#

1

13 小时以前 d2d40f1b4e2b740043f09b70efd8d5c9742ccc2e

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

@@ -7,10 +7,7 @@
import com.core.common.*;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.AgvTaskAssignmentParam;
import com.zy.asrs.entity.param.ArmOrderAssignmentParam;
import com.zy.asrs.entity.param.ArmTaskAssignmentParam;
import com.zy.asrs.entity.param.CombParam;
import com.zy.asrs.entity.param.*;
import com.zy.asrs.entity.result.OrderDetlValueResultUtil;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
@@ -113,6 +110,8 @@
    private ApiLogService apiLogService;
    @Autowired
    private BasDevpOptService basDevpOptService;
    @Autowired
    private MatService matService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -223,6 +222,7 @@
                        && staProtocol.isPakMk()
                        && staProtocol.getWorkNo() == 0
                ) {

                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        News.error(JSON.toJSONString(staProtocol));
                        News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
@@ -240,6 +240,9 @@
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
                        continue;
                    }
                    if(barcode.equals("0")){
                        continue;
                    }
//                    if (staProtocol.getSiteId()!= 159){
@@ -323,7 +326,15 @@
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发2："+dto.getWorkNo()+","+dto.getStaNo());

                            if(staProtocol.getSiteId() == 1036){ //1036
                                BasAgvMast basAgvMast = basAgvMastService.selectOne(new EntityWrapper<BasAgvMast>().eq("sta_no", 1037));
                                AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
                                agvBindCtnrAndBinParam.setCtnrCode(barcode);
                                ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定解绑", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
                                if (resultBind.getCode()!=200){
                                    agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV容器绑定解绑", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                                }
                            }
                            ledThread.errorReset();
                            log.error("组托请求后LED错误清除");

@@ -2866,7 +2877,7 @@
        for (Integer site:list){
            Integer emptyCount = wrkMastMapper.countPakOutEmpty(site);
            StaProtocol staProtocol = null;
            if(emptyCount >= 1 && site == 1108){
            if(emptyCount >= 2 && site == 1108){
                continue;
            }else if(emptyCount == 1 && site == 2031){
                continue;
@@ -3564,9 +3575,9 @@
            if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
                rgvThread.setPaking(true);
            }
            if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0 && rgvProtocol.getStatusType1() == RgvStatusType.IDLE){
                rgvThread.setPaking(true);
            }
//            if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0 && rgvProtocol.getStatusType1() == RgvStatusType.IDLE){
//                rgvThread.setPaking(true);
//            }
            if(rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing()){
                basRgv.setPakAll("1");
                basRgvService.updateById(basRgv);
@@ -4328,8 +4339,6 @@
        }
    }



    /*
     * arm任务完成自动组托
     * */
@@ -4396,6 +4405,52 @@
            log.error("机械臂抓取任务完成组托失败"+e.getMessage());
        }
    }

