判断上一个空托入库写入后，线程还读取到，造成重复请求

pang.jiabao

2024-09-23 e21af5e638d3a13129be1d4762a1f3900b237515

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

@@ -89,15 +89,14 @@
    private BasCrnErrorMapper basCrnErrorMapper;
    @Autowired
    private WrkMastService wrkMastService;

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

    public short wrkNo = 9999;
    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
     */
    public synchronized void generateStoreWrkFile(Integer mark) {
    public synchronized void generateStoreWrkFile(Integer mark) throws InterruptedException {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) { //遍历输送线
            // 遍历入库口
@@ -111,106 +110,123 @@
                // 获取入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                //LED
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                // 入出库模式判断
//                if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
//                if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
//                    continue;
//                }
                /*
                  无条码
                  没有可入信号
                  有空板信号
                  不是满托盘
                  是2号输送线9995拣料任务
                 */
                String barcode = barcodeThread.getBarcode();

                // 判断是否满足入库条件
                if (!staProtocol.isLoading()){
                    continue;

                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                if (staProtocol.isFrontErr()) {
                    errMsg = "前超限";
                    back = true;
                }
//                String barcode11 = barcodeThread.getBarcode();
//                if (Cools.isEmpty(barcode11)){
//                    if (staProtocol.isAutoing()&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 9999 && staProtocol.isPakMk() && staProtocol.getStamp()>=2){
//                        staProtocol.setStamp(0);
//                        News.info(""+mark+" - 7"+" - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode11, inSta.getStaNo());
//                        staProtocol.setWorkNo((short) 9989);
//                        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
//                        if (ledThread != null) {
//                            String errorMsg = "扫码失败，请重试";
//                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
//                        }
//                        continue;
                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;
                }

//                if (!back && devp.getId() == 2) {
//                    if(staProtocol.getWorkNo() == 9907 && '5' != barcode.charAt(0)){
//                        errMsg = "条码5只能入7排";
//                        back = true;
//                    }
//                    if(staProtocol.getWorkNo() == 9906 && '5' == barcode.charAt(0)){
//                        errMsg = "条码5不能入6排";
//                        back = true;
//                    }
//                }
                if (staProtocol.isAutoing() && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
                        && staProtocol.isPakMk()) { //&& staProtocol.getStamp()>=2) {// && !Cools.isEmpty(barcode)) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行");
//                    try {
//                        Thread.sleep(300);
//                    }catch (Exception e){}

                    //String barcode = barcodeThread.getBarcode();
                    String barcode = "20000005";
                    if(!Cools.isEmpty(barcode)) {
                        News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                // 退回
                if (back && devp.getId() == 2) {
//                    News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
//                    if(!staProtocol.isOutEnable()){
//                        continue;
//                    }

                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                            staProtocol.setWorkNo((short) 9999);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                            News.info(""+mark+" - 2"+" - 扫码失败1 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = "扫码失败，请重试";
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                            }
                            continue;
                        }
                    } else {
                        staProtocol.setWorkNo((short) 9999);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                        News.info(""+mark+" - 3"+" - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "扫码失败，请重试";
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                        }
                    if (!staProtocol.isLoading()){
                        continue;
                    }
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);
                    News.warn("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
                    Thread.sleep(500);
                }

                if (Cools.isEmpty(barcode) || !staProtocol.isInEnable() || staProtocol.isEmptyMk()
                        || !staProtocol.isFullPlt() || (staProtocol.getWorkNo() <= 9000 && devp.getId() == 2)) {
                    continue;
                }

                if (staProtocol.isAutoing() && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() > 9000
                        && staProtocol.isPakMk() &&!Cools.isEmpty(barcode) && !back) {
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    //过滤判断，防止拣料再入库货物，经过入库站再入库时，被退回到退库站
                    WrkMast wrkMast1 = wrkMastMapper.selectPakInStepBarcode(barcode);
                    if (wrkMast1 !=null){
                        if (wrkMast1.getIoType()==103 || wrkMast1.getIoType()==107 || wrkMast1.getIoType()==104){
                        if (wrkMast1.getIoType()==103 || wrkMast1.getIoType() == 53 || wrkMast1.getIoType()==107 || wrkMast1.getIoType()==104){
                            continue;
                        }
                    }
                    if (wrkMast != null) {
                        News.error(""+mark+" - 4"+" - 工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        staProtocol.setWorkNo((short)9999);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
                        News.warn(""+mark+" - 4"+" - 满托盘入库工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        if (devp.getId() == 2) {
//                            staProtocol.setWorkNo((short)9999);
//                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            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) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                        }

