#

Junjie

2025-05-12 e0fbb31fcf45f56b7b57c741a6b11f03cf205512

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

@@ -3,39 +3,24 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.controller.CrnController;
import com.zy.asrs.controller.OpenController;
import com.zy.asrs.controller.SiteController;
import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.domain.enums.WorkNoType;
import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.Result;
import com.zy.asrs.entity.param.StorageEscalationParam;
import com.zy.asrs.entity.param.TaskOverToWms;
import com.zy.asrs.entity.param.GenerateAgvTaskParam;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.CommandUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.service.CommonService;
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CommandPackage;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
@@ -44,14 +29,12 @@
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.io.IOException;
import java.util.*;

/**
 * 立体仓库WCS系统主流程业务
 * Created by vincent on 2020/8/6
 */
@Slf4j
@Service("mainService")
@@ -63,17 +46,9 @@
    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private WrkMastMapper wrkMastMapper;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private BasDevpService basDevpService;
    @Autowired
    private BasErrLogService basErrLogService;
    @Autowired
    private BasCrnErrorMapper basCrnErrorMapper;
    @Autowired
    private TaskWrkMapper taskWrkMapper;
    @Autowired
@@ -84,236 +59,208 @@
    private StaDescMapper staDescMapper;
    @Autowired
    private CommandInfoService commandInfoService;

    @Autowired
    private OpenServiceImpl openServiceImpl;
    @Autowired
    private StaDescService staDescService;

    @Autowired
    private ApiLogService apiLogService;
    @Autowired
    private OpenService openService;
    @Autowired
    private CommonService commonService;

    @Value("${wms.url}")
    private String wmsUrl;
    @Value("${wms.inboundTaskApplyPath}")
    private String inboundTaskApplyPath;
    @Value("${wms.TaskExecCallback}")
    private String TaskExecCallback;
    @Value("${wms.taskStatusFeedbackPath}")
    private String taskStatusFeedbackPath;

    @Value("${wcs.urlWcs}")
    private String wcsUrl;
    @Value("${wcs.inboundTaskApplyPathWcs}")
    private String wcsInboundTaskApplyPath;
    @Autowired
    private CrnController crnController;
    @Autowired
    private SiteController siteController;


    public synchronized void generateStoreWrkFile1() throws IOException, InterruptedException {
        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()) {
                    StorageEscalationParam storageEscalationParam = new StorageEscalationParam();
                    // 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();
                    Short stano = staProtocol.getStaNo();