    /*
     * arm任务完成自动组托
     * */
    public synchronized void  armMissionAccomplished2() {
        try{
            List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().gt("arm_no",4));
            for (BasArm basArm : basArmList) {
                if (basArm.getStatus()!=1){
                    continue;
                }
                LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
                if (Cools.isEmpty(locMast)){
                    continue;
                }
                try{
                    List<BasArmMast> basArmMastList = basArmMastService.selectList(
                            new EntityWrapper<BasArmMast>()
                                    .eq("arm_no", basArm.getArmNo())
                                    .eq("sorting_line", basArm.getSortingLineSou())
                                    .eq("status", 3)
                    );
                    if (basArmMastList.isEmpty()){
                        continue;
                    }
                    CombParam combParam = new CombParam(basArmMastList);
                    //arm任务完成自动组托
                    ReturnT<String> result = new PostMesDataUtils().postMesData("arm任务完成自动组托",wmsUrl, wmsComb, combParam);
                    if (result.getCode()==200){
                        basArmMastService.updateArmMastStatus(basArm.getArmNo(),basArm.getSortingLineSou(),3,5);
                        locMast.setLocSts("R");
                        locMastService.updateById(locMast);
                    } else {
                        armTaskAssignmentCallApiLogSave(locMast, "自动组托失败", basArm.getStaNoSou()+"码垛位置，===》自动组托失败，等待重试", false);
//                                log.error("机械臂抓取任务完成："+JSON.toJSON(basArmMastList)+"===》自动组托失败，等待重试");
                    }
                }  catch (Exception e){
                    armTaskAssignmentCallApiLogSave(locMast, "自动组托失败", basArm.getStaNoSou()+"码垛位置，===》自动组托失败，等待重试", false);
//                            log.error("arm编号："+basArm.getArmNo()+"====》机械臂抓取任务完成"+e.getMessage());
                }
                break;
            }
        } catch (Exception e){
            log.error("机械臂抓取任务完成组托失败"+e.getMessage());
        }
    }
    public synchronized void armMissionAccomplishedScanToCheckIn() {
        try{
            for (DevpSlave devp : slaveProperties.getDevp()) {
@@ -4445,9 +4500,9 @@
     * */
    public synchronized void armTaskAssignment() {
        try{
            List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<>());
            List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().lt("arm_no",5));
            for (BasArm basArm : basArmList) {
                if (basArm.getStatus()!=1){
                if (basArm.getStatus()!=1 || basArm.getArmNo()>4){
                    continue;
                }
                try{
@@ -4464,31 +4519,23 @@
                    if(!Cools.isEmpty(barcode)) {
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                            armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
//                            log.error(staProtocol.getSiteId()+"码垛位置，===》托盘条码为空");
                            continue;
                        }
                    } else {
                        armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);

//                        log.error(staProtocol.getSiteId()+"码垛位置，===》托盘条码为空");
                        continue;
                    }

                    if(barcode.length()!=6){
                        armTaskAssignmentCallApiLogSave(staProtocol, "条码长度不是6位", staProtocol.getSiteId()+"码垛位置，条码长度不是6位===>>" + barcode, false);
//                        log.error(staProtocol.getSiteId()+"码垛位置，条码长度不是6位===>>" + barcode);
                        continue;
//                        throw new CoolException(staProtocol.getSiteId()+"码垛位置，条码长度不是6位===>>" + barcode);
                    }

                    int countLoc = locDetlService.selectCount(new EntityWrapper<LocDetl>().eq("zpallet",barcode));
                    int countWrk = wrkDetlService.selectCount(new EntityWrapper<WrkDetl>().eq("zpallet",barcode));
                    int countwait = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet",barcode));
                    if (countLoc > 0 || countWrk > 0 || countwait > 0) {
//                        throw new CoolException("组托档/工作档/库存条码数据已存在===>>" + barcode);
                        armTaskAssignmentCallApiLogSave(staProtocol, "条码数据已存在", staProtocol.getSiteId()+"码垛位置，组托档/工作档/库存条码数据已存在===>>" + barcode, false);

//                        log.error(staProtocol.getSiteId()+"码垛位置，组托档/工作档/库存条码数据已存在===>>" + barcode);
                        continue;
                    }

@@ -4509,8 +4556,6 @@
                    );
                    if (!basArmMastListError.isEmpty()){
                        armTaskAssignmentCallApiLogSave(staProtocol, "存在异常机械臂任务", basArm.getArmNo()+"号机械臂存在异常数据需要维护！！！", false);

//                        log.error(basArm.getArmNo()+"号机械臂存在异常数据需要维护！！！");
                        continue;
                    }
                    List<BasArmMast> basArmMastListRuning = basArmMastService.selectList(
@@ -4522,9 +4567,7 @@
                    List<BasArmMast> basArmMastListRuning3 = basArmMastService.selectList(
                            new EntityWrapper<BasArmMast>()
                                    .eq("arm_no", basArm.getArmNo())
                                    .eq(

