修改了AGV请求接口的逻辑，Mas获取返回信息的订单编号

zwl

8 天以前 cd761b085ddff0d4f55a0d5b892b3120cf8fa9d2

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

@@ -20,10 +20,7 @@
import com.zy.common.model.SearchLocParam;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
import com.zy.common.utils.CollectionUtils;
import com.zy.common.utils.HttpHandler;
import com.zy.common.utils.News;
import com.zy.common.utils.RedisUtil;
import com.zy.common.utils.*;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
@@ -50,6 +47,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.text.SimpleDateFormat;
import java.util.*;
import java.util.stream.Collectors;

@@ -101,6 +99,11 @@
    @Value("${wms.url}")
    private String wmsUrl;

    @Autowired
    private HikUtils hikUtils;
    @Autowired
    private AgvTaskServiceImpl agvTaskService;

    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
@@ -128,6 +131,38 @@
                //LED
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());

                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                if (staProtocol.isFrontError()) {
                    errMsg = "前超限";
                    back = true;
                }
                if (!back && staProtocol.isBackError()) {
                    errMsg = "后超限";
                    back = true;
                }
                if (!back && staProtocol.isHighError()) {
                    errMsg = "高超限";
                    back = true;
                }
                if (!back && staProtocol.isLeftError()) {
                    errMsg = "左超限";
                    back = true;
                }
                if (!back && staProtocol.isRightError()) {
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.isWeightError()) {
                    errMsg = "超重";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeError()) {
                    errMsg = "扫码失败";
                    back = true;
                }

                // 判断是否满足入库条件
                if (!staProtocol.isLoading()) {
                    continue;
@@ -136,14 +171,40 @@
                if (staProtocol.isAutoing()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && staProtocol.getWorkNo() == 9999
                        && staProtocol.getWorkNo() > 9990
                        && staProtocol.getWorkNo() <9998
                        && (staProtocol.isEmptyOutType() || staProtocol.getSiteId() == 301 || staProtocol.getSiteId() == 304)
                        && staProtocol.isPakMk()) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");
                    Short wrkNo = 9981;
                    Short bark = 303;
                    if (staProtocol.getSiteId() == 304) {
                        wrkNo = 9982;
                        bark = 306;
                    } else if (staProtocol.getSiteId() == 307) {
                        wrkNo = 9983;
                        bark = 307;
                    }

                    if (back) {
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = errMsg;
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                        }
                        log.error("输送线异常组托退回={}", errMsg);
                        staProtocol.setWorkNo(wrkNo);

                        staProtocol.setStaNo(bark);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        continue;
                    }

                    String barcode = barcodeThread.getBarcode();
                    if (!Cools.isEmpty(barcode)) {
                        News.info("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                        if ("  ERROR".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode) || "00000000".equals(barcode)) {
//                            staProtocol.setWorkNo((short) 9992);
//                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -154,6 +215,12 @@
                                String errorMsg = "扫码失败，请重试";
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                            }
                            log.error("输送线异常组托退回={}", errMsg);
                            staProtocol.setWorkNo(wrkNo);

                            staProtocol.setStaNo(bark);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            continue;
                        }
                    } else {
@@ -168,9 +235,18 @@
                            String errorMsg = "扫码失败，请重试";
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                        }
                        log.error("输送线异常组托退回={}", errMsg);
                        staProtocol.setWorkNo(wrkNo);

                        staProtocol.setStaNo(bark);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        continue;
                    }

                    WaitPakin waitPakin = waitPakinMapper.selectByBarcode(barcode);
                    if (waitPakin == null){
                        continue;
                    }
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    //过滤判断，防止拣料再入库货物，经过入库站再入库时，被退回到退库站
@@ -282,6 +358,12 @@
                                String errorMsg = jsonObject.getString("msg");
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                            }
                            log.error("输送线异常组托退回={}", errMsg);
                            staProtocol.setWorkNo(wrkNo);

                            staProtocol.setStaNo(bark);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        }

                    } catch (Exception e) {
@@ -372,160 +454,6 @@
        try {
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历拣料入库口
                for (DevpSlave.Sta pickSta : devp.getPickSta()) {
                    // 获取拣料入库站信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }

                    if (staProtocol.isAutoing()
                            && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && staProtocol.getWorkNo() > 0
                            && staProtocol.isPakMk()) {
                        News.warnNoLog("" + mark + " - 0" + " - 开始执行");