                    // 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;
                    }
                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && !staProtocol.isEmptyMk() && workNo >= 9790
                            && staProtocol.isPakMk()) {
                        // 获取条码扫描仪信息
                        BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                        if (barcodeThread == null) {
                            continue;
                        }
                        String BoxNo = barcodeThread.getBarcode();
                        TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", BoxNo));
                        if (!Cools.isEmpty(taskWrk1)) {
                            log.info("托盘码：" + BoxNo + "任务档存在");
                            if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
                                StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                        .eq("crn_no", taskWrk1.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
                                if (Cools.isEmpty(staDesc)) {
                                    return;
                                } else {
                                    continue;
                                }
                            }
                        }
                        if (back) {
                            storageEscalationParam.setWCSStatus(1);
                            storageEscalationParam.setWCSErrorMessage(storageEscalationParam.getWCSErrorMessage() + errMsg);
                        }
                        log.info("组托入库={}", storageEscalationParam);
                        storageEscalationParam.setBoxNo(BoxNo);
                        String response = "";
                        Boolean success = false;
                        try {
                            response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath(inboundTaskApplyPath)
                                    .setJson(JSON.toJSONString(storageEscalationParam))
                                    .build()
                                    .doPost();
                            JSONObject jsonObject = JSON.parseObject(response);
                            if (back) {
                                if (staProtocol.getWorkNo() >= 9801 && staProtocol.getWorkNo() <= 9825) {
                                    staProtocol.setStaNo((short) 105);
                                } else if (staProtocol.getWorkNo() >= 9826 && staProtocol.getWorkNo() <= 9850) {
                                    staProtocol.setStaNo((short) 107);
                                } else if (staProtocol.getWorkNo() >= 9851 && staProtocol.getWorkNo() <= 9875) {
                                    staProtocol.setStaNo((short) 109);
                                } else {
                                    staProtocol.setStaNo((short) 110);
                                }
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            } else {
                                if (!Cools.isEmpty(response) && !Cools.isEmpty(jsonObject.get("ReturnStatus")) && jsonObject.get("ReturnStatus").equals(0) && !Cools.isEmpty(jsonObject.get("Result").toString())) {
                                    Result result = JSON.parseObject(jsonObject.get("Result").toString(), Result.class);
                                    // 创新一个入库工作档
                                    TaskWrk taskWrk = taskWrkService.selectByTaskNo(result.getTaskNo());
                                    if (Cools.isEmpty(taskWrk)) {
                                        taskWrk = createTask1(result, BoxNo);
                                        if (Cools.isEmpty(taskWrk)) {
                                            log.error("库位异常，库位号：={}", taskWrk.getOriginTargetPoint());
                                        } else {
                                            taskWrkService.insert(taskWrk);
                                            StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                                    .eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
                                            staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                                            staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                            HashMap<String, Object> hashMap = new HashMap<>();
                                            hashMap.put("TaskNo", taskWrk.getTaskNo());
                                            try {
                                                //开始上报,任务开始时，WCS回调WMS
                                                response = new HttpHandler.Builder()
                                                        .setUri(wmsUrl)
                                                        .setPath(taskStatusFeedbackPath)
                                                        .setJson(JSON.toJSONString(hashMap))
                                                        .build()
                                                        .doPost();
                                                JSONObject jsonObject1 = JSON.parseObject(response);
                                                Boolean bool = false;
                                                if (jsonObject1.get("ReturnStatus").equals(0)) {
                                                    bool = true;
                                                }
                                                apiLogService.save("wcs开始入库任务上报wms"
                                                        , wmsUrl + TaskExecCallback
                                                        , null
                                                        , "127.0.0.1"
                                                        , JSON.toJSONString(hashMap)
                                                        , response
                                                        , bool
                                                );
                                            } catch (Exception e) {

                                            }
                                        }
                                    } else {
//                                    staProtocol.setWorkNo((short) 9991);
                                        if (staProtocol.getWorkNo() >= 9801 && staProtocol.getWorkNo() <= 9825) {
                                            staProtocol.setStaNo((short) 105);
                                        } else if (staProtocol.getWorkNo() >= 9826 && staProtocol.getWorkNo() <= 9850) {
                                            staProtocol.setStaNo((short) 107);
                                        } else if (staProtocol.getWorkNo() >= 9851 && staProtocol.getWorkNo() <= 9875) {
                                            staProtocol.setStaNo((short) 109);
                                        } else {
                                            staProtocol.setStaNo((short) 110);
                                        }
                                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    }

                                } else {
//                                staProtocol.setWorkNo((short) 9991);
                                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                }
                            }
                        } catch (Exception e) {
                            log.error("请求入库调用接口失败");
                            log.error("异常信息打印：" + e);
                            try {
                                BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
                                if (Cools.isEmpty(basDevp)) {
                                    log.error("站点号异常" + inSta.getStaNo());
                                } else if (basDevp.getStaErr() != 0) {
                                    basDevp.setStaErr(2);
                                    basDevpService.updateById(basDevp);
                                }
                            } catch (Exception e1) {
                                // 退回
                                log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1);
                            }
                        } finally {
                            apiLogService.save("wms请求入库货位接口"
                                    , wmsUrl + inboundTaskApplyPath
                                    , null
                                    , "127.0.0.1"
                                    , JSON.toJSONString(storageEscalationParam)
                                    , response
                                    , success
                            );
                        }
                        log.info("入库请求参数=" + JSON.toJSONString(BoxNo));
                        log.info("入库请求返回参数=" + JSON.toJSONString(response));
                    }
                }
            }
        } catch (Exception e) {
            log.error("generateStoreWrkFile e", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
    public synchronized void demo() {
        boolean demoEnable = false;
        Config demoEnableConfig = configService.selectByCode("demoEnable");
        if(demoEnableConfig != null) {
            demoEnable = Boolean.parseBoolean(demoEnableConfig.getValue());
        }

        if (!demoEnable) {
            return;
        }

        //演示模式-AGV出库
        demoAgvOut();
        //演示模式-AGV入库
        demoAgvIn();
        //演示模式-四向库出库
        demoShuttleOut();
        //演示模式-四向库入库
        demoShuttleIn();
    }

