#

Junjie

2024-12-24 d8f361c9d69271aaa58ba19e75f38e0fee00f3bb

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

@@ -3,10 +3,7 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
@@ -36,7 +33,6 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;

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

/**
 * 立体仓库WCS系统主流程业务
@@ -44,7 +40,6 @@
 */
@Slf4j
@Service("mainService")
@Transactional
public class MainServiceImpl {

    @Value("${wms.url}")
@@ -56,11 +51,7 @@
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private WrkDetlService wrkDetlService;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private LocDetlService locDetlService;
    @Autowired
    private StaDescService staDescService;
    @Autowired
@@ -94,10 +85,6 @@
    @Autowired
    private ErpService erpService;
    @Autowired
    private OrderMapper orderMapper;
    @Autowired
    private OrderDetlMapper orderDetlMapper;
    @Autowired
    private BasLiftService basLiftService;
    @Autowired
    private ShuttleDispatchUtils shuttleDispatchUtils;
@@ -112,7 +99,7 @@
    @Autowired
    private NavigateMapUtils navigateMapUtils;
    @Autowired
    private WrkDetlLogService wrkDetlLogService;
    private NavigateMapData navigateMapData;


    /**
@@ -120,89 +107,90 @@
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
     */
    public void generateStoreWrkFile() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                Short workNo = staProtocol.getWorkNo();
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "异常：";
                if (staProtocol.isFrontErr()) {
                    errMsg = errMsg+"前超限；";
                    back = true;
                }
                if (staProtocol.isBackErr()) {
                    errMsg = errMsg+"后超限";
                    back = true;
                }
                if (staProtocol.isHighErr()) {
                    errMsg = errMsg+"高超限";
                    back = true;
                }
                if (staProtocol.isLeftErr()) {
                    errMsg = errMsg+"左超限";
                    back = true;
                }
                if (staProtocol.isRightErr()) {
                    errMsg = errMsg+"右超限";
                    back = true;
                }
                if (staProtocol.isWeightErr()) {
                    errMsg = errMsg+"超重";
                    back = true;
                }
                if (staProtocol.isBarcodeErr()) {
                    errMsg = errMsg+"扫码失败";
                    back = true;
                }
                // 退回
                if (back) {
                    // led 异常显示
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                    if (ledThread != null) {
                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
        try {
            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历入库口
                for (DevpSlave.Sta inSta : devp.getInSta()) {
                    // 获取入库站信息
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    continue;
                }

                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
                        ) {

                    // 获取条码扫描仪信息
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                    if (barcodeThread == null) {
                    Short workNo = staProtocol.getWorkNo();
                    // 尺寸检测异常
                    boolean back = false;
                    String errMsg = "异常：";
                    if (staProtocol.isFrontErr()) {
                        errMsg = errMsg + "前超限；";
                        back = true;
                    }
                    if (staProtocol.isBackErr()) {
                        errMsg = errMsg + "后超限";
                        back = true;
                    }
                    if (staProtocol.isHighErr()) {
                        errMsg = errMsg + "高超限";
                        back = true;
                    }
                    if (staProtocol.isLeftErr()) {
                        errMsg = errMsg + "左超限";
                        back = true;
                    }
                    if (staProtocol.isRightErr()) {
                        errMsg = errMsg + "右超限";
                        back = true;
                    }
                    if (staProtocol.isWeightErr()) {
                        errMsg = errMsg + "超重";
                        back = true;
                    }
                    if (staProtocol.isBarcodeErr()) {
                        errMsg = errMsg + "扫码失败";
                        back = true;
                    }
                    // 退回
                    if (back) {
                        // led 异常显示
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        if (ledThread != null) {
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
                        }
                        continue;
                    }
                    String barcode = barcodeThread.getBarcode();
                    if(!Cools.isEmpty(barcode)) {

                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
                    ) {

                        // 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)) {
//                        News.info("{}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)|| "00000000".equals(barcode)) {
                            if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode) || "00000000".equals(barcode)) {
//                            staProtocol.setWorkNo((short) 32002);
//                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                            // led 异常显示
                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                            if (ledThread != null) {
                                String errorMsg = "扫码失败，请重试";
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                // led 异常显示
                                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                                if (ledThread != null) {
                                    String errorMsg = "扫码失败，请重试";
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                }
                                continue;
                            }
                            continue;
                        }
                    } else {
                        } else {
//                        staProtocol.setWorkNo((short) 32002);
//                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -214,42 +202,42 @@
//                            String errorMsg = "扫码失败，请重试";
//                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
//                        }
                        continue;
                    }
                            continue;
                        }