//                    // 获取条码扫描仪信息
//                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
//                    if (barcodeThread == null) {
//                        continue;
//                    }
//                    String barcode = barcodeThread.getBarcode();
//                    if(!Cools.isEmpty(barcode)) {
//                        News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                        if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                            continue;
//                        }
//                    } else {
//                        continue;
//                    }

//                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                        if (wrkMast == null) {
                            // 无拣料数据
                            continue;
                        }

                        if (wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57) {
                            if (wrkMast.getWrkSts() != 2) {
                                News.error("" + mark + " - 3" + " - 拣选盘点回库工作档状态异常！！！ [plc编号：{}]", devp.getId());
                                continue;
                            }

                            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
//                            staProtocol.setPalletSize(locMast.getLocType2());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                News.error("" + mark + " - 3" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                            }
                            continue;
                        }

                        if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
                                || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                            continue;
                        }

                        // 获取目标站
                        Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                                .eq("type_no", wrkMast.getIoType() - 50)
                                .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
                                .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                        StaDesc staDesc = staDescService.selectOne(wrapper);
                        if (Cools.isEmpty(staDesc)) {
//                        News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
//                        staProtocol.setWorkNo((short) 9989);
//                        staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            //LED
                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = "此为拣料、并板、盘点再入库.请放在" + pickSta.getBackSta().shortValue() + "站点";
                                MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errorMsg));
                            }
                            continue;
                        }

                        try {
                            LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                            SearchLocParam param = new SearchLocParam();
                            param.setBarcode(wrkMast.getBarcode());
                            param.setSourceStaNo(pickSta.getStaNo());
                            param.setLocType1(locTypeDto.getLocType1());
                            String response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/pakin/pick/loc/v1")
                                    .setJson(JSON.toJSONString(param))
                                    .build()
                                    .doPost();
                            JSONObject jsonObject = JSON.parseObject(response);
                            if (jsonObject.getInteger("code").equals(200)) {
                                WrkMast newWrkMast = wrkMastMapper.selectPakInStepBarcode(wrkMast.getBarcode());
                                if (newWrkMast == null) {
                                    // 无拣料数据
                                    News.error("" + mark + " - 3" + " - 拣选盘点回库获取工作档失败！！！ [plc编号：{}]", devp.getId());
                                    continue;
                                }

                                if(newWrkMast.getWrkSts() != 53 && newWrkMast.getWrkSts() != 57) {
                                    News.error("" + mark + " - 3" + " - 拣选盘点回库工作档类型异常！！！ [plc编号：{}]", devp.getId());
                                    continue;
                                }

                                if (wrkMast.getWrkSts() != 2) {
                                    News.error("" + mark + " - 3" + " - 拣选盘点回库工作档状态异常！！！ [plc编号：{}]", devp.getId());
                                    continue;
                                }

                                LocMast locMast = locMastService.selectById(newWrkMast.getLocNo());
                                // 更新站点信息 且 下发plc命令
                                staProtocol.setWorkNo(newWrkMast.getWrkNo().shortValue());
                                staProtocol.setStaNo(newWrkMast.getStaNo().shortValue());
                                staProtocol.setPalletSize(locMast.getLocType2());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                if (!result) {
                                    News.error("" + mark + " - 3" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                                }
                            } else {
                                News.error("" + mark + " - 5" + " - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/pick/loc/v1", JSON.toJSONString(param), response);
                            }
                        } catch (Exception e) {
                            e.printStackTrace();
                        }

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

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

    /**
     * 拣料、并板、盘点再入库-条码
     */
    public synchronized void stnToCrnStnPickBarcode(Integer mark) {
        try {
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历拣料入库口
                for (DevpSlave.Sta insta : devp.getInSta()) {
                    // 获取拣料入库站信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
@@ -539,7 +467,7 @@
                    if (staProtocol.isAutoing()
                            && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && staProtocol.getWorkNo() > 0
                            && staProtocol.getWorkNo() > 9990
                            && staProtocol.isPakMk()) {
                        News.warnNoLog("" + mark + " - 0" + " - 开始执行");

@@ -548,7 +476,9 @@
                        if (barcodeThread == null) {
                            continue;
                        }

                        String barcode = barcodeThread.getBarcode();