    //演示模式-AGV出库
    private synchronized void demoAgvOut() {
        LocMast locMast = locMastService.selectByLocNo("1100601");
        if(locMast == null) {
            return;
        }

        if (!locMast.getLocSts().equals("O")) {
            return;
        }

        List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>()
                .eq("mk", "agv")
                .eq("loc_sts", "F")
                .notIn("loc_no", "0900601")
        );

        if (locMasts.isEmpty()) {
            return;
        }

        LocMast originLocMast = locMasts.get(0);

        //生成AGV出库任务
        GenerateAgvTaskParam param = new GenerateAgvTaskParam();
        param.setOriginPoint(originLocMast.getLocNo());
        param.setTargetPoint(locMast.getLocNo());
        openService.generateAgvTask(param);
    }

    //演示模式-AGV入库
    private synchronized void demoAgvIn() {
        LocMast locMast = locMastService.selectByLocNo("0900601");
        if(locMast == null) {
            return;
        }

        if (!locMast.getLocSts().equals("F")) {
            return;
        }

        List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>()
                .eq("mk", "agv")
                .eq("loc_sts", "O")
                .notIn("loc_no", "1100601")
        );

        if (locMasts.isEmpty()) {
            return;
        }

        LocMast targetLocMast = locMasts.get(0);

        //生成AGV出库任务
        GenerateAgvTaskParam param = new GenerateAgvTaskParam();
        param.setOriginPoint(locMast.getLocNo());
        param.setTargetPoint(targetLocMast.getLocNo());
        openService.generateAgvTask(param);
    }

    //演示模式-四向库出库
    private synchronized void demoShuttleOut() {
        LocMast locMast = locMastService.selectByLocNo("0900601");
        if(locMast == null) {
            return;
        }

        if (!locMast.getLocSts().equals("O")) {
            return;
        }

        ArrayList<Integer> disableLevList = new ArrayList<>();

        //query in task
        List<TaskWrk> taskWrks = taskWrkService.selectList(new EntityWrapper<TaskWrk>()
                .eq("io_type", 1));
        for (TaskWrk taskWrk : taskWrks) {
            int lev = Utils.getLev(taskWrk.getTargetPoint());
            if(!disableLevList.contains(lev)) {
                disableLevList.add(lev);
            }
        }

        List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>()
                .notIn("lev1", disableLevList)
                .eq("loc_sts", "F")
        );

        if(locMasts.isEmpty()) {
            return;
        }

        LocMast locMast1 = locMasts.get(0);

        Date now = new Date();
        TaskWrk taskWrk = new TaskWrk();
        int workNo1 = commonService.getWorkNo(WorkNoType.PAKOUT.type);//获取入库工作号
        taskWrk.setTaskNo(String.valueOf(workNo1));//任务号
        taskWrk.setWrkNo(workNo1);
        taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收
        taskWrk.setCreateTime(now);
        taskWrk.setIoType(1);//入库
        taskWrk.setIoPri(100);//优先级
        taskWrk.setOriginTargetPoint(locMast1.getLocNo());
        taskWrk.setTargetPoint("1");//终点
        boolean result = taskWrkService.insert(taskWrk);

        locMast1.setLocSts("R");
        locMast1.setModiTime(now);
        locMastService.updateById(locMast1);

        locMast.setLocSts("S");
        locMast.setModiTime(now);
        locMastService.updateById(locMast);
    }

    //演示模式-四向库入库
    private synchronized void demoShuttleIn() {
        LocMast locMast = locMastService.selectByLocNo("1100601");
        if(locMast == null) {
            return;
        }

        if (!locMast.getLocSts().equals("F")) {
            return;
        }

        ArrayList<Integer> disableLevList = new ArrayList<>();

