			} else {
			errMsg = errMsg+"---"+"右超限";
			}
			back = true;
			}
			// if (!back && staProtocol.isWeightErr()) {
			// errMsg = "超重";
			// back = true;
			// }
			if (staProtocol.isBarcodeErr()) {
			if (!back){
			errMsg = "扫码失败";
			} else {
			errMsg = errMsg+"---"+"扫码失败";
			}
			back = true;
			}
			// 退回
			if (back) {
			if (stano.equals(staProtocol.getStaNo() + 1)) {
			return null;
			}
			if (!staProtocol.isPakMk()) {
			return null;
			}
			System.out.println("扫码入库失败，{"+inSta.getStaNo()+"}入库站因{"+errMsg+"}异常，托盘已被退回");
			// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(staProtocol.getStaNo()+1);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			devpThread.setPakMkRun(staProtocol.getSiteId(), false);
			devpThread.setPakMkTask(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
			MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			try{
			taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
			taskWrk.setModiTime(new Date());
			taskWrkMapper.updateById(taskWrk);
			} catch (Exception e){
			devpThread.setErrorDev(staProtocol.getSiteId(), errMsg+"异常信息保存工作档案失败！");
			}
			return null;
			}
			}
			return taskWrk;
			}
			} else if (staProtocol.isAutoing() && staProtocol.getWorkNo() == 0 && !staProtocol.isLoading()){
			if (inSta.isDirectionOther()){
			StaProtocol staProtocolOther = devpThread.getStation().get(inSta.getStaNoOther());
			if (staProtocolOther == null) {
			return null;
			}
			// 判断是否满足取货条件
			if (staProtocolOther.isAutoing()
			&& staProtocolOther.getWorkNo() != 0) {
			TaskWrk taskWrkOther = taskWrkService.selectByWrkNo(staProtocolOther.getWorkNo());
			if (taskWrkOther != null) {
			return taskWrkOther;
			}
			}
			}
			}
			return null;
			}
			public boolean deviceDetection(RgvSlave.RgvStn inSta,Integer rgvNo) {
			ArrayList<Integer> arrayList = new ArrayList<Integer>() {{
			add(1009);
			add(1011);
			add(1012);
			add(1014);
			add(1016);
			}};
			try{

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
			ArrayList<Integer> listW = new ArrayList<Integer>();
			ArrayList<Integer> listL = new ArrayList<Integer>();
			for (Integer staNo : arrayList){
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			RgvErrCache.updateRgvErr(rgvNo,staNo+"站点数据丢失");
			return false;
			}
			// 判断是否满足取货条件
			if (staProtocol.getWorkNo() != 0) {
			if (!listW.contains(staProtocol.getWorkNo())) {
			listW.add(staProtocol.getWorkNo());
			}
			}
			// 判断是否满足取货条件
			if (staProtocol.isLoading()) {
			if (!listL.contains(staProtocol.getStaNo())) {
			listL.add(staProtocol.getStaNo());
			}
			}
			}
			if (listW.size()>=3){
			RgvErrCache.updateRgvErr(rgvNo,"等待1012拣选，防止堵塞");
			return false;
			}
			if (listL.size()>=3){
			RgvErrCache.updateRgvErr(rgvNo,"等待1012拣选，防止堵塞");
			return false;
			}
			} catch (Exception e){
			RgvErrCache.updateRgvErr(rgvNo,"1012检测异常："+e.getMessage());
			return false;
			}
			return true;
			}

			public boolean rgvOtherStatusEnable(RgvSlave slave) {
			RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
			if (rgvProtocolOther == null) {
			return true;
			}
			if (rgvProtocolOther.statusEnable) {
			// if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocolOther.getRgvPos().equals(0L)) {
			return true;
			// }
			}
			return false;
			}