                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "工作档已存在该条码号===>>" + barcode;
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
//                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                        }
                        continue;
                    }
@@ -253,18 +269,34 @@
                                ledCommand.setTitle("全板入库");
                                ledCommand.setLocNo(dto.getLocNo());
                                ledCommand.setStaNo(dto.getStaNo());
                                ArrayList<MatDto> matDtos = new ArrayList<>();
                                MatDto matDto = new MatDto();
                                matDto.setLocNo(dto.getLocNo());
                                matDtos.add(matDto);
                                ledCommand.setMatDtos(matDtos);
                                ledCommand.setBarcode(barcode);
                                commands.add(ledCommand);
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, commands));
                                if (devp.getId() == 1) {
//                                     if (MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(1, commands))){
//                                         ledThread.setLedMk(false);
//                                     }
                                } else {
                                    if (MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, commands))){
                                        ledThread.setLedMk(false);
                                    }
                                }
//                                ledThread.errorReset();
                            }
                        } else {
                            News.error(""+mark+" - 5"+" - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            staProtocol.setWorkNo((short)9999);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            News.error(""+mark+" - 5"+" - 满板入库请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            if(devp.getId() == 2) {
                                staProtocol.setWorkNo((short)9999);
                                staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                if (!result) {
                                    throw new CoolException("更新plc站点信息失败");
                                }
                            }

                            // led 异常显示
@@ -371,7 +403,7 @@
                }
                String barcode = barcodeThread.getBarcode();
                if(!Cools.isEmpty(barcode)) {
                    News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                    News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
@@ -405,28 +437,45 @@
                    }

                    // 拣、盘、并 作业站转换
//                    int stnNo = 0;
//                    if (wrkMast.getStaNo() == 109) {
//                        stnNo = 127;
//                    } else if (wrkMast.getStaNo() == 113) {
//                        stnNo = 128;
//                    } else {
//                        log.error("{}号任务数据异常！", wrkMast.getWrkNo());
//                    }
                    int stnNo = 0;
                    if (wrkMast.getIoType() == 103) { // 拣料出库
                        if(wrkMast.getCrnNo() == 1) {
                            stnNo = 104;
                        }else if(wrkMast.getCrnNo() == 2) {
                            stnNo =204;
                        }else if(wrkMast.getCrnNo() == 3) {
                            stnNo = 304;
                        }
                    } else if(wrkMast.getIoType() == 107){ //盘点出库
                        if(wrkMast.getCrnNo() == 1) {
                            stnNo = 101;
                        }else if(wrkMast.getCrnNo() == 2) {
                            stnNo =201;
                        }else if(wrkMast.getCrnNo() == 3) {
                            stnNo = 301;
                        }
                    }
                    if (stnNo == 0) {
                        log.error("{}号任务数据异常！", wrkMast.getWrkNo());
                        continue;
                    }
                    // 获取目标站
                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                            .eq("type_no", wrkMast.getIoType() - 50)
                            .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
                            .eq("stn_no", stnNo) // 作业站点 = 拣料出库的目标站
                            .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                    StaDesc staDesc = staDescService.selectOne(wrapper);
                    //LED
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                    if (Cools.isEmpty(staDesc)) {
                        News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
                        staProtocol.setWorkNo((short) 9989);
                        staProtocol.setStaNo(pickSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        //LED
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                        if (devp.getId() == 2) {
                            staProtocol.setWorkNo((short) 9999);
                            staProtocol.setStaNo(pickSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        }