                                            "sorting_line", basArm.getSortingLineSou())
                                    .eq("sorting_line", basArm.getSortingLineSou())
                                    .eq("status", 3)
                    );
                    if (basArmMastListRuning.isEmpty() && basArmMastListRuning3.isEmpty()){
@@ -4539,8 +4582,6 @@
                        }
                        if (basArmMastList.size()>1){
                            armTaskAssignmentCallApiLogSave(staProtocol, "任务待执行数量大于1,无法分辨待执行任务", "arm编号："+basArm.getArmNo()+"====》拆码垛任务异常禁止下发！！！任务待执行数量大于1！！！", false);

//                            log.error("arm编号："+basArm.getArmNo()+"====》拆码垛任务异常禁止下发！！！任务待执行数量大于1！！！");
                            continue;
                        }
                        BasArmMast basArmMast = basArmMastList.get(0);
@@ -4555,26 +4596,20 @@
                        if (basArmMastListOrder.size()==1){
                            Thread.sleep(100);


                            List<BasArmMast> basArmMastListRuningBarCode2 = basArmMastService.selectList(
                                    new EntityWrapper<BasArmMast>()
                                            .eq("barcode", barcode)
                                    new EntityWrapper<BasArmMast>().eq("barcode", barcode)
                            );
                            if (!basArmMastListRuningBarCode2.isEmpty()){
                                int binding_tags = basArmMastService.selectCount(
                                        new EntityWrapper<BasArmMast>()
                                                .eq("status", 2)
                                                .eq("binding_tags", basArmMast.getBindingTags())
                                );

                                                .eq("binding_tags", basArmMast.getBindingTags()));
                                if (binding_tags<2){
                                    BasArmMast basArmMastOne = basArmMastService.selectOne(
                                            new EntityWrapper<BasArmMast>()
                                                    .eq("status", 2)
                                                    .eq("binding_tags", basArmMast.getBindingTags())
                                    );
                                                    .eq("binding_tags", basArmMast.getBindingTags()));
                                    Double anfmeSignOne = basArmMastService.selectBasArmMastSignValue(basArmMastOne.getOrderNo(), basArmMastOne.getMatnr(),basArmMastOne.getBindingTags());

                                    if (anfmeSignOne>1D){
                                        armTaskAssignmentCallApiLogSave(staProtocol, "条码数据已存在！！！", staProtocol.getSiteId()+"码垛位置，条码数据正在自动组托===>>" + barcode, false);
                                        continue;
@@ -4594,18 +4629,12 @@
                                ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
//                                订单下发(SKU+订单)
                                ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取订单（SKU）下发：",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_ADAPTOR, armOrderAssignmentParam);
                                if (result.getCode()==200){
//                                    basArmMast.setStatus(1);
//                                    basArmMast.setBarcode(barcode);
//                                    basArmMastService.updateById(basArmMast);
                                } else {
                                if (result.getCode()!=200){
                                    armTaskAssignmentCallApiLogSave(staProtocol, "机械臂抓取订单（SKU）下发", "arm编号："+basArm.getArmNo()+"订单下发订单信息下发失败！！！", false);

//                                    log.error("arm编号："+basArm.getArmNo()+"机械臂抓取订单（SKU）下发："+JSON.toJSON(basArmMast)+"===》订单信息下发失败");
                                    continue;
                                }
                            } catch (Exception e){
                                armTaskAssignmentCallApiLogSave(staProtocol, "机械臂抓取订单（SKU）下发", "arm编号："+basArm.getArmNo()+"订单下发订单信息下发失败！！！", false);
//                                log.error("arm编号："+basArm.getArmNo()+"机械臂抓取订单（SKU）下发："+JSON.toJSON(basArmMast)+"===》订单下发订单信息下发失败");
                                continue;
                            }
                        }
@@ -4618,7 +4647,150 @@
                            basArmMastService.updateById(basArmMast);
                        } else {
                            armTaskAssignmentCallApiLogSave(staProtocol, "机械臂抓取任务信息下发失败", "arm编号："+basArm.getArmNo()+"任务信息下发失败！！！", false);
//                            log.error("机械臂抓取任务："+JSON.toJSON(basArmMast)+"===》任务信息下发失败");
                        }
                    }
                }  catch (Exception e){
                    log.error("arm编号："+basArm.getArmNo()+"====》拆码垛任务下发失败"+e.getMessage());
                }
            }
        }catch (Exception e){
            log.error("arm任务下发失败"+e.getMessage());
        }
    }