                        if (!Cools.isEmpty(barcode)) {
                            News.info("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", insta.getBarcode(), barcode);
                            if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
@@ -605,7 +535,169 @@
                                throw new CoolException("保存工作明细档历史档失败");
                            }
                            // 保存工作主档历史档
                            if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {

                            if (!wrkMastLogService.save(wrkMast.getWrkNo())) {
                                throw new CoolException("保存工作主档历史档失败");
                            }

                            Date now = new Date();
                            // 堆垛机站点(目标站)
                            Integer staNo = staDesc.getCrnStn();
                            // 更新工作档数据状态
                            wrkMast.setIoTime(now);
                            wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
                            wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                            wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
                            wrkMast.setStaNo(staNo); // 目标站
                            wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
                            wrkMast.setSourceLocNo(""); // 源库位清空
                            wrkMast.setModiTime(now);
                            wrkMast.setUpdMk("");//允许再次移库
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                throw new CoolException("更新工作档数据状态失败");
                            }
                            // 更新明细档io_time (历史档关联使用）
                            wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
                            // 修改库位状态 Q.拣料/盘点/并板再入库
                            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
                            locMast.setLocSts("Q");
                            locMast.setModiTime(new Date());
                            if (!locMastService.updateById(locMast)) {
                                throw new CoolException("修改库位状态失败");
                            }
                        } catch (Exception e) {
                            e.printStackTrace();
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                            continue;
                        }

                        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
                        // 更新站点信息 且 下发plc命令
                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                        staProtocol.setPalletSize(locMast.getLocType2());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            News.error("" + mark + " - 3" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                        }

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

                }

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

    /**
     * 拣料、并板、盘点再入库-条码
     */
    public synchronized void stnToCrnStnPickBarcode(Integer mark) {
        try {
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历拣料入库口
                for (DevpSlave.Sta insta : devp.getInSta()) {
                    // 获取拣料入库站信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(insta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }

                    if (staProtocol.isAutoing()
                            && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && staProtocol.getWorkNo() == 9991
                            && staProtocol.isPakMk()) {
                        News.warnNoLog("" + mark + " - 0" + " - 开始执行");

                        // 获取条码扫描仪信息
                        BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, insta.getBarcode());
                        if (barcodeThread == null) {
                            continue;
                        }

                        String name = "401";
                        if (staProtocol.getSiteId() == 402) {
                            name = "402";
                        }
                        String bar = "";
                        Config name1 = configService.selectOne(new EntityWrapper<Config>().eq("name", name));
                        if (!Cools.isEmpty(name1)) {
                            bar = name1.getValue();
                        }

                        String barcode = barcodeThread.getBarcode();
                        if (barcode.equals("00000000")) {
                            barcode = bar;
                        }
                        if (!Cools.isEmpty(barcode)) {
                            News.info("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", insta.getBarcode(), barcode);
                            if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                                continue;
                            }
                        } else {
                            continue;
                        }

                        WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                        if (wrkMast == null) {
                            // 无拣料数据
                            continue;
                        }
                        if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
                                || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                            continue;
                        }

                        // 拣、盘、并 作业站转换
//                    int stnNo = 0;
//                    if (wrkMast.getStaNo() == 109) {
//                        stnNo = 127;
//                    } else if (wrkMast.getStaNo() == 113) {
//                        stnNo = 128;
//                    } else {
//                        log.error("{}号任务数据异常！", wrkMast.getWrkNo());
//                    }
                        // 获取目标站
                        Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                                .eq("type_no", wrkMast.getIoType() - 50)
                                .eq("stn_no", insta.getStaNo()) // 作业站点 = 拣料出库的目标站
                                .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                        StaDesc staDesc = staDescService.selectOne(wrapper);
                        if (Cools.isEmpty(staDesc)) {
//                        News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
//                        staProtocol.setWorkNo((short) 9989);
//                        staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            //LED
                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, insta.getLed());
                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = "此为拣料、并板、盘点再入库.请放在" + insta.getBackSta().shortValue() + "站点";
                                MessageQueue.offer(SlaveType.Led, insta.getLed(), new Task(5, errorMsg));
                            }
                            continue;
                        }

                        try {
                            // 保存工作明细档历史档
                            if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
                                throw new CoolException("保存工作明细档历史档失败");
                            }
                            // 保存工作主档历史档

                            if (!wrkMastLogService.save(wrkMast.getWrkNo())) {
                                throw new CoolException("保存工作主档历史档失败");
                            }