			public synchronized void taskStart() {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			try {
			if (rgvDetection(rgvSlave)) {
			String taskNoNow = rgvOtherTaskWrk(rgvSlave);
			List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("PLC_POSITION", true));
			boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
			if (basDevpPositions.isEmpty()) {
			log.error("获取所有站点信息异常");
			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成：获取所有站点信息异常");
			} catch (Exception e2){
			}
			continue;
			}
			List<TaskWrk> taskWrkList = new ArrayList<>();
			List<Integer> staList = new ArrayList<>();
			for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()) {
			TaskWrk taskWrk = deviceDetection(inSta);
			if (taskWrk != null) {
			if (taskWrk.getWrkNo().toString().equals(taskNoNow)) continue;
			taskWrkList.add(taskWrk);
			staList.add(inSta.getStaNo());
			}
			}

			if (taskWrkList.isEmpty() \|\| staList.isEmpty()) continue;

			boolean sign = false;

			if (rgvOtherStatusEnable(rgvSlave)) {
			//分成上下两部分任务
			List<Integer>[] avoidRange = RouteUtils.gradeRange(staList, basDevpPositions, itSmall);
			List<Integer> rangeListSou = avoidRange[itSmall ? 0 : 1];
			List<Integer> rangeListSouOther = avoidRange[itSmall ? 1 : 0];
			//就近排序
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
			List<Integer> rangeList = RouteUtils.SortNearby(rangeListSou, rgvProtocol.RgvPos, basDevpPositions);
			List<Integer> rangeListOther = RouteUtils.SortNearby(rangeListSouOther, rgvProtocol.RgvPos, basDevpPositions);

			//所属部分就进取货

			//筛选范围内任务
			//就近排序
			//筛选在范围任务
			Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
			List<Integer> belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);

			if (!sign && staList.size()==1){
			if (rgvOtherIDLEOther(rgvSlave)){
			if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
			System.out.println("空闲就近跳过==="+rgvSlave.getId()+"===");
			RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"空闲就近跳过");

			sign=true;
			}
			}
			if (sign){
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staList.get(0))) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
			if (rgvSuper.getStaNo().equals(outStaNo)){
			System.out.println("空闲就近跳过后因最远再次执行==="+rgvSlave.getId()+"===");

			sign=false;
			break;
			}
			}
			} else {
			return;
			}
			break;
			}
			}
			}
			}

			if(!sign){
			for (Integer staNoNow : belongToRange) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			System.out.println("全范围执行==="+rgvSlave.getId()+"==="+taskWrk);
			System.out.println("全范围执行==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));

			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			if (!sign) {
			// 筛选范围内取货任务
			for (Integer staNoNow : belongToRange) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
			if (rgvStnOut.getStaNo().equals(outStaNo)) {
			System.out.println("筛选范围内取货任务==="+rgvSlave.getId()+"==="+taskWrk);
			System.out.println("筛选范围内取货任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));

			sign = taskGenerate(rgvSlave, rgvStn, 0);
			break;
			}
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}

			if (!sign && staList.size()==1){
			if (rgvOtherIDLEOther2(rgvSlave)){
			if (!rgvOtherIDLE2(rgvSlave,staList.get(0))){
			System.out.println("运行就近跳过==="+rgvSlave.getId()+"===");
			RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"运行就近跳过");

			sign=true;
			}
			}
			if (sign){
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staList.get(0))) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
			if (rgvSuper.getStaNo().equals(outStaNo)){
			System.out.println("运行就近跳过后因最远再次执行==="+rgvSlave.getId()+"===");

			sign=false;
			break;
			}
			}
			} else {
			return;
			}
			break;
			}
			}
			}
			}



			if (!sign && staList.size()>1) {
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk);
			System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));

			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}else if (!sign && staList.size()==1){
			BasDevpPosition basDevpPosition1 = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staList.get(0)));
			if (Math.abs(basDevpPosition1.getPlcPosition()- rgvProtocol.getRgvPos())<rgvProtocol.getCarBodyJiaoMing()+rgvProtocol.getCarBodyKunPeng() + avoidDistance*2){
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk);
			System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));