                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "此为拣料、并板、盘点再入库.请放在"+pickSta.getBackSta().shortValue()+"站点";
@@ -450,16 +499,9 @@
                        Integer staNo = staDesc.getCrnStn();
                        // 更新工作档数据状态
                        wrkMast.setIoTime(now);
                        //盘点入库时，有组托数据，盘点转并板入库
                        List<WaitPakin> waitPakins=waitPakinMapper.selectList(new EntityWrapper<WaitPakin>()
                                .eq("barcode",barcode));
                        if(!Cools.isEmpty(waitPakins)){
                            wrkMast.setIoType(54);
                        }else{
                            wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
                        }
                        wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
                        wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                        wrkMast.setSourceStaNo(100); // 源站
                        wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
                        wrkMast.setStaNo(staNo); // 目标站
                        wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
                        wrkMast.setSourceLocNo(""); // 源库位清空
@@ -467,9 +509,6 @@
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            throw new CoolException("更新工作档数据状态失败");
                        }



                        // 更新明细档io_time (历史档关联使用）
                        wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
                        // 修改库位状态 Q.拣料/盘点/并板再入库
@@ -483,6 +522,29 @@
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        continue;
                    }
                    List<LedCommand> commands = new ArrayList<>();
                    LedCommand ledCommand = new LedCommand();
                    ledCommand.setWorkNo(wrkMast.getWrkNo());
                    ledCommand.setIoType(wrkMast.getIoType());
                    ledCommand.setTitle(wrkMast.getIoType() == 53 ? "拣料再入库" : "盘点再入库");
                    ledCommand.setLocNo(wrkMast.getLocNo());
                    ledCommand.setStaNo(wrkMast.getStaNo());
                    ledCommand.setBarcode(barcode);
                    ArrayList<MatDto> matDtos = new ArrayList<>();
                    MatDto matDto = new MatDto();
                    matDto.setLocNo(wrkMast.getLocNo());
                    matDtos.add(matDto);
                    ledCommand.setMatDtos(matDtos);
                    commands.add(ledCommand);
                    if (devp.getId() == 1) {
//                        if (MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(1, commands))) {
//                            ledThread.setLedMk(false);
//                        }
                    } else {
                        if (MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, commands))){
                            ledThread.setLedMk(false);
                        }
                    }

                    // 更新站点信息 且 下发plc命令
@@ -631,13 +693,13 @@
            //mark - 3 - ....
            this.locToLoc(crn, crnProtocol,mark);

            if (!Cools.isEmpty(basCrnp.getMoveOrigin()) && basCrnp.getMoveOrigin().equals("Y")){
                if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
                        && crnThread.isCmdFlag()) {
                    this.crnMoveIntXY(crn, crnProtocol, crnThread);
                    this.crnMoveOutXY(crn, crnProtocol, crnThread);
                }
            }
//            if (!Cools.isEmpty(basCrnp.getMoveOrigin()) && basCrnp.getMoveOrigin().equals("Y")){
//                if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
//                        && crnThread.isCmdFlag()) {
//                    this.crnMoveIntXY(crn, crnProtocol, crnThread);
//                    this.crnMoveOutXY(crn, crnProtocol, crnThread);
//                }
//            }
//            this.crnRebackHp(crnProtocol, crnThread);

        }
@@ -810,8 +872,17 @@
                    News.error(""+mark+" - 1"+" - 2"+" - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    continue;
                }
                // 获取工作状态为2（设备上走）的入库工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
                if (null == wrkMast) {
                    News.infoNoLog(""+mark+" - 1"+" - 4"+" - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
//                log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                    continue;
                }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                if (staProtocol.isAutoing() && staProtocol.isLoading() &&
                        (staProtocol.getWorkNo() <= 9000 || (slave.getId() == 1 && (wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57)))
                        && staProtocol.isInEnable()
                        && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                    flag = true;
                }
@@ -822,13 +893,7 @@
                            +"能入信号（wms设置）.equals(\"Y\")"+staDetl.getCanining());
                    continue;
                }
                // 获取工作状态为2（设备上走）的入库工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
                if (null == wrkMast) {
                    News.infoNoLog(""+mark+" - 1"+" - 4"+" - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
//                log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                    continue;
                }