                    // 过滤盘点/拣料/并板任务
                    WrkMast wrkMast1 = wrkMastMapper.selectPickStepByBarcode(barcode);
                    if (null != wrkMast1) {
                        continue;
                    }
                        // 过滤盘点/拣料/并板任务
                        WrkMast wrkMast1 = wrkMastMapper.selectPickStepByBarcode(barcode);
                        if (null != wrkMast1) {
                            continue;
                        }

                    // 判断重复工作档
                    WrkMast wrkMast2 = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    if (wrkMast2 != null) {
                        News.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast2.getWrkNo());
                        continue;
                    }
                        // 判断重复工作档
                        WrkMast wrkMast2 = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                        if (wrkMast2 != null) {
                            News.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast2.getWrkNo());
                            continue;
                        }

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
                        param.setSourceStaNo(inSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v2")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        Integer code = jsonObject.getInteger("code");
                        if (code.equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                            // plc 处理
                            barcodeThread.setBarcode("");
                        try {
                            LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
                            SearchLocParam param = new SearchLocParam();
                            param.setBarcode(barcode);
                            param.setIoType(1);
                            param.setSourceStaNo(inSta.getStaNo());
                            param.setLocType1(locTypeDto.getLocType1());
                            String response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/pakin/loc/v2")
                                    .setJson(JSON.toJSONString(param))
                                    .build()
                                    .doPost();
                            JSONObject jsonObject = JSON.parseObject(response);
                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                            Integer code = jsonObject.getInteger("code");
                            if (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());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -259,144 +247,50 @@
//                                throw new CoolException("更新plc站点信息失败");
//                            }

                            // 判断重复工作档
                            WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
                            if (wrkMast == null) { continue; }

                            // 更新工作主档
                            wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
                            wrkMast.setModiTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
                            }

                        } else if (code == 500){
                            if (ledThread != null) {
                                String errorMsg = jsonObject.getString("msg");
                                if (!Cools.isEmpty(errorMsg)) {
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                    ledThread.setLedMk(false);
                                // 判断重复工作档
                                WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
                                if (wrkMast == null) {
                                    continue;
                                }
                            }
                            News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
                        } else if (code == 700) {

                                // 更新工作主档
                                wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
                                wrkMast.setModiTime(new Date());
                                if (wrkMastMapper.updateById(wrkMast) == 0) {
                                    News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
                                }

                            } else if (code == 500) {
                                if (ledThread != null) {
                                    String errorMsg = jsonObject.getString("msg");
                                    if (!Cools.isEmpty(errorMsg)) {
                                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                        ledThread.setLedMk(false);
                                    }
                                }
                                News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
                            } else if (code == 700) {
//                            staProtocol.setWorkNo((short) 32002);
//                            staProtocol.setRollback102(1);//102站回退信号
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));

                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = barcode + "托盘识别异常，请先进行组托！";
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                ledThread.setLedMk(false);
                                // led 异常显示
                                if (ledThread != null) {
                                    String errorMsg = barcode + "托盘识别异常，请先进行组托！";
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                    ledThread.setLedMk(false);
                                }
                            }
                        } catch (Exception e) {
                            e.printStackTrace();
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }
                }
            }
        }
    }

    /**
     * wms入库
     * 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
     */
    @Deprecated
    public void generateStoreWrkFile0() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } 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() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
                        && staProtocol.isPakMk()) {

                    // 尺寸检测异常
                    boolean back = false;
                    String errMsg = "";
                    if (staProtocol.isFrontErr()) {
                        errMsg = "前超限";
                        back = true;
                    }
                    if (!back && staProtocol.isBackErr()) {
                        errMsg = "后超限";
                        back = true;
                    }
                    if (!back && staProtocol.isHighErr()) {
                        errMsg = "高超限";
                        back = true;
                    }
                    if (!back && staProtocol.isLeftErr()) {
                        errMsg = "左超限";
                        back = true;
                    }
                    if (!back && staProtocol.isRightErr()) {
                        errMsg = "右超限";
                        back = true;
                    }
                    if (!back && staProtocol.isWeightErr()) {
                        errMsg = "超重";
                        back = true;
                    }
                    if (!back && staProtocol.isBarcodeErr()) {
                        errMsg = "扫码失败";
                        back = true;
                    }

                    // 退回
                    if (back) {
                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                        staProtocol.setWorkNo((short) 32002);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                        // led 异常显示
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        if (ledThread != null) {
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
                        }
                        continue;
                    }

                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
                    if (wrkMast == null) { continue; }

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

                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                    staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    if (result) {
                        // 更新工作主档
                        wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
                        wrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
                        }
                    } else {
                        News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