        //query out task
        List<TaskWrk> taskWrks = taskWrkService.selectList(new EntityWrapper<TaskWrk>()
                .eq("io_type", 2));
        for (TaskWrk taskWrk : taskWrks) {
            int lev = Utils.getLev(taskWrk.getTargetPoint());
            if(!disableLevList.contains(lev)) {
                disableLevList.add(lev);
            }
        }

        List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>()
                .notIn("lev1", disableLevList)
                .eq("loc_sts", "O")
        );

        if(locMasts.isEmpty()) {
            return;
        }

        LocMast locMast1 = locMasts.get(0);

        Date now = new Date();
        TaskWrk taskWrk = new TaskWrk();
        int workNo1 = commonService.getWorkNo(WorkNoType.PAKOUT.type);//获取入库工作号
        taskWrk.setTaskNo(String.valueOf(workNo1));//任务号
        taskWrk.setWrkNo(workNo1);
        taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收
        taskWrk.setCreateTime(now);
        taskWrk.setIoType(1);//入库
        taskWrk.setIoPri(100);//优先级
        taskWrk.setOriginTargetPoint("101");
        taskWrk.setTargetPoint(locMast1.getLocNo());//终点
        boolean result = taskWrkService.insert(taskWrk);

        locMast1.setLocSts("S");
        locMast1.setModiTime(now);
        locMastService.updateById(locMast1);

        locMast.setLocSts("R");
        locMast.setModiTime(now);
        locMastService.updateById(locMast);
    }

    /**
@@ -564,345 +511,6 @@
        }
    }

    /**
     * 库位移转
     */
    public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
            // 获取工作状态为11（生成出库ID）的移库工作档
            List<TaskWrk> taskWrks = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>()
                    .eq("crn_no", slave.getId())
                    .eq("wrk_sts", 11)
                    .eq("io_type", 3)
                    .orderBy("io_pri", false));
            for (TaskWrk taskWrk : taskWrks) {

                // 双深库位且浅库位有货，则需先对浅库位进行库位移转
//                if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
//                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
//                    TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
//                    if (!Cools.isEmpty(hallowLocNoTask)){
//                        continue;
//                    }
//                }
                // 堆垛机控制过滤
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                    continue;
                }

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

                if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("") || taskWrk.getWrkNo() == null) {
                    continue;
                }
                // 工作档状态判断
                if (taskWrk.getIoType() != 3 || taskWrk.getTargetPoint() == null) {
                    log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
                    continue;
                }

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


                // 1.堆垛机开始移动
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位排
                crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位列
                crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位层
                crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位列
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位层
                crnCommand.setCommand((short) 1);
                if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                    Date now = new Date();
                    taskWrk.setWrkSts(12);
                    taskWrk.setStatus(2);
                    taskWrk.setModiTime(now);
                    if (taskWrkMapper.updateById(taskWrk) == 0) {
                        log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
                    }
                    try {
                        HashMap<String, Object> headParam = new HashMap<>();
                        headParam.put("TaskNo", taskWrk.getTaskNo());
                        String response;
                        response = new HttpHandler.Builder()
                                // .setHeaders(headParam)
                                .setUri(wmsUrl)
                                .setPath(taskStatusFeedbackPath)
                                .setJson(JSON.toJSONString(headParam))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        apiLogService.save("wcs派发移库任务上报wms"
                                , wmsUrl + taskStatusFeedbackPath
                                , null
                                , "127.0.0.1"
                                , JSON.toJSONString(headParam)
                                , response
                                , true
                        );
                    } catch (Exception e) {
                        log.error("wcs派发移库库任务上报wms失败", taskWrk);
//                        throw new CoolException("wcs派发移库库任务上报wms失败");
                    }