                // 获取库位信息
                LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
                if (locMast == null) {
@@ -909,6 +974,7 @@
                crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                crnCommand.setCommand((short) 1);
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                    News.error(""+mark+" - 1"+" - 16"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
@@ -1076,6 +1142,7 @@
                        crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                        crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                        crnCommand.setCommand((short) 1);
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                            News.error(""+mark+" - 2"+" - 13"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                        } else {
@@ -1271,6 +1338,7 @@
        crnCommand.setDestinationPosX(sta.getRow1().shortValue());     // 目标库位排
        crnCommand.setDestinationPosY(sta.getBay1().shortValue());     // 目标库位列
        crnCommand.setDestinationPosZ(sta.getLev1().shortValue());     // 目标库位层
        crnCommand.setCommand((short) 1);
        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
            News.error(""+mark+" - 3"+" - 4"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
        } else {
@@ -1307,7 +1375,7 @@
                    crnThread.setResetFlag(true);
                } else {
                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(Integer.valueOf(crnProtocol.getTaskNo()));
                    if (wrkMast == null) {
                        News.error(""+mark+" - 1"+" - 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;
@@ -1481,17 +1549,22 @@
                    ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
                }

                if (!staProtocol.isLoading()){
                    continue;
                }
                // 站点条件判断
                if (staProtocol.isAutoing()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999)
                        && staProtocol.isPakMk() ) {
                        && staProtocol.getWorkNo() > 9000
                        && staProtocol.isPakMk()
                        && staProtocol.isLoading()
                ) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行：空栈板初始化入库,叉车入库站放货");

                    // 判断上一个空托入库写入后，线程还读取到，造成重复请求
                    List<WrkMast> wrkMastList = wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts",2)
                            .eq("io_type",10).eq("source_sta_no",emptyInSta.getStaNo()));
                    if(!wrkMastList.isEmpty()) {
                        log.warn("查询到一个在设备上走任务：{}",wrkMastList.get(0).getWrkNo());
                        continue;
                    }
                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

@@ -1518,24 +1591,34 @@
                                News.errorNoLog(""+mark+" - 1"+" - 更新plc站点信息失败");
                                throw new CoolException("更新plc站点信息失败");
                            }