@@ -520,49 +414,6 @@
                        } catch (Exception e) {
                            e.printStackTrace();
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        }
                    }
                }

            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    /**
     * 拣料、并板再入库(325、331、333、339)
     */
    @Transactional
    public synchronized void stnToCrnStnPick2(){
        try {
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历拣料入库口
                for (DevpSlave.Sta pickSta : devp.getPickInSta2()) {
                    // 获取拣料入库站信息
                    DevpThread devpThread = (DevpThread) 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()) {

                        WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
                        if (wrkMast == null) {
                            continue;
                        }
                        if (wrkMast.getSteNo() == null) {
                            wrkMast.setSteNo(1);
                            wrkMastMapper.updateById(wrkMast);
                            staProtocol.setStaNo((short) 341);//写入目标站
                            staProtocol.setPakMk(false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        }
                    }
                }
@@ -881,7 +732,7 @@
//////                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//////                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//////                            if (!result) {
//////                                News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
//////                                News.error("发布命令至输送线队列失败！！！ [plc编号{}]", devp.getId());
//////                            }
////
////                            barcodeThread.setBarcode("");//清理条码
@@ -931,8 +782,7 @@
                    if (basMap == null) {
                        //数据库中也不存在地图数据，从地图文件中获取
                        //载入地图
                        NavigateMapData mapData = new NavigateMapData(i);
                        List<List<MapNode>> lists = mapData.getJsonData(-1, null, null);//获取完整地图(包括入库出库)
                        List<List<MapNode>> lists = navigateMapData.getJsonData(i, -1, null, null);//获取完整地图(包括入库出库)

                        //存入数据库
                        basMap = new BasMap();
@@ -2506,625 +2356,167 @@
    }

    /**
     * AGV补货 => 生成入库通知档
     */
    public void robotGenerateAgvTask() {
        try {
            //检测300站是否自动、有物、工作号
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(300);
                if (staProtocol == null) {
                    continue;
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0) {
                    //查询是否有工作档
                    WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
                    if (wrkMast == null) {
                        continue;
                    }

                    if (wrkMast.getWrkSts() != 25) {//25.提升机搬运完成
                        continue;
                    }

                    if (wrkMast.getMk() != null && wrkMast.getMk().equals("Y")) {//标记为Y表示需要用到机械臂拣料
                        Short targetSta = null;//目标站
                        //判断机械臂拣料站是否空闲
                        StaProtocol staProtocol303 = devpThread.getStation().get(303);
                        StaProtocol staProtocol317 = devpThread.getStation().get(317);
                        if (staProtocol303.isAutoing() && !staProtocol303.isLoading()) {
                            //自动、无物
                            targetSta = (short) 303;
                        } else if (staProtocol317.isAutoing() && !staProtocol317.isLoading()) {
                            //自动、无物
                            targetSta = (short) 317;
                        } else {
                            continue;//没有空闲站点
                        }

                        if (wrkMast.getStaNo() != 303 && wrkMast.getStaNo() != 317) {
                            //向AGV发起组托请求
                            try {
                                HashMap<String, Object> param = new HashMap<>();
                                param.put("wrkNo", wrkMast.getWrkNo());
                                String response = new HttpHandler.Builder()
                                        .setUri(wmsUrl)
                                        .setPath("/rpc/replenishment")
                                        .setJson(JSON.toJSONString(param))
                                        .build()
                                        .doPost();
                                JSONObject jsonObject = JSON.parseObject(response);
                                Integer code = jsonObject.getInteger("code");
                                if (code.equals(200)) {//AGV组托成功
                                    //覆盖工作档目标站
                                    wrkMast.setStaNo(targetSta.intValue());
                                    wrkMast.setShuttleNo(null);//释放小车
                                    wrkMast.setLiftNo(null);//释放提升机
                                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                                        //向300站写入目标站
                                        staProtocol = staProtocol.clone();
                                        staProtocol.setStaNo(targetSta);//移动到目标站
                                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                        try {
                                            Thread.sleep(500);
                                        } catch (Exception e) {
                                            e.printStackTrace();
                                        }
                                        continue;
                                    }
                                }
                            } catch (Exception e) {
                                e.printStackTrace();
                                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                            }