                }
                return;
            }
        }

    }

    /**
     * 执行对工作档的完成操作
     */
//    public void storeFinished() {
//        for (CrnSlave crn : slaveProperties.getCrn()) {
//            // 获取堆垛机信息
//            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
//            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
//            if (crnProtocol == null) { continue; }
//
//            //  状态：等待确认 并且  任务完成位 = 1
//            if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
//                //获取入库待确认工作档
//                TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
//                if (Cools.isEmpty(taskWrk)) {
////                    log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
//                    continue;
//                }
//
//                //获取指令ID
//                Integer commandId = crnProtocol.getCommandId();
//                CommandInfo commandInfo = new CommandInfo();
//                if (Cools.isEmpty(commandId)){
//                    commandInfo = commandInfoService.selectOne(new EntityWrapper<CommandInfo>()
//                            .eq("wrk_no",crnProtocol.getTaskNo())
//                            .eq("device","Crn"));
//                }else {
//                    commandInfo = commandInfoService.selectById(commandId);
//                }
//
//
//                if (commandInfo == null) {
//                    //指令不存在
//                    continue;
//                }
//                if (commandInfo.getCommandStatus() == 3){
//                    continue;
//                }
//                commandInfo.setCommandStatus(CommandStatusType.COMPLETE.id);//指令完成
//                commandInfo.setCompleteTime(new Date());//指令完成时间
//                if (commandInfoService.updateById(commandInfo)) {//修改成功后复位堆垛机
//                    // 堆垛机复位
//                    crnThread.setResetFlag(true);
//                }
//            }
//        }
//    }

    /**
     * 执行对工作档的完成操作
     */
    public synchronized void storeFinished() throws InterruptedException {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }

            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
                //获取入库待确认工作档
                TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(), crnProtocol.getTaskNo().intValue());
                if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
                    log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                    continue;
                }
                //确认完成信号
                CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
                crnOperatorParam.setCrnNo(crn.getId());
                R r = crnController.crnTaskComplete(crnOperatorParam);
                Thread.sleep(1000);
                if (!r.get("code").equals(200)) {
                    return;
                }
                if (!Cools.isEmpty(taskWrk)) {
                    if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
                        taskWrk.setWrkSts(4);//入库完成
                        taskWrk.setStatus(5);//完结
                        //更新库位状态
                        LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
                        locMast.setLocSts("F");//F.在库
                        locMast.setBarcode(taskWrk.getBarcode());//托盘码
                        locMast.setModiTime(new Date());
                        locMast.setModiUser(9999L);
                        locMastService.updateById(locMast);
                    } else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
                        taskWrk.setWrkSts(13);//出库完成
                        taskWrk.setStatus(5);//完结
                        //更新库位状态
                        LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
                        locMast.setLocSts("O");//O.空库位
                        locMast.setBarcode("");//托盘码
                        locMast.setModiTime(new Date());
                        locMast.setModiUser(9999L);
                        locMastService.updateById(locMast);
                    } else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
                        taskWrk.setWrkSts(4);//入库完成
                        taskWrk.setStatus(5);//完结
                        //更新库位状态
                        LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
                        locMast.setLocSts("F");//F.在库
                        locMast.setBarcode(taskWrk.getBarcode());//托盘码
                        locMast.setModiTime(new Date());
                        locMast.setModiUser(9999L);
                        locMastService.updateById(locMast);

                        LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
                        locMast1.setLocSts("O");//O.空库位
                        locMast1.setBarcode("");//托盘码
                        locMast1.setModiTime(new Date());
                        locMast1.setModiUser(9999L);
                        locMastService.updateById(locMast1);
                    }
                    taskWrkService.updateById(taskWrk);
                }