@@ -703,12 +795,12 @@
                staProtocol = staProtocol.clone();
            }

            if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
            if (staProtocol.isAutoing() && staProtocol.isLoading()) {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();

                if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
                        && (crnProtocol.statusType == CrnStatusType.PUTTING || crnProtocol.statusType == CrnStatusType.WAITING)) {
                        && crnProtocol.statusType == CrnStatusType.WAITING) {
                    //放货中 或 等待确认
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");

@@ -717,9 +809,6 @@
                            .eq("loc_no", wrkMast.getSourceLocNo()));

                    short staNo = wrkMast.getStaNo().shortValue();
                    if (wrkMast.getStaNo() == 1004) {
                        staNo = 2003;
                    }

                    // 下发站点信息
                    staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
@@ -1045,6 +1134,35 @@
                    }
                }
            }
            String ip = "";
            if (wrkMast.getStaNo() == 401) {
                ip = "172.26.4.231";
            } else if (wrkMast.getStaNo() == 402) {
                ip = "172.26.4.232";
            } else if (wrkMast.getStaNo() == 307) {
                ip = "172.26.1.231";
            } else if (wrkMast.getStaNo() == 303) {
                ip = "172.26.1.232";
            } else if (wrkMast.getStaNo() == 304) {
                ip = "172.26.1.233";
            }
            SimpleDateFormat sf = new SimpleDateFormat("yyyyMMddHHmmss");
            String newName = sf.format(new Date()) + "_" + locMast.getLocNo();
            String pic = wrkMast.getPic();
            List<String> list = null;
            if (Cools.isEmpty(pic)) {
                list = new ArrayList<>();
            } else {
                list = JSON.parseArray(pic, String.class);
            }
            list.add(newName);
            //入库前抓拍
            try {
                hikUtils.startPic(ip, newName);
            } catch (Exception e) {
                log.error("入库前抓拍");
            }


            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
@@ -1083,6 +1201,7 @@
                News.info("787 修改工作档状态2.设备上走 => 3.吊车入库中 " + wrkMast);
                Date now = new Date();
                wrkMast.setWrkSts(3L);
                wrkMast.setPic(JSON.toJSONString(list));
                wrkMast.setCrnStrTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
@@ -1137,18 +1256,18 @@
                }
                //查询在库信息
                LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                        .eq("loc_sts", "R")
                        .in("loc_sts", "R", "P")
                        .eq("loc_no", wrkMast.getSourceLocNo()));
                if (Cools.isEmpty(locMast)) {
                    News.error("出库 ===>> 库位中没有这笔资料", wrkMast.getSourceLocNo());
                    continue;
                }
                //堆垛机接驳站点没有空料架
                if(!staProtocol.isEmptyOutType()&&(Cools.isEmpty(wrkMast.getCtnType())||wrkMast.getCtnType()==0)){
                if (staProtocol.getSiteId() != 301 && staProtocol.getSiteId() != 304 && !staProtocol.isEmptyOutType() && (Cools.isEmpty(wrkMast.getCtnType()) || wrkMast.getCtnType() == 0)) {
                    //请求wms下发agv搬运空料架到堆垛机接驳站点任务
                    try {
                        HashMap<String,Object> hashMap=new HashMap<>();
                        hashMap.put("wrkNo",wrkMast.getWrkNo());
                        HashMap<String, Object> hashMap = new HashMap<>();
                        hashMap.put("wrkNo", wrkMast.getWrkNo());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/createAGVMoveTask")
@@ -1167,12 +1286,25 @@
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }
                }
                Boolean boo1 = false;
                Boolean boo2 = false;
                if (staProtocol.isEmptyOutType() || staProtocol.getSiteId() == 301 || staProtocol.getSiteId() == 304) {
                    boo1 = true;
                }
                if (((staProtocol.getSiteId() == 301 || staProtocol.getSiteId() == 304) && staProtocol.isOutEnable()) || staProtocol.getSiteId()==307) {
                    boo2 = true;
                }

                // 判断堆垛机出库站状态
                // 判断堆垛机出库站状态&& staProtocol.isOutEnable()
                if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                        && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable() && staProtocol.isEmptyOutType()) {
                        && boo1 && boo2) {
                    // 命令下发区 --------------------------------------------------------------------------