//                        //覆盖工作档目标站
//                        wrkMast.setStaNo(targetSta.intValue());
//                        wrkMast.setShuttleNo(null);//释放小车
//                        wrkMast.setLiftNo(null);//释放提升机
//                        if (wrkMastMapper.updateById(wrkMast) > 0) {
//                            //向300站写入目标站
//                            staProtocol = staProtocol.clone();
//                            staProtocol.setStaNo(targetSta);//移动到目标站
//                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            try {
//                                Thread.sleep(500);
//                            } catch (Exception e) {
//                                e.printStackTrace();
//                            }
//                            continue;
//                        }
                        }
                    }
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    /**
     * AGV补货 => 机械臂拣料
     */
    public void agvRestockByRobot() {
        try {
            //检测300站是否自动、有物、工作号
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol303 = devpThread.getStation().get(303);
                StaProtocol staProtocol317 = devpThread.getStation().get(317);
                if (staProtocol303 == null || staProtocol317 == null) {
                    continue;
                }

                if (staProtocol303.isAutoing() && staProtocol303.isLoading() && staProtocol303.getWorkNo() != 0) {
                    //调度机械臂
                    //查询是否有工作档
                    WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol303.getWorkNo().intValue());
                    if (wrkMast == null) {
                        continue;
                    }
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                    if (wrkDetls.isEmpty()) {
                        continue;
                    }

                    if (wrkMast.getInvWh() == null) {
                        boolean result = RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetls.size(), "303");
                        if (result) {
                            wrkMast.setInvWh("Y");//标记已经下发机械臂任务
                            wrkMastMapper.updateById(wrkMast);
                        }
                    }
                }

                if (staProtocol317.isAutoing() && staProtocol317.isLoading() && staProtocol317.getWorkNo() != 0) {
                    //调度机械臂
                    //查询是否有工作档
                    WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol317.getWorkNo().intValue());
                    if (wrkMast == null) {
                        continue;
                    }
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                    if (wrkDetls.isEmpty()) {
                        continue;
                    }
                    if (wrkMast.getInvWh() == null) {
                        boolean result = RobotUtils.sendTask(staProtocol317.getWorkNo().toString(), wrkDetls.size(), "317");
                        if (result) {
                            wrkMast.setInvWh("Y");//标记已经下发机械臂任务
                            wrkMastMapper.updateById(wrkMast);
                        }
                    }
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    /**
     * AGV补货(通知AGV取货)
     */
    public void agvRestockInto() {
        try {
            //检测309和312站是否自动、有物
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol309 = devpThread.getStation().get(309);
                StaProtocol staProtocol312 = devpThread.getStation().get(312);
                if (staProtocol309 == null || staProtocol312 == null) {
                    continue;
                }

                if (staProtocol309.isAutoing() && staProtocol309.isLoading() && staProtocol309.isInEnable()) {
                    // 获取条码扫描仪信息
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 9);//308站条码器
                    if (barcodeThread == null) {
                        continue;
                    }
                    String barcode = barcodeThread.getBarcode();
                    if (!Cools.isEmpty(barcode)) {
                        //通知AGV取货
                        agvRestockCall("301-1", barcode);
                        log.info("通知AGV取货，条码号：" + barcode);
                    }
                }

                if (staProtocol312.isAutoing() && staProtocol312.isLoading() && staProtocol312.isInEnable()) {
                    // 获取条码扫描仪信息
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 10);//311站条码器
                    if (barcodeThread == null) {
                        continue;
                    }
                    String barcode = barcodeThread.getBarcode();
                    if (!Cools.isEmpty(barcode)) {
                        //通知AGV取货
                        agvRestockCall("302-1", barcode);
                        log.info("通知AGV取货，条码号：" + barcode);
                    }
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    //通知AGV取货
    private boolean agvRestockCall(String staNo, String barcode) {
        try {
            HashMap<String, Object> param = new HashMap<>();
            param.put("devNo", staNo);
            param.put("containerCode", barcode);
            String response = new HttpHandler.Builder()
                    .setUri(wmsUrl)
                    .setPath("/rpc/start")
                    .setJson(JSON.toJSONString(param))
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            News.info("悬挂线，WMS返回结果：" + jsonObject);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {//呼叫AGV
                return true;
            }
        } catch (Exception e) {
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
        return false;
    }

    //通知WMS当前拣料站点信息
    private boolean agvCureentCall(String staNo, String barcode) {
        try {
            HashMap<String, Object> param = new HashMap<>();
            param.put("devNo", staNo);
            param.put("containerCode", barcode);
            String response = new HttpHandler.Builder()
                    .setUri(wmsUrl)
                    .setPath("/rpc/current/containerCode")
                    .setJson(JSON.toJSONString(param))
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            News.info("悬挂线，WMS返回结果：" + jsonObject);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {//呼叫AGV
                return true;
            }
        } catch (Exception e) {
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
        return false;
    }

