#v2.0

luxiaotao1123

2020-08-27 c422d0d7da0d26f39cd40f9070311ffbb2f9c009

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

@@ -10,10 +10,10 @@
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.CrnStatusType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.Task;
@@ -27,6 +27,7 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.jdbc.core.JdbcTemplate;
import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

@@ -35,10 +36,12 @@
import java.util.stream.Collectors;

/**
 * 立体仓库WCS系统主流程业务
 * Created by vincent on 2020/8/6
 */
@Slf4j
@Service("mainService")
@Transactional
public class MainServiceImpl {

    @Autowired
@@ -65,43 +68,41 @@
    /**
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
     */
    @Transactional
    @Async
    public void generateStoreWrkFile() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                // 获取条码
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                String barcode = barcodeThread.getBarcode();
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInreq1()
                        && !staProtocol.isEmptyMk() && staProtocol.isInreq1() && staProtocol.getWorkNo() ==0
                if (staProtocol.isAutoing() && staProtocol.isLoading()
                        && !staProtocol.isEmptyMk() && staProtocol.isInreq1() && staProtocol.getWorkNo()==0
                        && staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    if (wrkMast != null) {
                        log.warn("工作档中已存在该站状态为1的数据,工作号-{}", wrkMast.getWrkNo());
                        log.warn("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        continue;
                    }
                    // 获取入库通知档
                    List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("barcode", barcode));
                    List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
                    if (waitPakins.isEmpty()) {
                        log.warn("无此入库条码数据。条码号={}", barcode);
                        continue;
                    }
                    // 工作号
                    int workNo = commonService.getWorkNo(0);
                    // 检索库位
                    List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
                    StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos);
                    String locNo = startupDto.getLocNo();
                    if (!waitPakins.isEmpty()) {
                        // 插入工作明细档
                        wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);
                    } else {
                        log.warn("无此入库条码数据---{}", barcode);
                        continue;
                    }
                    // 插入工作明细档
                    wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);

                    // 插入工作主档
                    wrkMast = new WrkMast();
@@ -135,14 +136,20 @@
                    if (!locMastService.updateById(locMast)){
                        throw new CoolException("改变库位状态失败");
                    }
                    // 将入库通知档修改为已启动
                    if (wrkMastMapper.updateWaitPakInStep1(barcode) == 0) {
                        throw new CoolException("修改入库通知档状态为已启动");
                    }

                    // 命令下发区 --------------------------------------------------------------------------

                    // 更新站点信息 且 下发plc命令
                    barcodeThread.setBarcode("");
                    staProtocol.setWorkNo(workNo);
                    staProtocol.setStaNo(startupDto.getStaNo());
                    staProtocol.setWorkNo((short) workNo);
                    staProtocol.setStaNo(startupDto.getStaNo().shortValue());
                    staProtocol.setPakMk(false);
                    staProtocol.setInreq1(false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task<>(4, staProtocol));
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    if (!result) {
                        throw new CoolException("更新plc站点信息失败");
                    }
@@ -159,6 +166,7 @@
    /**
     * 拣料、并板、盘点再入库
     */
    @Async
    public void stnToCrnStnPick(){
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历拣料入库口
@@ -169,7 +177,7 @@

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInreq1()
                    && staProtocol.getWorkNo() > 0 && staProtocol.isPakMk()){
                    WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
                    WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo().intValue());
                    if (wrkMast == null) {
                        // 无拣料数据
                        continue;
@@ -217,11 +225,11 @@
                    }

                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                    staProtocol.setStaNo(wrkMast.getStaNo());
                    staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                    staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                    staProtocol.setPakMk(false);
                    staProtocol.setInreq1(false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task<>(4, staProtocol));
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    if (!result) {
                        throw new CoolException("更新plc站点信息失败");
                    }
@@ -236,6 +244,7 @@
    /**
     * 堆垛机站出库到出库站
     */
    @Async
    public void crnStnToOutStn() {
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历拣料入库口
@@ -261,9 +270,9 @@
                        continue;
                    }
                    // 更新工作档状态为14失败 todo:luxiaotao
                    if (crnProtocol.mode == 3 && crnProtocol.getTaskNo() == wrkMast.getWrkNo()
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
                            && crnProtocol.statusType == CrnStatusType.IDLE
                            && crnProtocol.forkPos==0) {
                            && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                        wrkMast.setWrkSts(14L);
                        wrkMast.setCrnEndTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
@@ -276,14 +285,14 @@
                    // 1.复位堆垛机 更新堆垛机信息 且 下发plc命令 todo:luxiaotao
                    crnProtocol.setStatus(CrnStatusType.IDLE);
                    crnProtocol.setTaskNo((short)0);
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task<>(4, crnProtocol))) {
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(4, crnProtocol))) {
                        throw new CoolException("更新堆垛机信息失败");
                    }