            }
        }
    }

    /**
     * 堆垛机异常信息记录
     */
    public synchronized void recCrnErr() {
        Date now = new Date();
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }
            if (false) {
//            if (crnProtocol.getModeType() != CrnModeType.STOP) {
                // 有任务
                if (crnProtocol.getTaskNo() != 0) {
                    BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
                    // 有异常
                    if (latest == null) {
                        if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
                            WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
                            if (wrkMast == null) {
                                continue;
                            }
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                            String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    wrkMast.getWrkNo(),    // 工作号
                                    now,    // 发生时间
                                    null,    // 结束时间
                                    wrkMast.getWrkSts(),    // 工作状态
                                    wrkMast.getIoType(),    // 入出库类型
                                    crn.getId(),    // 堆垛机
                                    null,    // plc
                                    wrkMast.getLocNo(),    // 目标库位
                                    wrkMast.getStaNo(),    // 目标站
                                    wrkMast.getSourceStaNo(),    // 源站
                                    wrkMast.getSourceLocNo(),    // 源库位
                                    wrkMast.getBarcode(),    // 条码
                                    (int) crnProtocol.getAlarm1(),    // 异常码
                                    errName,    // 异常
                                    1,    // 异常情况
                                    now,    // 添加时间
                                    null,    // 添加人员
                                    now,    // 修改时间
                                    null,    // 修改人员
                                    "任务中异常"    // 备注
                            );
                            if (!basErrLogService.insert(basErrLog)) {
                                log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                            }
                        }
                    } else {
                        // 异常修复
                        if (crnProtocol.getAlarm1() == null || crnProtocol.getAlarm1() == 0) {
                            latest.setEndTime(now);
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
                            if (!basErrLogService.updateById(latest)) {
                                log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                            }
                        }
                    }
                    // 无任务
                } else {
                    BasErrLog latest = basErrLogService.findLatest(crn.getId());
                    // 有异常
                    if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm() > 0) {
                        // 记录新异常
                        if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                            String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    null,    // 工作号
                                    now,    // 发生时间
                                    null,    // 结束时间
                                    null,    // 工作状态
                                    null,    // 入出库类型
                                    crn.getId(),    // 堆垛机
                                    null,    // plc
                                    null,    // 目标库位
                                    null,    // 目标站
                                    null,    // 源站
                                    null,    // 源库位
                                    null,    // 条码
                                    (int) crnProtocol.getAlarm1(),    // 异常码
                                    errName,    // 异常
                                    1,    // 异常情况
                                    now,    // 添加时间
                                    null,    // 添加人员
                                    now,    // 修改时间
                                    null,    // 修改人员
                                    "无任务异常"    // 备注
                            );
                            if (!basErrLogService.insert(basErrLog)) {
                                log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                            }
                        }
                        // 无异常
                    } else {
                        // 异常修复
                        if (latest != null && latest.getStatus() == 1) {
                            latest.setEndTime(now);
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
                            if (!basErrLogService.updateById(latest)) {
                                log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                            }
                        }
                    }
                }
            }

        }
    }

    //自动派发任务
    public synchronized void autoDistribute() {
        Config config = configService.selectByCode("autoDistribute");
@@ -1030,145 +638,6 @@
                locMastService.updateById(locMast);
            }
        }
    }


    public synchronized String CrnStartRunning(TaskWrk taskWrk) {
        String tasktype = null;
        switch (taskWrk.getIoType()) {
            case 1:
                tasktype = "RK";
                break;
            case 2:
                tasktype = "CK";
                break;
            case 3:
                tasktype = "YK";
                break;
            default:
                tasktype = "未知";
        }
        Map<String, Object> map = new HashMap<>();
        map.put("x-api-key", "7a15b5db-29b6-552c-8cff-0cfec3756da2");
        TaskOverToWms taskOverToWms = new TaskOverToWms();
        taskOverToWms.setFeedbackFrom("WCS"); //来源
        taskOverToWms.setWarehouseId("1688469798893297665"); //仓库标识
        taskOverToWms.setTaskNo(taskWrk.getTaskNo()); //任务号
        taskOverToWms.setTaskType(tasktype); // 任务类型
        taskOverToWms.setContainerCode(taskWrk.getBarcode()); // 容器编码
        if (taskWrk.getIoType() == 1 || taskWrk.getIoType() == 3) {
            taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //设备编码
            taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //目标库位
        } else if (taskWrk.getIoType() == 2) {
            Map<Integer, String> map1 = new HashMap<>();
            map1.put(102, "J-1101");
            map1.put(106, "J-1103");
            map1.put(110, "J-1105");
            map1.put(114, "J-1107");
            map1.put(118, "J-1109");
            map1.put(122, "J-1111");
            map1.put(305, "H-1101");
            map1.put(405, "G-1101");
            taskOverToWms.setEquipmentCode(map1.get(taskWrk.getTargetPoint())); //设备编码
            taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint()); //源库位
        }

