#

luxiaotao1123

2022-03-12 cf72f14140e41ac9532e8e1d4956131f1e07de38

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

@@ -8,7 +8,6 @@
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.mapper.WaitPakinMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
@@ -16,7 +15,6 @@
import com.zy.common.model.MatDto;
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.core.CrnThread;
@@ -58,18 +56,14 @@
@Transactional
public class MainServiceImpl {

    public static final long COMMAND_TIMEOUT = 5 * 1000;

    @Autowired
    private CommonService commonService;
    @Value("${wms.url}")
    private String wmsUrl;
    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private WrkMastMapper wrkMastMapper;
    @Autowired
    private WrkDetlService wrkDetlService;
    @Autowired
    private WaitPakinMapper waitPakinMapper;
    @Autowired
    private LocMastService locMastService;
    @Autowired
@@ -79,15 +73,11 @@
    @Autowired
    private BasDevpService basDevpService;
    @Autowired
    private LocDetlService locDetlService;
    @Autowired
    private BasErrLogService basErrLogService;
    @Autowired
    private BasCrnErrorMapper basCrnErrorMapper;
    @Autowired
    private BasSteService basSteService;
    @Value("${wms.url}")
    private String wmsUrl;

    /**
     * 组托
@@ -99,21 +89,6 @@
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                // 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)) {
                    log.info("{}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;
                }

                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
@@ -122,11 +97,27 @@
                } else {
                    staProtocol = staProtocol.clone();
                }
                Short workNo = staProtocol.getWorkNo();
                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
                        && staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
                        && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
                        && staProtocol.isPakMk()) {

                    // 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)) {
                        log.info("{}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;
                    }

                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
@@ -134,17 +125,9 @@
                        log.error("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("zpallet", barcode).eq("io_status", "N"));
//                    if (waitPakins.isEmpty()) {
//                        log.error("无此入库条码数据。条码号={}", barcode);
//                        continue;
//                    }

                    try {

                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
@@ -159,7 +142,7 @@
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            // plc 处理
                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
@@ -171,18 +154,13 @@
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }

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

                }


            }
        }

    }

    /**
@@ -203,9 +181,11 @@
                } else {
                    staProtocol = staProtocol.clone();
                }
                Short workNo = staProtocol.getWorkNo();
                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
                if (staProtocol.isAutoing() && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
                        && staProtocol.isPakMk()) {
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
@@ -228,13 +208,9 @@
                    } else {
                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }

                }


            }
        }

    }

    /**
@@ -483,7 +459,7 @@
            // 获取工作状态为 2,3,4,5,6 的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            if(null == wrkMast) {
//                log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                log.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                continue;
            }
            // 获取库位信息
@@ -514,36 +490,43 @@
                // 没有小车
                } else {

                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        continue;
                    // 当前入库库位组没有小车 堆垛机则去站点取货入库
                    // case 1：从始至终库位组都没有小车，没有迁出小车动作，所以工作状态 = 2
                    // case 2：堆垛机已经搬出小车，有迁出小车动作，所以工作状态 = 6
                    if (wrkMast.getWrkSts() == 2L || wrkMast.getWrkSts() == 6L) {

                        // 已经存在吊车执行任务时，则过滤
                        if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                            continue;
                        }

                        // 堆垛机入库 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(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  7.吊车入库中
                            Date now = new Date();
                            wrkMast.setWrkSts(7L);
                            wrkMast.setCrnStrTime(now);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
                            }
                            return true;
                        }
                    }

                    // 堆垛机入库 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(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  7.吊车入库中
                        Date now = new Date();
                        wrkMast.setWrkSts(7L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
                        }
                        return true;
                    }
                }

            // 目标库位 ===>> 非最外层库位
@@ -598,7 +581,7 @@
                // 没有小车
                } else {
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getStaNo() == null) {
                        // 寻找最近的小车
                        // 寻找当前堆垛机对应的小车
                        SteThread steThread = queryIdleCar(wrkMast);
                        if (steThread != null) {
                            // 让小车等待搬运待续
@@ -617,6 +600,173 @@
    }