                    // 2.下发站点信息
                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                    staProtocol.setStaNo(wrkMast.getStaNo());
                    if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task<>(4, staProtocol))) {
                    staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                    staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                    if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
                        throw new CoolException("更新plc站点信息失败");
                    }
                }
@@ -292,8 +301,9 @@
    }

    /**
     * 入出库  ===>>  堆垛机站到库位 堆垛机入出库作业下发
     * 入出库  ===>>  堆垛机入出库作业下发
     */
    @Async
    public void crnIoExecute(){
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
@@ -301,6 +311,7 @@
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            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;
            }
            // 只有当堆垛机空闲 并且 无任务时才继续执行
@@ -327,15 +338,15 @@
                }
            }
            // 库位移转
            this.locToLoc();

            this.locToLoc(crn);
        }
    }

    /**
     * 入库  ===>>  堆垛机站到库位
     */
    private void crnStnToLoc(CrnSlave slave){
    @Async
    public void crnStnToLoc(CrnSlave slave){
        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
            boolean flag = false;
            // 获取堆垛机入库站信息
@@ -344,7 +355,7 @@
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                log.error("入库库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                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 && staDetl.getCanining().equals("Y")) {
@@ -354,7 +365,7 @@
                continue;
            }
            // 获取工作状态为2（设备上走）的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo());
            WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue());
            if(null == wrkMast) {
                log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                continue;
@@ -371,15 +382,28 @@
            }

            // 命令下发区 --------------------------------------------------------------------------
//            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, slave.getId());
//            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
            crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 排
            crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 列
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 层
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task<>(2, crnCommand))) {
            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式:  库位移转
            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
            crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            } else {
                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                Date now = new Date();
                wrkMast.setWrkSts(3L);
                wrkMast.setCrnStrTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                }
            }
        }
    }
@@ -387,7 +411,8 @@
    /**
     * 出库  ===>>  库位到堆垛机站
     */
    private void locToCrnStn(CrnSlave slave){
    @Async
    public void locToCrnStn(CrnSlave slave){
        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
            // 获取工作状态为11（生成出库ID）的出库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId());
@@ -419,12 +444,29 @@
                    && staProtocol.getWorkNo() == 0) {
                // 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.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 1);  // 任务完成确认位

                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task<>(2, crnCommand))) {
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.PAKOUT); // 任务模式:  库位移转
                crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                    Date now = new Date();
                    wrkMast.setWrkSts(12L);
                    wrkMast.setCrnStrTime(now);
                    wrkMast.setModiTime(now);
                    if (wrkMastMapper.updateById(wrkMast) == 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={}", wrkMast.getWrkNo());
                    }
                }
            }
        }
@@ -433,39 +475,178 @@
    /**
     * 库位移转
     */
    private void locToLoc(){

    @Async
    public void locToLoc(CrnSlave slave){
        // 获取工作档信息
        WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
        if (null == wrkMast) {
            return;
        }
        // 获取源库位信息
        LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
        if (null == sourceSta) {
            log.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
            return;
        }
        // 源库位  库位状态判断
        if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) {
            return;
        }
        // 获取目标库位信息
        LocMast sta = locMastService.selectById(wrkMast.getLocNo());
        if (null == sta) {
            log.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
            return;
        }
        // 获取堆垛机信息 并 判断是否可入出
        BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
        if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
            return;
        }
        // 命令下发区 --------------------------------------------------------------------------
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
        crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
        crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
        crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
        crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
        crnCommand.setDestinationPosX(sta.getRow1().shortValue());     // 目标库位排
        crnCommand.setDestinationPosY(sta.getBay1().shortValue());     // 目标库位列
        crnCommand.setDestinationPosZ(sta.getLev1().shortValue());     // 目标库位层
        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
            log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
        }
    }