                    //判断是否有正在执行中的AGV任务
                    List<AgvTask> agvTasks = agvTaskService.selectList(new EntityWrapper<AgvTask>().eq("wrk_sts", 302).eq("source_sta_no", String.valueOf(staProtocol.getSiteId())));
                    if (agvTasks != null && agvTasks.size() > 0) {
                        continue;
                    }
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
@@ -1252,8 +1384,35 @@
                        }
                        break;
                    }
                } else if (staProtocol.getSiteId() == 301 && staProtocol.isAutoing() && staProtocol.isLoading() && !staProtocol.isOutEnable()) {
                    StaProtocol staProtocol1 = devpThread.getStation().get(304);
                    if (staProtocol1 == null) {
                        break;
                    } else {
                        staProtocol1 = staProtocol1.clone();
                    }
                    if (staProtocol1.isAutoing() && !staProtocol1.isLoading() && staProtocol1.isOutEnable()) {
                        wrkMast.setSourceStaNo(304);
                        wrkMast.setStaNo(306);
                        Date now = new Date();
                        wrkMast.setModiTime(now);
                        wrkMastMapper.updateById(wrkMast);
                    }
                } else if (staProtocol.getSiteId() == 304 && staProtocol.isAutoing() && staProtocol.isLoading() && !staProtocol.isOutEnable()){
                    StaProtocol staProtocol1 = devpThread.getStation().get(301);
                    if (staProtocol1 == null) {
                        break;
                    } else {
                        staProtocol1 = staProtocol1.clone();
                    }
                    if (staProtocol1.isAutoing() && !staProtocol1.isLoading() && staProtocol1.isOutEnable()) {
                        wrkMast.setSourceStaNo(301);
                        wrkMast.setStaNo(303);
                        Date now = new Date();
                        wrkMast.setModiTime(now);
                        wrkMastMapper.updateById(wrkMast);
                    }
                }

            }
        }
    }
@@ -1759,10 +1918,8 @@
                // 站点条件判断
                if (staProtocol.isAutoing()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999)
                        && staProtocol.isPakMk()
//                        && staProtocol.getEmptyInType() == 1
                        && staProtocol.getWorkNo() > 9990
                ) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行：空栈板初始化入库,叉车入库站放货");

@@ -1787,10 +1944,15 @@
                        }
                        continue;
                    }
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", barcode));
                    WaitPakin waitPakin = waitPakinMapper.selectByBarcode(barcode);
                    LocMast locMast1 = locMastService.selectOne(new EntityWrapper<LocMast>().eq("barcode", barcode));
                    if (waitPakin != null || wrkMast != null || locMast1 != null) {
                        continue;
                    }

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setIoType(10);
                        param.setSourceStaNo(emptyInSta.getStaNo());
@@ -1970,9 +2132,8 @@
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
            // 命令集合
            List<LedCommand> commands = new ArrayList<>();
//            // 工作档集合
//            List<WrkMast> wrkMasts = new ArrayList<>();
            List<Integer> workNoList = new ArrayList<>();
            // 工作档集合
            List<WrkMast> wrkMasts = new ArrayList<>();
            for (Integer staNo : led.getStaArr()) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -1981,54 +2142,26 @@
                } else {
                    staProtocol = staProtocol.clone();
                }
                Integer wrkNo = null;
                Integer ioType = null;
                Integer targetStaNo = null;
                String sourceLocNo = null;
                String locNo = null;
                String barcode = null;

                // 获取工作档数据
                WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
                WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no",staProtocol.getWorkNo()));
//                if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
                if (null == wrkMast) {
                    List<WrkMastLog> wrkMastLogs = wrkMastLogService.selectList(new EntityWrapper<WrkMastLog>()
                            .eq("wrk_no", staProtocol.getWorkNo())
                            .orderBy("modi_time", false)
                    );
                    if (wrkMastLogs.isEmpty()) {
                        continue;
                    }