    /*
     * arm任务下发
     * */
    public synchronized void armTaskAssignment2() {
        try{
            List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().gt("arm_no",4));
            for (BasArm basArm : basArmList) {
                if (basArm.getStatus()!=1 || basArm.getArmNo()<5){
                    continue;
                }
                try{
                    LocMast locMastEnd = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
                    if(!locMastEnd.getLocSts().equals("D")){
                        continue;
                    }

                    String barcode = locMastEnd.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "0".equals(barcode)) {
                            armTaskAssignmentCallApiLogSave(locMastEnd, "托盘条码为空", basArm.getStaNoSou()+"码垛位置，===》托盘条码为空", false);
                            continue;
                        }
                    } else {
                        armTaskAssignmentCallApiLogSave(locMastEnd, "托盘条码为空", basArm.getStaNoSou()+"码垛位置，===》托盘条码为空", false);
                        continue;
                    }

                    if(barcode.length()!=6){
                        armTaskAssignmentCallApiLogSave(locMastEnd, "条码长度不是6位", basArm.getStaNoSou()+"码垛位置，条码长度不是6位===>>" + barcode, false);
                        continue;
                    }

                    int countLoc = locDetlService.selectCount(new EntityWrapper<LocDetl>().eq("zpallet",barcode));
                    int countWrk = wrkDetlService.selectCount(new EntityWrapper<WrkDetl>().eq("zpallet",barcode));
                    int countwait = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet",barcode));
                    if (countLoc > 0 || countWrk > 0 || countwait > 0) {
                        armTaskAssignmentCallApiLogSave(locMastEnd, "条码数据已存在", basArm.getStaNoSou()+"码垛位置，组托档/工作档/库存条码数据已存在===>>" + barcode, false);
                        continue;
                    }

                    List<BasArmMast> basArmMastListRuningBarCode = basArmMastService.selectList(
                            new EntityWrapper<BasArmMast>()
                                    .eq("barcode", barcode)
                                    .eq("status", 3)
                    );
                    if (!basArmMastListRuningBarCode.isEmpty()){
                        armTaskAssignmentCallApiLogSave(locMastEnd, "条码数据已存在,正在自动组托！！！", basArm.getStaNoSou()+"码垛位置，条码数据正在自动组托===>>" + barcode, false);
                        continue;
                    }
                    List<BasArmMast> basArmMastListError = basArmMastService.selectList(
                            new EntityWrapper<BasArmMast>()
                                    .eq("arm_no", basArm.getArmNo())
                                    .eq("sorting_line", basArm.getSortingLineSou())
                                    .eq("status", 9)
                    );
                    if (!basArmMastListError.isEmpty()){
                        armTaskAssignmentCallApiLogSave(locMastEnd, "存在异常机械臂任务", basArm.getArmNo()+"号机械臂存在异常数据需要维护！！！", false);
                        continue;
                    }
                    List<BasArmMast> basArmMastListRuning = basArmMastService.selectList(
                            new EntityWrapper<BasArmMast>()
                                    .eq("arm_no", basArm.getArmNo())
                                    .eq("sorting_line", basArm.getSortingLineSou())
                                    .eq("status", 1)
                    );
                    List<BasArmMast> basArmMastListRuning3 = basArmMastService.selectList(
                            new EntityWrapper<BasArmMast>()
                                    .eq("arm_no", basArm.getArmNo())
                                    .eq("sorting_line", basArm.getSortingLineSou())
                                    .eq("status", 3)
                    );
                    if (basArmMastListRuning.isEmpty() && basArmMastListRuning3.isEmpty()){
                        List<BasArmMast> basArmMastList = basArmMastService.selectList(
                                new EntityWrapper<BasArmMast>()
                                        .eq("arm_no", basArm.getArmNo())
                                        .eq("sorting_line", basArm.getSortingLineSou())
                                        .eq("sta_no", basArm.getStaNoSou())
                                        .eq("status", 0)
                        );
                        if (basArmMastList.isEmpty()){
                            continue;
                        }
                        if (basArmMastList.size()>1){
                            armTaskAssignmentCallApiLogSave(locMastEnd, "任务待执行数量大于1,无法分辨待执行任务", "arm编号："+basArm.getArmNo()+"====》拆码垛任务异常禁止下发！！！任务待执行数量大于1！！！", false);
                            continue;
                        }
                        BasArmMast basArmMast = basArmMastList.get(0);
//                        List<BasArmMast> basArmMastListOrder = basArmMastService.selectList(
//                                new EntityWrapper<BasArmMast>()
//                                        .eq("arm_no", basArm.getArmNo())
//                                        .eq("sorting_line", basArm.getSortingLineSou())
//                                        .eq("matnr", basArmMast.getMatnr())
//                                        .eq("order_no", basArmMast.getOrderNo())
//                                        .eq("binding_tags", basArmMast.getBindingTags())
//                        );
//                        if (basArmMastListOrder.size()==1){
//                            OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getMatnr());
//
//                            if (Cools.isEmpty(orderDetlValueResultUtil)){
//                                continue;
//                            }