    /**
     * 执行对工作档的入库完成
     * 执行对工作档的完成操作
     */
    @Async
    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();
            //  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
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                if (wrkMast == null) {
                    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;
                }
                // 入库 + 库位转移  ==> 4.入库完成
                if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)){
                    wrkMast.setWrkSts(4L);
                // 出库 + 拣料/盘点/并板出库中：12.吊车出库中 ==> 14.出库完成
                } else if (wrkMast.getWrkSts() == 12) {
                    wrkMast.setWrkSts(14L);
                } else  {
                    continue;
                }
                Date now = new Date();
                wrkMast.setCrnEndTime(now);
                wrkMast.setModiTime(now);
                // 修改成功后复位堆垛机
                if (wrkMastMapper.updateById(wrkMast) > 0) {
                    // 命令下发区 -------------------------------------------------------------------------
                    if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                        // 堆垛机复位
                        if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(3, new CrnCommand()))) {
                            log.error("堆垛机复位命令下发失败，工作号={}", wrkMast.getWrkNo());
                        }
                    }
                }

                // 完成通知档
                if (wrkMastMapper.updateWaitPakInStep2(wrkMast.getBarcode()) == 0) {
                    log.error("入库通知档修改结束状态失败，workNo=[{}]", wrkMast.getWrkNo());
                }

            }
        }
    }

    /**
     * 更新堆垛机移动时工作档状态
     * 堆垛机异常信息记录
     */
    public void updateCrnMove() {
        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();
            // todo
            if (crnProtocol.getStatusType() == CrnStatusType.FETCH_POSITION) {
    public void recCrnErr(){

                WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
    }


    // -------------------------------------------------------------------------------

    /**
     * 空栈板初始化入库,叉车入库站放货
     */
    @Async
    public void storeEmptyPlt(){
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历空板入库口
            for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
                // 获取空板入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk()) {
                    // 工作号
                    int workNo = commonService.getWorkNo(0);
                    // 检索库位
                    StartupDto startupDto = commonService.getLocNo(1, 1, emptyInSta.getStaNo(), null);

                    // 插入工作主档
                    WrkMast wrkMast = new WrkMast();
                    wrkMast.setWrkNo(workNo);
                    wrkMast.setIoTime(new Date());
                    wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
                    wrkMast.setIoType(10); // 入出库状态：10.空板入库
                    wrkMast.setIoPri(10D); // 优先级：10
                    wrkMast.setCrnNo(startupDto.getCrnNo());
                    wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
                    wrkMast.setStaNo(startupDto.getStaNo());
                    wrkMast.setLocNo(startupDto.getLocNo());
                    wrkMast.setFullPlt("N"); // 满板
                    wrkMast.setPicking("N"); // 拣料
                    wrkMast.setExitMk("N"); // 退出
                    wrkMast.setEmptyMk("Y"); // 空板
                    wrkMast.setLinkMis("N");
//                    wrkMast.setCtnType(sourceStaNo.getCtnType()); // 容器类型
                    // 操作人员数据
                    wrkMast.setAppeTime(new Date());
                    wrkMast.setModiTime(new Date());
                    Integer insert = wrkMastMapper.insert(wrkMast);
                    if (insert == 0) {
                        throw new CoolException("保存工作档失败");
                    }
                    // 更新目标库位状态
                    LocMast locMast = locMastService.selectById(startupDto.getLocNo());
                    locMast.setLocSts("S"); // S.入库预约
                    locMast.setModiTime(new Date());
                    if (!locMastService.updateById(locMast)){
                        throw new CoolException("改变库位状态失败");
                    }
                    // 命令下发区 --------------------------------------------------------------------------

                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo((short) workNo);
                    staProtocol.setStaNo(startupDto.getStaNo().shortValue());
                    staProtocol.setPakMk(false);
                    staProtocol.setInreq1(false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    if (!result) {
                        throw new CoolException("更新plc站点信息失败");
                    }

                    staProtocol.setPakMk(false);
                }


            }


        }
    }

}