    /**
     * AGV补货(悬挂线通知AGV取货)
     */
    public void agvRestockIntoByHangingWire() {
        try {
            //检测350和351扫码器
            int[] barcodeStaNo = {11, 12,14,16,18,20};//11 => 350站扫码器,12 => 351站扫码器
            for (int staNo : barcodeStaNo) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo);
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                if (!Cools.isEmpty(barcode)) {
                    if (barcode.contains("NoRead")) {
                        continue;
                    }

                    String agvStaNo = null;
                    if (staNo == 11) {
                        agvStaNo = "303-1";
                    } else if(staNo == 12){
                        agvStaNo = "304-1";
                    } else if(staNo == 14){
                        agvStaNo = "311-1";
                    } else if(staNo == 16){
                        agvStaNo = "313-1";
                    } else if(staNo == 18){
                        agvStaNo = "315-1";
                    } else if(staNo == 20){
                        agvStaNo = "317-1";
                    }
                    //通知AGV取货
                    boolean result = agvRestockCall(agvStaNo, barcode);
                    if (result) {
                        barcodeThread.setBarcode("");
                    }
                    log.info(barcodeThread.getSlave().getId() + "号扫码器，通知AGV取货，条码号：" + barcode);
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    /**
     * AGV拣料站点信息
     */
    public void agvCurrentContainerCodeInfoWire() {
        try {
            //检测350和351扫码器
            int[] barcodeStaNo = {13, 15,17,19};//11 => 350站扫码器,12 => 351站扫码器
            for (int staNo : barcodeStaNo) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo);
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                if (!Cools.isEmpty(barcode)) {
                    if (barcode.contains("NoRead")) {
                        continue;
                    }

                    String agvStaNo = null;
                    if (staNo == 13) {
                        agvStaNo = "CS-310";
                    } else if(staNo == 15){
                        agvStaNo = "CS-311";
                    } else if(staNo == 17){
                        agvStaNo = "CS-312";
                    } else if(staNo == 19){
                        agvStaNo = "CS-313";
                    }
                    //通知WMS当前容器码
                    boolean result = agvCureentCall(agvStaNo, barcode);
                    if (result) {
                        barcodeThread.setBarcode("");
                    }
                    log.info(barcodeThread.getSlave().getId() + "号扫码器，通知AGV取货，条码号：" + barcode);
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    // 300站拣料
    public void pick300() {
        try {
            //检测300站是否自动、有物、工作号
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(300);
                if (staProtocol == null) {
                    continue;
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0) {
                    //查询是否有工作档
                    WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
                    if (wrkMast == null) {
                        continue;
                    }

                    if (wrkMast.getWrkSts() != 29) {//29.出库完成
                        continue;
                    }