                        OrderDetlValueResultUtil orderDetlValueResultUtil = new OrderDetlValueResultUtil();
                        Mat mat = matService.selectOne(new EntityWrapper<Mat>().eq("matnr", basArmMast.getMatnr()));
//                            Double anfmeSign = basArmMastService.selectBasArmMastSignValue(basArmMast.getOrderNo(), basArmMast.getMatnr(),basArmMast.getBindingTags());
                        orderDetlValueResultUtil.setAnfme(1D);
                        orderDetlValueResultUtil.setHeight(mat.getHeight());
                        orderDetlValueResultUtil.setWeight(mat.getWeight());
                        orderDetlValueResultUtil.setLength(mat.getManLength());
                        orderDetlValueResultUtil.setWidth(mat.getWidth());
                        //订单下发
                        try{
                            ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
//                                订单下发(SKU+订单)
                            ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取订单（SKU）下发：",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_ADAPTOR, armOrderAssignmentParam);
                            if (result.getCode()!=200){
                                armTaskAssignmentCallApiLogSave(locMastEnd, "机械臂抓取订单（SKU）下发", "arm编号："+basArm.getArmNo()+"订单下发订单信息下发失败！！！", false);
                                continue;
                            }
                        } catch (Exception e){
                            armTaskAssignmentCallApiLogSave(locMastEnd, "机械臂抓取订单（SKU）下发", "arm编号："+basArm.getArmNo()+"订单下发订单信息下发失败！！！", false);
                            continue;
                        }
//                        }
                        ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArm.getSortingLine());
                        //设置工作空间就绪
                        ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取任务下发：通知工作空间已就绪",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_WORKSPACE, armTaskAssignmentParam);
                        if (result.getCode()==200){
                            basArmMast.setStatus(1);
                            basArmMast.setBarcode(barcode);
                            basArmMastService.updateById(basArmMast);
                        } else {
                            armTaskAssignmentCallApiLogSave(locMastEnd, "机械臂抓取任务信息下发失败", "arm编号："+basArm.getArmNo()+"任务信息下发失败！！！", false);
                        }
                    }
                }  catch (Exception e){
@@ -4654,6 +4826,33 @@
        // 如果没有符合条件的记录，或者所有记录时间差大于 5 分钟，保存新的日志
        apiLogService.save("机械臂任务相关", tableName, "null", staProtocol.getBarcode(),
                "站点号:" + staProtocol.getSiteId(),
                response, bool);
    }

    public void armTaskAssignmentCallApiLogSave(LocMast locMast, String tableName, String response, Boolean bool) {
        // 查询符合条件的所有 ApiLog
        List<ApiLog> apiLogs = apiLogService.selectList(new EntityWrapper<ApiLog>()
                .eq("namespace", "机械臂任务相关")
                .eq("request", "站点号:" + locMast.getLocNo())
                .eq("response", response)
                .eq("url", tableName)
                .eq("client_ip", locMast.getBarcode())
                .eq("result", 0)
                .orderBy("create_time", false)
        );