                            if (ledThread != null) {
                                // 命令集合
                                List<LedCommand> commands = new ArrayList<>();
                                // 组装命令
                                LedCommand ledCommand = new LedCommand();
                                ledCommand.setWorkNo(dto.getWorkNo());
                                ledCommand.setIoType(1);
                                ledCommand.setTitle("全板入库");
                                ledCommand.setIoType(10);
                                ledCommand.setTitle("空板入库");
                                ledCommand.setLocNo(dto.getLocNo());
                                ledCommand.setStaNo(dto.getStaNo());
                                ledCommand.setBarcode("");
                                ArrayList<MatDto> matDtos = new ArrayList<>();
                                MatDto matDto = new MatDto();
                                matDto.setLocNo(dto.getLocNo());
                                matDtos.add(matDto);
                                ledCommand.setMatDtos(matDtos);
                                commands.add(ledCommand);
                                MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, commands));
                                if (devp.getId() == 1) {
//                                    MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(1, commands));
                                } else {
                                    MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, commands));
                                }
//                                ledThread.errorReset();
                            }
                            Thread.sleep(1000);
                        } else {
                            staProtocol.setWorkNo((short)9991);
                            staProtocol.setStaNo((short)100);
                            staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
@@ -1549,7 +1632,7 @@
                                    MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
                                }
                            }
                            News.error(""+mark+" - 3"+" - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            News.error(""+mark+" - 3"+" - 空板入库请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
@@ -1579,6 +1662,9 @@
            // 工作档集合
            List<WrkMast> wrkMasts = new ArrayList<>();
            for (Integer staNo : led.getStaArr()) {
                if (staNo == 104 || staNo == 204 || staNo == 304) {
                    continue;
                }
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
@@ -1629,10 +1715,11 @@
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                ledCommand.setLocNo(wrkMast.getLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
                ledCommand.setBarcode(wrkMast.getBarcode());
//                ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
                if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs())));
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs(),wrkDetl.getBatch(),wrkDetl.getMemo())));
                }
                commands.add(ledCommand);
            }
@@ -1644,33 +1731,33 @@
                continue;
            }
//             命令下发 -------------------------------------------------------------------------------
//            if (!commands.isEmpty()) {
//                if (led.getId() < 7) {
//                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
//                        News.error(""+mark+" - 2"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
//                        continue;
//                    } else {
//                        ledThread.setLedMk(false);
//                    }
//                } else {
//                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
//                        News.error(""+mark+" - 3"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
//                        continue;
//                    } else {
//                        ledThread.setLedMk(false);
//                    }
//                }
//
//            }
            // 命令下发 -------------------------------------------------------------------------------
            if (!commands.isEmpty()) {
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
                    News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    continue;
                }else {
                    ledThread.setLedMk(false);
                if (led.getId() == 3) {
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
                        News.error(""+mark+" - 2"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                        continue;
                    } else {
                        ledThread.setLedMk(false);
                    }
                } else if(led.getId() == 1 || led.getId() == 2){
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
                        News.error(""+mark+" - 3"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                        continue;
                    } else {
                        ledThread.setLedMk(false);
                    }
                }

            }
//            // 命令下发 -------------------------------------------------------------------------------
//            if (!commands.isEmpty()) {
//                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
//                    News.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
@@ -1723,11 +1810,20 @@
            // led显示默认内容
            if (reset && !ledThread.isLedMk()) {
                ledThread.setLedMk(true);
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
                    News.error(""+mark+" - 1"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                } else {
                if (led.getId() <=2 ) {
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
                        News.error(""+mark+" - 1"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    } else {

                    }
                } else {
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
                        News.error(""+mark+" - 1"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    } else {

                    }
                }

            }
        }
        News.infoNoLog(""+mark+" - 0"+" - 执行完成：其他  ===>> LED显示器复位，显示默认信息");
@@ -2243,4 +2339,76 @@
            }
        }
    }

    /**
     *  接收超宽超高没扫到条码报警
     * @param mark
     */
    public synchronized void DevpCallThePolice(Integer mark){
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) { //遍历输送线
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta()) {  // 遍历入库口
                // 获取入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if(null != devpThread){
                    boolean fig=false;
                    for (int i=0;i<8;i++){
                        switch (i){
                            case 0: if(devpThread.startSignal[i]){
                                        log.error("前超报警");
                                        fig=true;
                                    };
                            case 1: if(devpThread.startSignal[i]){
                                log.error("后超报警");
                                fig=true;
                            };
                            case 2: if(devpThread.startSignal[i]){
                                log.error("高超报警");
                                fig=true;
                            };
                            case 3: if(devpThread.startSignal[i]){
                                log.error("左超报警");
                                fig=true;
                            };
                            case 4: if(devpThread.startSignal[i]){
                                log.error("右超报警");
                                fig=true;
                            };
                            case 5: if(devpThread.startSignal[i]){
                                log.error("超重报警");
                                fig=true;
                            };
                            case 6: if(devpThread.startSignal[i]){
                                log.error("未扫到码报警");
                                fig=true;
                            };

                        }
                    }
                    //发生报警，退回入库口
                    if(fig){
                        staProtocol.setWorkNo((short)9991);
                        staProtocol.setStaNo((short)100);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    }
                }
            }
        }
    }

    public void resetOneLed() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) { //遍历输送线
            if (devp.getId() == 1) {
                // 遍历入库口
                for (DevpSlave.Sta inSta : devp.getInSta()) {  // 遍历入库口
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                }
            }
        }
    }
}