                    if (wrkMast.getMk() == null) {
                        Integer sourceStaNo = wrkMast.getSourceStaNo();//源站
                        Integer staNo = wrkMast.getStaNo();//目标站
                        //覆盖工作档目标站
                        wrkMast.setStaNo(sourceStaNo);
                        wrkMast.setSourceStaNo(staNo);
                        wrkMast.setMk("N");
                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            //向300站写入目标站
                            staProtocol = staProtocol.clone();
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());//移动到目标站
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            try {
                                Thread.sleep(500);
                            } catch (Exception e) {
                                e.printStackTrace();
                            }
                        }
                    }
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    /**
     * 出库  ===>> 工作档信息写入led显示器
     */
    public void ledExecute() {
        try {
            for (LedSlave led : slaveProperties.getLed()) {
                // 获取输送线plc线程
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
                // 命令集合
                List<LedCommand> commands = new ArrayList<>();
                // 工作档集合
                List<WrkMast> wrkMasts = new ArrayList<>();
                List<WrkMastLog> wrkMastLogs = new ArrayList<>();
                for (Integer staNo : led.getStaArr()) {
                    // 获取叉车站点
                    StaProtocol staProtocol = devpThread.getStation().get(staNo);
                    if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    // 获取工作档数据
                    WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
                    Integer wrkNo = staProtocol.getWorkNo().intValue();
                    Integer ioType = null;
                    String sourceLocNo = null;
                    String locNo = null;
                    Integer wrkStaNo = null;
                    String barcode = null;
                    if (wrkMast == null) {
                        //查询历史档
                        WrkMastLog wrkMastLog = wrkMastLogMapper.selectLatestByWorkNo(staProtocol.getWorkNo().intValue());
                        if (wrkMastLog == null) {
                            continue;
                        }
                        ioType = wrkMastLog.getIoType();
                        sourceLocNo = wrkMastLog.getSourceLocNo();
                        locNo = wrkMastLog.getLocNo();
                        wrkStaNo = wrkMastLog.getStaNo();
                        barcode = wrkMastLog.getBarcode();
                        wrkMastLogs.add(wrkMastLog);
                    }else {
                        if (wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) {
                            continue;
                        }
                        ioType = wrkMast.getIoType();
                        sourceLocNo = wrkMast.getSourceLocNo();
                        locNo = wrkMast.getLocNo();
                        wrkStaNo = wrkMast.getStaNo();
                        barcode = wrkMast.getBarcode();
                        wrkMasts.add(wrkMast);
                    }
                    // 组装命令
                    LedCommand ledCommand = new LedCommand();
                    ledCommand.setWorkNo(wrkNo);
                    ledCommand.setIoType(ioType);
                    // 出库模式
                    switch (ioType) {
                        case 101:
                            ledCommand.setTitle("全板出库");
                            break;
                        case 103:
                            ledCommand.setTitle("拣料出库");
                            break;
                        case 104:
                            ledCommand.setTitle("并板出库");
                            break;
                        case 107:
                            ledCommand.setTitle("盘点出库");
                            break;
                        case 110:
                            ledCommand.setTitle("空板出库");
                            ledCommand.setEmptyMk(true);
                            break;
                        default:
                            News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkNo, ioType);
                            break;
                    }
                    ledCommand.setSourceLocNo(sourceLocNo);
                    ledCommand.setLocNo(locNo);
                    ledCommand.setStaNo(wrkStaNo);
                    ledCommand.setBarcode(barcode);
                    if (ioType != 110 && ioType != 10) {
                        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
                        if (ioType == 101) {
                            List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
                            wrkDetls.forEach(wrkDetl -> {
                                ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), 0D, wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
                            });
//                            locDetls.forEach(locDetl -> {
//                                Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo);
//                                Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch());
//                                Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode());
//                                Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime());
//                                Utils.wapperSetCondition(wrapper, "supp_code", locDetl.getSuppCode());//料箱码
//                                List<WrkDetl> detl = wrkDetlService.selectList(wrapper);
//                                if (Cools.isEmpty(detl)) {
//                                    String suppCode = "";
//                                    if (locDetl.getSuppCode() != null) {
//                                        suppCode = locDetl.getSuppCode();
//                                    }
//                                    ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode));
//                                } else {
//                                    //出库数量累计
//                                    Double conut = 0.0;
//                                    for (WrkDetl wrkDetl : detl) {
//                                        conut = conut + wrkDetl.getAnfme();
//                                    }
//
//                                    for (WrkDetl wrkDetl : detl) {
//                                        String suppCode = "";
//                                        if (wrkDetl.getSuppCode() != null) {
//                                            suppCode = wrkDetl.getSuppCode();
//                                        }
//                                        ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (locDetl.getAnfme() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo()));
//        try {
//            for (LedSlave led : slaveProperties.getLed()) {
//                // 获取输送线plc线程
//                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
//                // 命令集合
//                List<LedCommand> commands = new ArrayList<>();
//                // 工作档集合
//                List<WrkMast> wrkMasts = new ArrayList<>();
//                List<WrkMastLog> wrkMastLogs = new ArrayList<>();
//                for (Integer staNo : led.getStaArr()) {
//                    // 获取叉车站点
//                    StaProtocol staProtocol = devpThread.getStation().get(staNo);
//                    if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
//                        continue;
//                    } else {
//                        staProtocol = staProtocol.clone();
//                    }
//                    // 获取工作档数据
//                    WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
//                    Integer wrkNo = staProtocol.getWorkNo().intValue();
//                    Integer ioType = null;
//                    String sourceLocNo = null;
//                    String locNo = null;
//                    Integer wrkStaNo = null;
//                    String barcode = null;
//                    if (wrkMast == null) {
//                        //查询历史档
//                        WrkMastLog wrkMastLog = wrkMastLogMapper.selectLatestByWorkNo(staProtocol.getWorkNo().intValue());
//                        if (wrkMastLog == null) {
//                            continue;
//                        }
//                        ioType = wrkMastLog.getIoType();
//                        sourceLocNo = wrkMastLog.getSourceLocNo();
//                        locNo = wrkMastLog.getLocNo();
//                        wrkStaNo = wrkMastLog.getStaNo();
//                        barcode = wrkMastLog.getBarcode();
//                        wrkMastLogs.add(wrkMastLog);
//                    }else {
//                        if (wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) {
//                            continue;
//                        }
//                        ioType = wrkMast.getIoType();
//                        sourceLocNo = wrkMast.getSourceLocNo();
//                        locNo = wrkMast.getLocNo();
//                        wrkStaNo = wrkMast.getStaNo();
//                        barcode = wrkMast.getBarcode();
//                        wrkMasts.add(wrkMast);
//                    }
//                    // 组装命令
//                    LedCommand ledCommand = new LedCommand();
//                    ledCommand.setWorkNo(wrkNo);
//                    ledCommand.setIoType(ioType);
//                    // 出库模式
//                    switch (ioType) {
//                        case 101:
//                            ledCommand.setTitle("全板出库");
//                            break;
//                        case 103:
//                            ledCommand.setTitle("拣料出库");
//                            break;
//                        case 104:
//                            ledCommand.setTitle("并板出库");
//                            break;
//                        case 107:
//                            ledCommand.setTitle("盘点出库");
//                            break;
//                        case 110:
//                            ledCommand.setTitle("空板出库");
//                            ledCommand.setEmptyMk(true);
//                            break;
//                        default:
//                            News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkNo, ioType);
//                            break;
//                    }
//                    ledCommand.setSourceLocNo(sourceLocNo);
//                    ledCommand.setLocNo(locNo);
//                    ledCommand.setStaNo(wrkStaNo);
//                    ledCommand.setBarcode(barcode);
//                    if (ioType != 110 && ioType != 10) {
//                        List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
//                        if (!wrkDetls.isEmpty()) {
//                            wrkDetls.forEach(wrkDetl -> {
//                                double remainNum = wrkDetl.getStock() - wrkDetl.getAnfme();//剩余数量
//                                if (remainNum < 0) {
//                                    remainNum = 0;
//                                }
//                                String matnr = wrkDetl.getMatnr();
//                                Mat mat = matService.selectByMatnr(wrkDetl.getMatnr());
//                                if (mat != null) {
//                                    if (!mat.getMatnr().equals(mat.getMatnr2())) {
//                                        matnr += " - " + mat.getMatnr2();
//                                    }
//                                }
//
//                                ledCommand.getMatDtos().add(new MatDto(matnr, wrkDetl.getMaktx(), wrkDetl.getAnfme(), remainNum, wrkDetl.getSpecs(), wrkDetl.getSuppCode(), wrkDetl.getOrderNo()));
//                            });
                        } else {
                            locDetls.forEach(locDetl -> {
                                Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo);
                                Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch());
                                Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode());
                                Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime());
                                Utils.wapperSetCondition(wrapper, "supp_code", locDetl.getSuppCode());//料箱码
                                List<WrkDetl> detl = wrkDetlService.selectList(wrapper);
                                if (Cools.isEmpty(detl)) {
                                    String suppCode = "";
                                    if (locDetl.getSuppCode() != null) {
                                        suppCode = locDetl.getSuppCode();
                                    }
                                    ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode));
                                } else {
                                    //出库数量累计
                                    Double conut = 0.0;
                                    for (WrkDetl wrkDetl : detl) {
                                        conut = conut + wrkDetl.getAnfme();
                                    }