        // 遍历结果集，检查时间戳差值是否小于 5 分钟
        for (ApiLog apiLog : apiLogs) {
            long parseLong = Long.parseLong(apiLog.getTimestamp());
            if (new Date().getTime() - parseLong < 5 * 1000 * 60) {
                // 如果找到符合条件的记录且时间差小于 5 分钟，则不保存新记录，直接返回
                return;
            }
        }

        // 如果没有符合条件的记录，或者所有记录时间差大于 5 分钟，保存新的日志
        apiLogService.save("机械臂任务相关", tableName, "null", locMast.getBarcode(),
                "站点号:" + locMast.getLocNo(),
                response, bool);
    }

@@ -4714,7 +4913,13 @@
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            if(wrkMast.getStaNo()<2000){
                                basAgvMast.setFloorNo(1);
                            }else if(wrkMast.getStaNo()<4000){
                                basAgvMast.setFloorNo(2);
                            }else{
                                basAgvMast.setFloorNo(3);
                            }
                            basAgvMast.setTaskNo(wrkMast.getWrkNo());
                            basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
                            basAgvMast.setLocNo(dto.getLocNo());
@@ -4723,6 +4928,7 @@
                            basAgvMast.setIoType(2);

                            basAgvMastService.insert(basAgvMast);



                            wrkMast.setTakeNone("2");
@@ -4762,8 +4968,8 @@

                String barcode = staProtocol.getBarcode();
                if(!Cools.isEmpty(barcode)) {
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        News.info("{}号站点扫描器检测条码信息：{}", outStaAgv.getStaNo(), barcode);
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "0".equals(barcode)) {
//                        News.info("{}号站点扫描器检测条码信息：{}", outStaAgv.getStaNo(), barcode);
                        continue;
                    }
                } else {
@@ -4808,12 +5014,12 @@
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            basAgvMast.setTaskNo(outStaAgv.getStaNo());
                            basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
                            basAgvMast.setLocNo(dto.getLocNo());
                            basAgvMast.setDevpId(devp.getId());
                            basAgvMast.setIoType(2);
                            basAgvMast.setFloorNo(2);

                            basAgvMastService.insert(basAgvMast);
                        } else {
@@ -4861,18 +5067,37 @@

                    BasAgvMast basAgvMast = new BasAgvMast();
                    try {
                        List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>()
                                .eq("loc_sts", "R")
                                .ge("row1", 23)
                                .le("row1", 32)
                                .orderBy("io_time",true)
                        );
                        List<LocMast> locMastList = null;
                        Integer floorNo = 1;
                        if(inStaAgv.getStaNo() < 2000){
                            locMastList = locMastService.selectList(new EntityWrapper<LocMast>()
                                    .eq("loc_sts", "R")
                                    .ge("row1", 21)
                                    .le("row1", 26)
                                    .orderBy("io_time",true)
                            );
                        }else if(inStaAgv.getStaNo() < 4000){
                            locMastList = locMastService.selectList(new EntityWrapper<LocMast>()
                                    .eq("loc_sts", "R")
                                    .ge("row1", 28)
                                    .le("row1", 31)
                                    .orderBy("io_time",true));
                            floorNo = 2;
                        }else{
                            locMastList = locMastService.selectList(new EntityWrapper<LocMast>()
                                    .eq("loc_sts", "R")
                                    .ge("row1", 32)
                                    .le("row1", 38)
                                    .orderBy("io_time",true));
                            floorNo = 3;
                        }