                    WrkMastLog wrkMastLog = wrkMastLogs.get(0);
                    wrkNo = wrkMastLog.getWrkNo();
                    ioType = wrkMastLog.getIoType();
                    sourceLocNo = wrkMastLog.getSourceLocNo();
                    locNo = wrkMastLog.getLocNo();
                    targetStaNo = wrkMastLog.getStaNo();
                    barcode = wrkMastLog.getBarcode();
                }else {
                    wrkNo = wrkMast.getWrkNo();
                    ioType = wrkMast.getIoType();
                    sourceLocNo = wrkMast.getSourceLocNo();
                    locNo = wrkMast.getLocNo();
                    targetStaNo = wrkMast.getStaNo();
                    barcode = wrkMast.getBarcode();
                    continue;
                }
                News.warnNoLog("" + mark + " - 0" + " - 开始执行:出库  ===>> 工作档信息写入led显示器");
                workNoList.add(wrkNo);
                wrkMasts.add(wrkMast);
                // 组装命令
                LedCommand ledCommand = new LedCommand();
                ledCommand.setWorkNo(wrkNo);
                ledCommand.setIoType(ioType);
                ledCommand.setWorkNo(wrkMast.getWrkNo());
                ledCommand.setIoType(wrkMast.getIoType());
                // 出库模式
                switch (ioType) {
                    case 1:
                        ledCommand.setTitle("全板入库");
                        break;
                    case 10:
                        ledCommand.setTitle("空板入库");
                        break;
                switch (wrkMast.getIoType()) {
//                    case 1:
//                        ledCommand.setTitle("全板入库");
//                        break;
//                    case 10:
//                        ledCommand.setTitle("空板入库");
//                        break;
                    case 101:
                        ledCommand.setTitle("全板出库");
                        break;
@@ -2045,139 +2178,55 @@
                        ledCommand.setTitle("空板出库");
                        ledCommand.setEmptyMk(true);
                        break;
                    case 53:
                        ledCommand.setTitle("拣料入库");
                        break;
                    case 57:
                        ledCommand.setTitle("盘点入库");
                        break;
                    case 54:
                        ledCommand.setTitle("并板入库");
                        break;
//                    case 53:
//                        ledCommand.setTitle("拣料入库");
//                        break;
//                    case 57:
//                        ledCommand.setTitle("盘点入库");
//                        break;
//                    case 54:
//                        ledCommand.setTitle("并板入库");
//                        break;
                    default:
                        News.error("" + mark + " - 1" + " - 任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkNo, ioType);
                        News.error("" + mark + " - 1" + " - 任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                        break;
                }
                ledCommand.setSourceLocNo(sourceLocNo);
                ledCommand.setLocNo(locNo);
                ledCommand.setStaNo(targetStaNo);
                ledCommand.setBarcode(barcode);
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                ledCommand.setLocNo(wrkMast.getLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
                ledCommand.setBarcode(wrkMast.getBarcode());
//                ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
                if (ioType != 110 && ioType != 10) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkNo);

                    if (!wrkDetls.isEmpty()) {
                        WrkDetl wrkDetl = wrkDetls.get(0);
                        double anfme = 0D;
                        double weight = 0D;
                        for (WrkDetl detl : wrkDetls) {
                            anfme += detl.getAnfme();
                            weight += detl.getWeight();
                            wrkDetl.setAnfme(anfme);
                            wrkDetl.setWeight(weight);
                        }

                        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>()
                                .eq("loc_no", wrkMast.getSourceLocNo()));
                        double totalAnfme = 0D;
                        double totalWeight = 0D;
                        for (LocDetl locDetl : locDetls) {
                            totalAnfme += locDetl.getAnfme();
                            totalWeight += locDetl.getWeight();
                        }
                        wrkDetl.setStockNum(totalAnfme);
                        wrkDetl.setStockNum2(totalWeight);

                        ledCommand.getMatDtos().add(new MatDto(
                                wrkDetl.getMatnr()
                                , wrkDetl.getMaktx()
                                , wrkDetl.getAnfme()
                                , wrkDetl.getWeight()
                                , wrkDetl.getStockNum()
                                , wrkDetl.getStockNum2()
                                , wrkDetl.getSpecs()
                                , wrkDetl.getSku()
                                , wrkDetl.getZpallet()
                                , wrkDetl.getModel()
                                , wrkDetl.getSupp()
                                , wrkDetl.getKpCstmrName()
                                , wrkDetl.getOrderNo()
                                , wrkDetl.getCstateid$()
                        ));

                    }else {
                        List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectTodayByWrkNo(wrkNo);
                        if(!wrkDetlLogs.isEmpty()) {
                            WrkDetlLog wrkDetlLog = wrkDetlLogs.get(0);