    /**
     * 出库  ===>>  库位到堆垛机站
     */
    public boolean locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
        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.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            if (wrkMast == null) {
                continue;
            }
            // 工作档状态判断
            if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){
                log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                continue;
            }
            // 获取源库位信息
            LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
            if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
                log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                continue;
            }
            // 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();
            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            // 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) {
                    continue;
                }

                // 最外层库位，直接堆垛机出库
                if (locMastService.isOutMost(wrkMast.getSourceLocNo())) {
                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        continue;
                    }

                    // 堆垛机出库 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(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 => 16.吊车出库中
                        Date now = new Date();
                        wrkMast.setWrkSts(16L);
                        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 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                        return true;
                    }
                // 不是最外层库位，需要使用穿梭车搬运后，再堆垛机出库
                } else {
                    // 当前组库位是否有穿梭车
                    Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
                    // 有小车
                    if (steNo != null) {
                        if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {

                            // 给穿梭车下发命令 让其将货物挪至堆垛机搬运点
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
                            if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {

                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
                                steCommand.setSteNo(steNo); // 穿梭车编号
                                steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                                steCommand.setTaskMode(SteTaskModeType.TO_B); // 任务模式:  去近点 等待堆垛机叉取
                                // todo:luxiaotao
                                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                                } else {
                                    // 修改工作档状态 11.生成出库ID => 14.小车搬出库
                                    Date now = new Date();
                                    wrkMast.setWrkSts(14L);
                                    wrkMast.setSteNo(steNo);
                                    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 => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
                                    }
                                }
                            }
                        }
                        if (wrkMast.getWrkSts() == 15L) {
                            // 已经存在吊车执行任务时，则过滤
                            if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                                continue;
                            }

                            // 堆垛机出库 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(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 15.等待吊车 => 16.吊车出库中
                                Date now = new Date();
                                wrkMast.setWrkSts(16L);
                                wrkMast.setCrnStrTime(now);
                                wrkMast.setModiTime(now);
                                if (wrkMastMapper.updateById(wrkMast) == 0) {
                                    log.error("修改工作档状态 15.等待吊车 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                }
                                return true;
                            }
                        }

                    // 没有小车
                    } else {
                        if (wrkMast.getWrkSts() == 11L && wrkMast.getStaNo() == null) {
                            // 寻找最近的小车
                            SteThread steThread = queryIdleCar(wrkMast);
                            if (steThread != null) {
                                // 让小车等待搬运待续
                                this.letCarBeReady(wrkMast, steThread.getSlave().getId());
                            }
                        }
                        // 堆垛机搬运小车
                        if (wrkMast.getWrkSts() == 12L) {
                            this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
                        }
                    }
                }

            }
        }
        return false;
    }

    /**
     * 当前库位组是否存在空闲小车
     */
    public Integer hasCarOfIdle(String locNo) {
@@ -626,9 +776,26 @@
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
                if (Utils.getGroupRow(locNo) == Utils.getRow(locNo) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
                if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
                    return steProtocol.getSteNo().intValue();
                }
            }
        }
        return null;
    }

    /**
     * 查找当前库位最适合的穿梭车来作业
     */
    public SteThread queryIdleCar(WrkMast wrkMast) {
        Integer crnNo = wrkMast.getCrnNo();
        BasSte basSte = basSteService.findByCrnNo(crnNo);
        // 获取穿梭车信息
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
        SteProtocol steProtocol = steThread.getSteProtocol();
        if (steProtocol != null) {
            if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
                return steThread;
            }
        }
        return null;
@@ -764,7 +931,7 @@
                crnCommand.setSourcePosX(steProtocol.getRow());     // 源库位排
                crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                crnCommand.setDestinationPosX((short) Utils.getRow(idleLocNo));     // 目标库位排
                crnCommand.setDestinationPosX(Utils.getGroupRow(idleLocNo).shortValue());     // 目标库位排
                crnCommand.setDestinationPosY((short) Utils.getBay(idleLocNo));     // 目标库位列
                crnCommand.setDestinationPosZ((short) Utils.getLev(idleLocNo));     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
@@ -786,173 +953,6 @@


    /**
     * 出库  ===>>  库位到堆垛机站
     */
    public boolean locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
        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.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            if (wrkMast == null) {
                continue;
            }
            // 工作档状态判断
            if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){
                log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                continue;
            }
            // 获取源库位信息
            LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
            if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
                log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                continue;
            }
            // 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();
            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            // 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) {
                    continue;
                }