                                    for (WrkDetl wrkDetl : detl) {
                                        String suppCode = "";
                                        if (wrkDetl.getSuppCode() != null) {
                                            suppCode = wrkDetl.getSuppCode();
                                        }
                                        if (wrkDetl.getAnfme() > 0D) {
                                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (wrkDetl.getStock() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo()));
                                        }
                                    }
                                }

                            });
                        }


                        if (ioType == 107) {
                            locDetls = new ArrayList<>();
                            ledCommand.setMatDtos(new ArrayList<>());
                        }

                        if (locDetls.isEmpty() && ioType != 101) {
                            List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
                            wrkDetls.forEach(wrkDetl -> {
                                if (wrkDetl.getAnfme() > 0D) {
                                    ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getAnfme(), wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
                                }
                            });

                            if (wrkDetls.isEmpty()) {//从历史档查询
                                List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectLatestByWorkNo(wrkNo, barcode);
                                for (WrkDetlLog wrkDetlLog : wrkDetlLogs) {
                                    if (wrkDetlLog.getAnfme() > 0D) {
                                        ledCommand.getMatDtos().add(new MatDto(wrkDetlLog.getMatnr(), wrkDetlLog.getMaktx(), wrkDetlLog.getAnfme(), wrkDetlLog.getAnfme(), wrkDetlLog.getSpecs(), wrkDetlLog.getSuppCode()));
                                    }
                                }
                            }
                        }
                    }

                    commands.add(ledCommand);
                }
                Set<Integer> workNos = null;
                if (!wrkMasts.isEmpty()) {
                    workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
                }else {
                    workNos = wrkMastLogs.stream().map(WrkMastLog::getWrkNo).collect(Collectors.toSet());
                }
                // 获取LED线程
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
                // 相同工作号集合则过滤
                if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
                    continue;
                }
                // 命令下发 -------------------------------------------------------------------------------
                if (!commands.isEmpty()) {
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
                        log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                        continue;
                    } else {
                        ledThread.setLedMk(false);
                    }
                }

                try {
                    // 修改主档led标记
                    for (WrkMast wrkMast : wrkMasts) {
                        wrkMast.setOveMk("Y");
                        wrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            throw new CoolException("更新工作档失败");
                        }
                    }