                            double anfme = 0D;
                            double weight = 0D;
                            for (WrkDetlLog detl : wrkDetlLogs) {
                                anfme += detl.getAnfme();
                                weight += detl.getWeight();
                                wrkDetlLog.setAnfme(anfme);
                                wrkDetlLog.setWeight(weight);
                if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                    try {
                        if (wrkMast.getIoType() > 100) {
                            for (WrkDetl wrkDetl : wrkDetls) {
                                LocDetl locDetl = locDetlService.selectMatnrSpecs(wrkDetl.getMatnr(), wrkDetl.getSpecs(), wrkMast.getSourceLocNo());
                                if (Cools.isEmpty(locDetl)) {
                                    wrkDetl.setWeight(0.0);
                                }else {
                                    wrkDetl.setWeight(locDetl.getAnfme());
                                }
                            }

                            List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>()
                                    .eq("loc_no", sourceLocNo));
                            double totalAnfme = 0D;
                            double totalWeight = 0D;
                            for (LocDetl locDetl : locDetls) {
                                totalAnfme += locDetl.getAnfme();
                                totalWeight += locDetl.getWeight();
                        } else {
                            for (WrkDetl wrkDetl : wrkDetls) {
                                wrkDetl.setWeight(wrkDetl.getAnfme());
                            }
                            wrkDetlLog.setStockNum(totalAnfme);
                            wrkDetlLog.setStockNum2(totalWeight);

                            ledCommand.getMatDtos().add(new MatDto(
                                    wrkDetlLog.getMatnr()
                                    , wrkDetlLog.getMaktx()
                                    , wrkDetlLog.getAnfme()
                                    , wrkDetlLog.getWeight()
                                    , wrkDetlLog.getStockNum()
                                    , wrkDetlLog.getStockNum2()
                                    , wrkDetlLog.getSpecs()
                                    , wrkDetlLog.getSku()
                                    , wrkDetlLog.getZpallet()
                                    , wrkDetlLog.getModel()
                                    , wrkDetlLog.getSupp()
                                    , wrkDetlLog.getKpCstmrName()
                                    , wrkDetlLog.getOrderNo()
                                    , wrkDetlLog.getCstateid$()
                            ));
                        }
                    } catch (Exception e) {
                        log.error("工作档案明细输入电视机失败1：异常信息==》" + e);
                    }

                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getWeight(), wrkDetl.getSpecs(), wrkDetl.getSku(),wrkDetl.getZpallet())));
                }
                commands.add(ledCommand);
            }
            Set<Integer> workNos = new HashSet<>(workNoList);
            Set<Integer> workNos = wrkMasts.stream().map(WrkMast::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 (led.getId() < 7) {
//                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
//                        News.error(""+mark+" - 2"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
//                        continue;
//                    } else {
//                        ledThread.setLedMk(false);
//                    }
//                } else {
//                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
//                        News.error(""+mark+" - 3"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
//                        continue;
//                    } else {
//                        ledThread.setLedMk(false);
//                    }
//                }
//
//            }
            // 命令下发 -------------------------------------------------------------------------------
            if (!commands.isEmpty()) {
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
@@ -2190,15 +2239,12 @@

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

@@ -2385,6 +2431,7 @@
            int workNo = commonService.getWorkNo(0);
            // 保存工作档
            WrkMast wrkMast = new WrkMast();
            wrkMast.setId(new Date().getTime());
            wrkMast.setWrkNo(workNo);
            wrkMast.setIoTime(new Date());
            wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
@@ -2393,7 +2440,7 @@
            wrkMast.setCrnNo(crn.getId());
            wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
            wrkMast.setLocNo(loc.getLocNo()); // 目标库位
            wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
            wrkMast.setFullPlt(shallowLoc.getLocSts().equals("F") ? "Y" : "N"); // 满板
            wrkMast.setPicking("N"); // 拣料
            wrkMast.setExitMk("N"); // 退出
            wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
@@ -2498,7 +2545,7 @@
                    wrkMast.setCrnNo(crn.getId());
                    wrkMast.setSourceLocNo(sourceLocNo); // 源库位
                    wrkMast.setLocNo(locNo); // 目标库位
                    wrkMast.setFullPlt("N"); // 满板：Y
                    wrkMast.setFullPlt(sourceLoc.getLocSts().equals("F") ? "Y" : "N"); // 满板：Y
                    wrkMast.setPicking("N"); // 拣料
                    wrkMast.setExitMk("N"); // 退出
                    wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板