                // 最外层库位，直接堆垛机出库
                if (locMastService.isOutMost(wrkMast.getLocNo())) {
                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        continue;
                    }

                    // 堆垛机出库 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(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 => 16.吊车出库中
                        Date now = new Date();
                        wrkMast.setWrkSts(16L);
                        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 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                        return true;
                    }
                // 不是最外层库位，需要使用穿梭车搬运后，再堆垛机出库
                } else {
                    // 当前组库位是否有穿梭车
                    Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
                    // 有小车
                    if (steNo != null) {
                        if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {

                            // 给穿梭车下发命令 让其将货物挪至堆垛机搬运点
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
                            if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {

                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
                                steCommand.setSteNo(steNo); // 穿梭车编号
                                steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                                steCommand.setTaskMode(SteTaskModeType.TO_B); // 任务模式:  去近点 等待堆垛机叉取
                                // todo:luxiaotao
                                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                                } else {
                                    // 修改工作档状态 11.生成出库ID => 14.小车搬出库
                                    Date now = new Date();
                                    wrkMast.setWrkSts(14L);
                                    wrkMast.setSteNo(steNo);
                                    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 => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
                                    }
                                }
                            }
                        }
                        if (wrkMast.getWrkSts() == 15L) {
                            // 已经存在吊车执行任务时，则过滤
                            if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                                continue;
                            }

                            // 堆垛机出库 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(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 15.等待吊车 => 16.吊车出库中
                                Date now = new Date();
                                wrkMast.setWrkSts(16L);
                                wrkMast.setCrnStrTime(now);
                                wrkMast.setModiTime(now);
                                if (wrkMastMapper.updateById(wrkMast) == 0) {
                                    log.error("修改工作档状态 15.等待吊车 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                }
                                return true;
                            }
                        }

                    // 没有小车
                    } else {
                        if (wrkMast.getWrkSts() == 11L && wrkMast.getStaNo() == null) {
                            // 寻找最近的小车
                            SteThread steThread = queryIdleCar(wrkMast);
                            if (steThread != null) {
                                // 让小车等待搬运待续
                                this.letCarBeReady(wrkMast, steThread.getSlave().getId());
                            }
                        }
                        // 堆垛机搬运小车
                        if (wrkMast.getWrkSts() == 12L) {
                            this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
                        }
                    }
                }

            }
        }
        return false;
    }

    /**
     * 执行对工作档的完成操作
     */
    @Async
@@ -966,13 +966,13 @@
            //  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.selectPakInStep7(crnProtocol.getTaskNo().intValue());
                WrkMast wrkMast = wrkMastMapper.selectCrnWaiting(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
                if (wrkMast.getWrkSts() == 7 || (wrkMast.getWrkSts() == 15 && wrkMast.getIoType() == 11)){
                // 入库 ==>> 货物搬入库
                if (wrkMast.getWrkSts() == 7){
                    // 判断是否需要小车入库
                    if (locMastService.isOutMost(wrkMast.getLocNo())) {
                        // ==> 9.入库完成
@@ -1004,9 +1004,9 @@
                                log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                            } else {
                                // 修改工作档状态 7.吊车入库中 => 8.小车搬入库
                                Date now = new Date();
                                wrkMast.setWrkSts(8L);
                                wrkMast.setCrnStrTime(now);
                                Date now = new Date();
                                wrkMast.setCrnEndTime(now);
                                wrkMast.setModiTime(now);
                                if (wrkMastMapper.updateById(wrkMast) > 0) {
                                    // 堆垛机复位
@@ -1142,23 +1142,6 @@

            }
        }
    }

    /**
     * 查找当前库位最适合的穿梭车来作业
     */
    public SteThread queryIdleCar(WrkMast wrkMast) {
        Integer crnNo = wrkMast.getCrnNo();
        BasSte basSte = basSteService.findByCrnNo(crnNo);
        // 获取穿梭车信息
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
        SteProtocol steProtocol = steThread.getSteProtocol();
        if (steProtocol != null) {
            if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
                return steThread;
            }
        }
        return null;
    }

    /**