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

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

            }
        } catch (Exception e) {
            e.printStackTrace();
        }
//                        }else {
//                            List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectLatestByWorkNo(wrkNo, barcode);
//                            for (WrkDetlLog wrkDetlLog : wrkDetlLogs) {
//                                double remainNum = wrkDetlLog.getStock() - wrkDetlLog.getAnfme();//剩余数量
//                                if (remainNum < 0) {
//                                    remainNum = 0;
//                                }
//                                String matnr = wrkDetlLog.getMatnr();
//                                Mat mat = matService.selectByMatnr(wrkDetlLog.getMatnr());
//                                if (mat != null) {
//                                    if (!mat.getMatnr().equals(mat.getMatnr2())) {
//                                        matnr += " - " + mat.getMatnr2();
//                                    }
//                                }
//                                ledCommand.getMatDtos().add(new MatDto(matnr, wrkDetlLog.getMaktx(), wrkDetlLog.getAnfme(), remainNum, wrkDetlLog.getSpecs(), wrkDetlLog.getSuppCode()));
//                            }
//                        }
//                    commands.add(ledCommand);
//                }
//                Set<Integer> workNos = null;
//                if (!wrkMasts.isEmpty()) {
//                    workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
//                }else {
//                    workNos = wrkMastLogs.stream().map(WrkMastLog::getWrkNo).collect(Collectors.toSet());
//                }
//                // 获取LED线程
//                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
//                // 相同工作号集合则过滤
//                if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
//                    continue;
//                }
//                // 命令下发 -------------------------------------------------------------------------------
//                if (!commands.isEmpty()) {
//                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
//                        log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
//                        continue;
//                    } else {
//                        ledThread.setLedMk(false);
//                    }
//                }
//
//                try {
//                    // 修改主档led标记
//                    for (WrkMast wrkMast : wrkMasts) {
//                        wrkMast.setOveMk("Y");
//                        wrkMast.setModiTime(new Date());
//                        if (wrkMastMapper.updateById(wrkMast) == 0) {
//                            throw new CoolException("更新工作档失败");
//                        }
//                    }
//
//                    // 更新线程当前工作号集合
//                    ledThread.setWorkNos(workNos);
//
//                } catch (Exception e) {
//                    e.printStackTrace();
//                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
//                }
//
//            }
//        } catch (Exception e) {
//            e.printStackTrace();
//        }
    }

    /**
@@ -4098,32 +3490,36 @@

    //扫描设备PakMk标记是否超时
    public synchronized void scanDevicePakMk() {
        //扫描小车
        for (ShuttleSlave slave : slaveProperties.getShuttle()) {
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                continue;
        try {
            //扫描小车
            for (ShuttleSlave slave : slaveProperties.getShuttle()) {
                NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
                NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
                if (shuttleProtocol == null) {
                    continue;
                }

                if ((System.currentTimeMillis() - shuttleProtocol.getSendTime() > (1000 * 60 * 5)) && shuttleProtocol.getPakMk()) {
                    //设备超过5分钟还没复位标记
                    shuttleProtocol.setPakMk(false);//复位标记
                }
            }

            if ((System.currentTimeMillis() - shuttleProtocol.getSendTime() > (1000*60*5)) && shuttleProtocol.getPakMk()) {
                //设备超过5分钟还没复位标记
                shuttleProtocol.setPakMk(false);//复位标记
            }
        }
            //扫描提升机
            for (LiftSlave slave : slaveProperties.getLift()) {
                LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
                LiftProtocol liftProtocol = liftThread.getLiftProtocol();
                if (liftProtocol == null) {
                    continue;
                }

        //扫描提升机
        for (LiftSlave slave : slaveProperties.getLift()) {
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
            if (liftProtocol == null) {
                continue;
                if ((System.currentTimeMillis() - liftProtocol.getSendTime() > (1000 * 60 * 5)) && liftProtocol.getPakMk()) {
                    //设备超过5分钟还没复位标记
                    liftProtocol.setPakMk(false);//复位标记
                }
            }

            if ((System.currentTimeMillis() - liftProtocol.getSendTime() > (1000*60*5)) && liftProtocol.getPakMk()) {
                //设备超过5分钟还没复位标记
                liftProtocol.setPakMk(false);//复位标记
            }
        } catch (Exception e) {
            e.printStackTrace();
        }

    }