			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			}



			if (!sign && staList.size()>1) {
			// 半边区域内取货任务
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
			if (rgvStnOut.getStaNo().equals(outStaNo)) {
			System.out.println("筛选半边范围取货任务==="+rgvSlave.getId()+"==="+taskWrk);
			System.out.println("筛选半边范围取货任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));

			sign = taskGenerate(rgvSlave, rgvStn, 0);
			break;
			}
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			if (!sign && staList.size()>1) {
			for (Integer staNoNow : rangeListOther) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
			if (rgvSuper.getStaNo().equals(outStaNo)){
			System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"===");
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			break;
			}
			}
			}
			break;
			}
			if (sign) {
			break;
			}
			}
			if (sign) {
			break;
			}
			}

			}else if (!sign && staList.size()==1){
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
			if (rgvSuper.getStaNo().equals(outStaNo)){
			System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"===");
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			break;
			}
			}
			}
			break;
			}
			if (sign) {
			break;
			}
			}
			if (sign) {
			break;
			}
			}

			}
			RgvErrCache.updateRgvErr(rgvSlave.getId(),"未查询到可执行任务");

			} else {
			//可用区域就近取货
			//就近排序
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
			List<Integer> rangeList = RouteUtils.SortNearby(staList, rgvProtocol.RgvPos, basDevpPositions);
			// 半边区域内取货任务
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
			if (rgvStnOut.getStaNo().equals(outStaNo)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			break;
			}
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			}
			} catch (Exception e) {
			log.error("任务生成失败===》异常信息：{}", e.getMessage());
			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成失败");
			} catch (Exception e2){
			}
			}
			}
			}

			//获取起点与终点对象
			public RgvSlave.RgvStn getRgvStnNow(RgvSlave rgvSlave, Integer staNo) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNo)) {
			return rgvStn;
			}
			}
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvOutSta()) {
			if (rgvStn.getStaNo().equals(staNo)) {
			return rgvStn;
			}
			}
			return null;
			}

			//获取起点与终点对象
			public RgvSlave.RgvStn[] getRgvStnAll(RgvSlave rgvSlave, Integer souSta, Integer endSta) {
			RgvSlave.RgvStn[] rgvStns = new RgvSlave.RgvStn[2];
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(souSta)) {
			rgvStns[0] = rgvStn;
			}
			}
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvOutSta()) {
			if (rgvStn.getStaNo().equals(endSta)) {
			rgvStns[1] = rgvStn;
			}
			}
			return rgvStns;
			}

			public boolean taskGenerate(RgvSlave rgvSlave, RgvSlave.RgvStn rgvStn, Integer sign) {
			try {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());

			TaskProtocol issuedTake = new TaskProtocol();
			TaskProtocol issuedPut = new TaskProtocol();
			try {
			ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
			if (allTaskProtocol.size() > 0) {
			return false;
			}
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk == null) {
			return false;
			}
			// Integer targetPointConvert = taskWrk.getTargetPointConvert();
			Integer targetPointConvert = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			if (targetPointConvert == null) {
			return false;
			}
			if (targetPointConvert == 1009){
			if (!deviceDetection(rgvStn, rgvSlave.getId())){
			return false;
			}
			}
			try{
			devpThread.setPakMkTask(rgvStn.getStaNo(), false);
			} catch (Exception e2){
			RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"小车任务下发标记更新失败");
			}


			BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
			BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
			//执行
			issuedTake.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
			issuedTake.setTaskStatus(2);
			issuedTake.setTargetPositionStaNo(basDevpPositionSou.getDevNo());
			issuedTake.setTargetPositionStaNoPlcId(basDevpPositionSou.getPlcId());
			issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
			issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
			issuedTake.setIsRunning(1);
			issuedTake.setDirection(basDevpPositionSou.getRgvSign()==1);


			issuedPut.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
			issuedPut.setTaskStatus(3);
			issuedPut.setTargetPositionStaNo(basDevpPositionEnd.getDevNo());
			issuedPut.setTargetPositionStaNoPlcId(basDevpPositionEnd.getPlcId());
			issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
			issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
			issuedPut.setIsRunning(1);
			issuedPut.setDirection(basDevpPositionEnd.getRgvSign()==1);

			try{
			if (taskWrk.getIoType()==2 && basDevpPositionEnd.getRgvSign()==1){
			Date now = new Date();
			taskWrk.setStatus(TaskStatusType.OVER.id);
			taskWrk.setModiTime(now);//更新时间
			taskWrk.setCompleteTime(now);//完结时间
			taskWrkService.updateById(taskWrk);
			}
			} catch (Exception e){

			}
			} catch (Exception e) {
			log.error("任务生成失败issued1===》异常信息：{}", e.getMessage());
			RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued1");

			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "任务生成失败issued1");
			} catch (Exception e2){
			}
			return false;
			}

			switch (sign) {
			case 1:
			taskProtocolCache.updateTaskProtocol(issuedTake);
			break;
			case 2:
			taskProtocolCache.updateTaskProtocol(issuedPut);
			break;
			default:
			taskProtocolCache.updateTaskProtocol(issuedTake);
			taskProtocolCache.updateTaskProtocol(issuedPut);
			break;
			}
			} catch (Exception e) {
			log.error("任务生成失败issued2===》异常信息：{}", e.getMessage());
			RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued2");

			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "站点任务生成失败issued2");
			} catch (Exception e2){
			}
			}
			return true;
			}

			/**
			* 出库 ===>> 工作档信息写入led显示器
			*/
			public synchronized void ledExecute(Integer mark) {

			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			List<LedCommand> commands = new ArrayList<>();
			// 工作档集合
			List<TaskWrk> taskWrks = new ArrayList<>();
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (null == staProtocol \|\| null == staProtocol.getWorkNo() \|\| 0 == staProtocol.getWorkNo() \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 获取工作档数据
			LedCommand ledCommand = new LedCommand();

			//
			// ledCommand.setWorkNo(wrkMast.getWrkNo());
			// ledCommand.setIoType(wrkMast.getIoType());
			// ledCommand.setTitle("空板出库");
			// ledCommand.setEmptyMk(true);
			// ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			// ledCommand.setLocNo(wrkMast.getLocNo());
			// ledCommand.setStaNo(wrkMast.getStaNo());
			MatDto matDto = new MatDto();
			ledCommand.getMatDtos().add(matDto);
			commands.add(ledCommand);
			}
			Set<Integer> workNos = taskWrks.stream().map(TaskWrk::getWrkNo).collect(Collectors.toSet());
			// 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(3, commands))) {
			// News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			}else {
			ledThread.setLedMk(false);
			}
			}

			try {
			// 修改主档led标记
			for (TaskWrk taskWrk : taskWrks) {
			// taskWrk.setOveMk("Y");
			taskWrk.setModiTime(new Date());
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			// News.errorNoLog(""+mark+" - 4"+" - 更新工作档失败");
			throw new CoolException("更新工作档失败");
			}
			}

			// 更新线程当前工作号集合
			ledThread.setWorkNos(workNos);

			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

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

			/**
			* 其他 ===>> LED显示器复位，显示默认信息
			*/
			public synchronized void ledReset(Integer mark) {

			// News.warnNoLog(""+mark+" - 0"+" - 开始执行:其他 ===>> LED显示器复位，显示默认信息");
			for (LedSlave led : slaveProperties.getLed()) {

			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			boolean reset = true;
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			}
			if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
			reset = false;
			break;
			}
			}
			// 获取led线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// led显示默认内容
			if (reset && !ledThread.isLedMk()) {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
			// News.error(""+mark+" - 1"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			} else {

			}
			}
			}
			// News.infoNoLog(""+mark+" - 0"+" - 执行完成：其他 ===>> LED显示器复位，显示默认信息");
			}


			}