        taskOverToWms.setTaskStatus("executing"); //任务状态
        String response = null;
        try {
            response = new HttpHandler.Builder()
                    .setHeaders(map)
                    .setUri(wmsUrl)
                    .setPath("wcsManager/wcsInterface/taskStatusFeedback")
                    .setJson(JSON.toJSONString(taskOverToWms))
                    .build()
                    .doPost();
        } catch (Exception e) {
            log.error("堆垛机任务完成，请求wms任务完成接口失败");
        }
        apiLogService.save("堆垛机开始运行"
                , wmsUrl + "wcsManager/wcsInterface/taskStatusFeedback"
                , null
                , "127.0.0.1"
                , JSON.toJSONString(taskOverToWms)
                , response
                , true
        );
        return response;
    }

    private TaskWrk createTask1(Result result, String barcode) {
        String locNo = Utils.Fusion(result.getRow(), result.getFloor(), result.getColumn());


        Date now = new Date();
        TaskWrk taskWrk = new TaskWrk();
        int workNo1 = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号
        taskWrk.setTaskNo(result.getTaskNo());//任务号
        taskWrk.setWrkNo(workNo1);
        taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//任务状态：派发
        taskWrk.setCreateTime(now);
        taskWrk.setIoType(1);//任务类型
        taskWrk.setIoPri(13);//优先级
        taskWrk.setBarcode(barcode);//条码
        LocMast locMast = locMastService.selectByLocNo(locNo);
        taskWrk.setCrnNo(locMast.getCrnNo());
        taskWrk.setTargetPoint(locNo);
        taskWrk.setStartPoint("116");
        if (result.getAlley().equals("1")) {
            taskWrk.setCrnNo(1);
        } else {
            taskWrk.setCrnNo(2);
        }
        if (taskWrk.getIoType() == 1) {
            taskWrk.setWrkSts(2);
            if (!Cools.isEmpty(taskWrk.getTargetPoint())) {
                taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint());
            }
        }
        return taskWrk;
    }

    private TaskWrk createTask(GetWmsDto dto, String barcode) {
        String wcsLocNo = dto.getLocNo();
        if (Cools.isEmpty(wcsLocNo)) {
            return null;
        }
        Date now = new Date();
        TaskWrk taskWrk = new TaskWrk();
        int workNo1 = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号
        taskWrk.setTaskNo(dto.getWrkNo());//任务号
        taskWrk.setWrkNo(workNo1);
        taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收
        taskWrk.setCreateTime(now);
        taskWrk.setIoType(1);//任务类型
        taskWrk.setIoPri(Cools.isEmpty(dto.getTaskPriority()) ? 300 : Integer.parseInt(dto.getTaskPriority()));//优先级
        taskWrk.setBarcode(barcode);//条码
        LocMast locMast = locMastService.selectByLocNo(wcsLocNo);
        taskWrk.setCrnNo(locMast.getCrnNo());
        taskWrk.setTargetPoint(wcsLocNo);
        taskWrk.setStartPoint(dto.getStaNo().toString());
        if (taskWrk.getIoType() == 1) {
            taskWrk.setWrkSts(2);
            if (!Cools.isEmpty(taskWrk.getTargetPoint())) {
                taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint());
            }

//        } else if (param.getIoType() == 2) {
//            taskWrk.setWrkSts(11);
//            if (!Cools.isEmpty(param.getStartPoint())) {
//                taskWrk.setStartPoint(Utils.getWcsLocNo(param.getStartPoint()));//起点
//                taskWrk.setOriginStartPoint(param.getStartPoint());
//            }
//            taskWrk.setTargetPoint(param.getTargetPoint());
//        }else if (param.getIoType() == 3){
//            taskWrk.setWrkSts(11);
//            if (!Cools.isEmpty(param.getStartPoint())) {
//                taskWrk.setStartPoint(param.getStartPoint());//起点
//                taskWrk.setOriginStartPoint(param.getStartPoint());
//            }
        }
        return taskWrk;
    }

}