                        for (LocMast locMast : locMastList){
                            basAgvMast.setTaskNo(inStaAgv.getStaNo());
                            basAgvMast.setSourceLocNo(locMast.getLocNo());
                            basAgvMast.setStaNo(inStaAgv.getStaNo());
                            basAgvMast.setDevpId(devp.getId());
                            basAgvMast.setFloorNo(floorNo);
                            basAgvMast.setIoType(0);//AGV库位==》输送线站点  0
                            basAgvMastService.insert(basAgvMast);
                            break;
@@ -4945,7 +5170,7 @@
                }
                try{
                    // 获取站点信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getDevpId());
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getFloorNo() !=1?2:1);
                    StaProtocol staProtocol = devpThread.getStation().get(basAgvMast.getStaNo());
                    if (staProtocol == null) {
                        continue;
@@ -4954,9 +5179,14 @@
                    }

                    if (staProtocol.isAutoing()){
                        AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
                        agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
                        ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
                        if (resultBind.getCode()!=200){
                            agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV容器绑定", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                        }

                        AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);

                        //任务下发
                        ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
                        if (result.getCode()==200){
@@ -5020,7 +5250,7 @@
                }
                try{
                    // 获取站点信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getDevpId());
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp,  basAgvMast.getFloorNo() !=1?2:1);
                    StaProtocol staProtocol = devpThread.getStation().get(basAgvMast.getSourceStaNo());
                    if (staProtocol == null || !staProtocol.isLoading()) {
                        continue;
@@ -5033,15 +5263,35 @@
                            (basAgvMast.getSourceStaNo().equals(2033))){

                        AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);

                        //任务下发
                        ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
                        if (result.getCode()==200){
                            basAgvMast.setStatus(1);
                            basAgvMastService.updateById(basAgvMast);
                        } else {
                            agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                        if(basAgvMast.getFloorNo()==1 || basAgvMast.getStaNo().equals(2034)) {
                            WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
                            AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
                            agvBindCtnrAndBinParam.setCtnrCode(wrkMast.getBarcode());
                            agvBindCtnrAndBinParam.setCtnrTyp("1");
                            ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定解绑", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
                            if (resultBind.getCode()==200){
                                //任务下发
                                ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
                                if (result.getCode()==200){
                                    basAgvMast.setStatus(1);
                                    basAgvMastService.updateById(basAgvMast);
                                } else {
                                    agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                                }
                            } else {
                                agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV容器绑定解绑", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                            }
                        }else{
                            //任务下发
                            ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
                            if (result.getCode()==200){
                                basAgvMast.setStatus(1);
                                basAgvMastService.updateById(basAgvMast);
                            } else {
                                agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                            }
                        }
//
                    }
                }  catch (Exception e){
                    log.error("任务号："+basAgvMast.getTaskNo()+"====》AGV任务下发失败"+e.getMessage());
@@ -5064,7 +5314,7 @@
                }
                try{
                    // 获取站点信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getDevpId());
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getFloorNo() !=1?2:1);
                    StaProtocol staProtocol = devpThread.getStation().get(basAgvMast.getSourceStaNo());
                    if (staProtocol == null || !staProtocol.isLoading()) {
                        continue;
@@ -5082,7 +5332,21 @@
                    if (!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())){

                        AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);

//                        AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
//
//                        ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定解绑", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvBindCtnrAndBinParam);
//                        if (resultBind.getCode()==200){
//                            //任务下发
//                            ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
//                            if (result.getCode()==200){
//                                basAgvMast.setStatus(1);
//                                basAgvMastService.updateById(basAgvMast);
//                            } else {
//                                agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
//                            }
//                        } else {
//                            agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV容器绑定解绑", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
//                        }
                        //任务下发
                        ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
                        if (result.getCode()==200){
@@ -5101,6 +5365,7 @@
        }
    }


    public void agvTaskAssignmentCallApiLogSave(BasAgvMast basAgvMast ,String tableName, String response, Boolean bool) {
        ApiLog apiLog = apiLogService.selectOne(new EntityWrapper<ApiLog>()
                .eq("namespace", "Agv任务下发")