米多泉州wcs开发完成

pang.jiabao

昨天 e9a5f5c065e7232e9d5ca1f2a4948d2f8e6e0c03

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

@@ -6,10 +6,7 @@
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.SearchLocParam;
import com.zy.common.model.StartupDto;
import com.zy.common.model.*;
import com.zy.common.service.CommonService;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
@@ -53,12 +50,41 @@

    public static final long COMMAND_TIMEOUT = 5 * 1000;

    // 空拖出库站点
    // 空拖出库站点，区分子母空托盘
    public static final Map<Integer,String>  emptyPalletSiteMap = new HashMap<>();

    // 初始化空托盘出库站点 M空母托盘，Z空子托盘
    // 母托盘叠盘站点
    public static final List<Integer>  stackingSite = new ArrayList<>();

    // rgv接驳站点
    public static final List<Integer>  rgvConnectionSiteList = new ArrayList<>();

    // 工作档对应目标站点转换为rgv目标站点
    public static final Map<Integer,Integer> taskStaNoToRgvStaNoMap = new HashMap<>();

    // 罐装完成rgv接驳站点
    public static final List<Integer>  canningLineRgvConnectionSiteList = new ArrayList<>();

    static {
        emptyPalletSiteMap.put(1002,"M");emptyPalletSiteMap.put(1020,"M");emptyPalletSiteMap.put(1035,"Z");
        emptyPalletSiteMap.put(1002,"M");
        emptyPalletSiteMap.put(1020,"M");emptyPalletSiteMap.put(1035,"Z");

        stackingSite.add(1027);stackingSite.add(1020);

        rgvConnectionSiteList.add(1012);rgvConnectionSiteList.add(1006);rgvConnectionSiteList.add(1001);rgvConnectionSiteList.add(1018);
        rgvConnectionSiteList.add(1019);rgvConnectionSiteList.add(1041);rgvConnectionSiteList.add(1034);rgvConnectionSiteList.add(1033);
        rgvConnectionSiteList.add(1026);rgvConnectionSiteList.add(1022);rgvConnectionSiteList.add(1044);
        rgvConnectionSiteList.add(1083);rgvConnectionSiteList.add(1086);rgvConnectionSiteList.add(1089);rgvConnectionSiteList.add(1090);
        rgvConnectionSiteList.add(1105);rgvConnectionSiteList.add(1100);rgvConnectionSiteList.add(1097);rgvConnectionSiteList.add(1094);
        rgvConnectionSiteList.add(1091);

        taskStaNoToRgvStaNoMap.put(1050,1044);taskStaNoToRgvStaNoMap.put(1079,1044);taskStaNoToRgvStaNoMap.put(1065,1044);taskStaNoToRgvStaNoMap.put(1072,1044);taskStaNoToRgvStaNoMap.put(1093,1094);
        taskStaNoToRgvStaNoMap.put(1104,1100);taskStaNoToRgvStaNoMap.put(1102,1100);taskStaNoToRgvStaNoMap.put(1090,1090);taskStaNoToRgvStaNoMap.put(1002,1001);taskStaNoToRgvStaNoMap.put(1016,1018);
        taskStaNoToRgvStaNoMap.put(1020,1019);taskStaNoToRgvStaNoMap.put(1024,1022);taskStaNoToRgvStaNoMap.put(1035,1034);taskStaNoToRgvStaNoMap.put(1040,1033);taskStaNoToRgvStaNoMap.put(1043,1041);

        canningLineRgvConnectionSiteList.add(1083);canningLineRgvConnectionSiteList.add(1086);
        canningLineRgvConnectionSiteList.add(1089);

    }

    @Autowired
@@ -129,14 +155,7 @@
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
//                if ((staProtocol.getSiteId() == 101 && devpThread.ioModeOf101 == IoModeType.PAKOUT_MODE)
//                ||(staProtocol.getSiteId() == 103 && devpThread.ioModeOf103 == IoModeType.PAKOUT_MODE)
//                ||(staProtocol.getSiteId() == 305 && devpThread.ioModeOf305 == IoModeType.PAKOUT_MODE)) {
//                    errMsg = "当前为出库模式";
//                    back = true;
//                }
//                if (!back && staProtocol.isFrontErr()) {
                    if (staProtocol.isFrontErr()) {
                if (staProtocol.isFrontErr()) {
                    errMsg = "前超限";
                    back = true;
                }
@@ -166,7 +185,6 @@
                }
                // 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);
                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));

                    if (!staProtocol.isLoading()){
@@ -225,6 +243,12 @@
                        param.setIoType(1);
                        param.setSourceStaNo(inSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        param.setLocArea(2);// 入空桶库标识
                        param.setBucketType(staProtocol.getBucketType());
                        param.setBucketCount(staProtocol.getBucketCount());
                        param.setTailSupportFlag(staProtocol.isTailSupportFlag());
                        param.setWantBucketFlag(devpThread.getWantBucketFlag());

                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
@@ -236,6 +260,11 @@
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                            barcodeThread.setBarcode("");
                            // 目标站点是直供罐装线
                            if (dto.getStaNo() == 1079 || dto.getStaNo() == 1065 || dto.getStaNo() == 1072) {
                                devpThread.getWantBucketFlag().remove(dto.getCrnNo()); // 移除输送线要桶信号
                                staProtocol.setClearBucketSignal(dto.getCrnNo()); // 清除要桶信号标识
                            }
                            staProtocol.setWorkNo(dto.getWorkNo());
                            staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -253,28 +282,21 @@
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//
//                            if (ledThread != null) {
                            if (ledThread != null) {
                                String errorMsg = jsonObject.getString("msg");
                                if (!Cools.isEmpty(errorMsg)) {
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                }
//                            }
//                            News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            }
                            News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }


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

                }


            }
        }
//        News.infoNoLog(""+mark+" - 0"+" - 组托  ===》执行完成");

    }

@@ -522,40 +544,34 @@
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
                            && crnProtocol.statusType == CrnStatusType.WAITING
                            && crnProtocol.forkPosType == CrnForkPosType.HOME) {
//                        News.error("堆垛机出库完成 - 开始执行");

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

                        // 更新工作档状态为14失败

                        // 下发站点信息

                        if (wrkMast.getSourceStaNo() == 106 && wrkMast.getWrkSts() == 12L) {
                            wrkMast.setWrkSts(16L);
                            wrkMast.setCrnNo(1);
                            if (wrkMast.getStaNo() == 107) {
                                wrkMast.setSourceStaNo(107);
                            } else if(wrkMast.getStaNo()==104) {
                                wrkMast.setSourceStaNo(105);
                            }
                            staProtocol.setStaNo((short) 106);

                            log.info("----------106移库标识---------");
                        }else if(wrkMast.getSourceStaNo() == 105 && wrkMast.getWrkSts() == 16L) {
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                            log.info("106移库完成，输送线发送105到104，源站为：" + staProtocol.getSiteId());
                            wrkMast.setWrkSts(14L);
                        }else {
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                            wrkMast.setWrkSts(14L);
                        }

                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                            continue;
                        }
                        wrkMast.setWrkSts(14L);
                        wrkMast.setCrnEndTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) != 0) {
                            // 空桶出库完成库位组任务
                            if (wrkMast.getSourceStaNo() == 1056) {
                                WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", 1056).eq("wrk_sts", 12));
                                if (wrkMast1 != null) {
                                    StaProtocol staProtocol1 = devpThread.getStation().get(1057);
                                    if (staProtocol1 != null) {
                                        staProtocol1 = staProtocol1.clone();
                                        staProtocol1.setStaNo(wrkMast1.getStaNo().shortValue());
                                        staProtocol1.setWorkNo(wrkMast1.getWrkNo());
                                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol1))) {
                                            log.error("空桶出库完成库位组任务推送输送线命令队列失败");
                                        }
                                        wrkMast1.setWrkSts(14L);
                                        wrkMast1.setCrnEndTime(new Date());
                                        if (wrkMastMapper.updateById(wrkMast1) != 0) {
                                        }
                                    }
                                }
                            }
                            // 复位堆垛机
                            log.info("出库任务完成下发堆垛机复位,任务号：{}",wrkMast.getWrkNo());
                            crnThread.setResetFlag(true);
@@ -578,6 +594,142 @@
    }

    /**
     * 空子托盘入库
     */
    public synchronized void storeEmptyPlt() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getEmptyInSta()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                // 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) {
                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
                    if (!staProtocol.isLoading()) {
                        continue;
                    }
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);
                    News.info("{}空托入库回退：{}，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));
                    log.error("输送线下发1：" + wrkNo + "," + inSta.getBackSta());
                    return;
                }

                // 判断是否满足入库条件
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && staProtocol.isPakMk()) {
                    if (Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
                        News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                        continue;
                    }
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    if (wrkMast != null) {
                        continue;
                    }
                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(10);
                        param.setSourceStaNo(inSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        log.info("空子托盘入库请求wms原始返回：" + response);
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo());
                            staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(), dto.getSourceStaNo()));
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发2：" + dto.getWorkNo() + "," + dto.getStaNo());
                            if (!result) {
                                News.error(":更新plc站点信息失败");
                                throw new CoolException("更新plc站点信息失败");
                            } else {
                                ledThread.errorReset();
                            }
                        } else {
                            staProtocol.setWorkNo(wrkNo);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            String errorMsg = jsonObject.getString("msg");
                            if (!Cools.isEmpty(errorMsg)) {
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                            }
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }
                }
            }
        }
    }

    /**
     * 入出库  ===>>  堆垛机入出库作业下发
     */
    public synchronized void crnIoExecute(Integer mark) {
@@ -594,11 +746,6 @@
                News.error(""+mark+" - 1"+" - {}号堆垛机尚未在数据库进行维护！", crn.getId());
                continue;
            }

//            //堆垛机回原点任务中
//            if(crnThread.isBackHpFlag()){
//                continue;
//            }

            // 只有当堆垛机空闲 并且 无任务时才继续执行
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
@@ -628,12 +775,8 @@
                }
            }
            // 库位移转
            //mark - 3 - ....
            this.locToLoc(crn, crnProtocol,mark);
//            this.crnRebackHp(crnProtocol, crnThread);

        }
//        News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
    }

    /**
@@ -761,18 +904,6 @@
                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 {

//                long startTime = System.currentTimeMillis();
//                while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
//
//                    if (true) {
//                        break;
//                    }
//
//                    try{
//                        Thread.sleep(500);
//                    }catch(Exception ignore){}
//                }

                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                Date now = new Date();
                wrkMast.setWrkSts(3L);
@@ -780,6 +911,21 @@
                wrkMast.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    News.error(""+mark+" - 1"+" - 17"+" - 修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                }
                // 如果是1049则有两个任务，需要把1050改成吊车入库中
                if (crnStn.getStaNo() == 1049) {
                    BasDevp basDevp = basDevpService.selectById(1050);
                    if (basDevp.getWrkNo() == 0) {
                        log.error("取货点为1049，但是1050任务号为0");
                    } else {
                        WrkMast wrkMast1 = wrkMastMapper.selectById(basDevp.getWrkNo());
                        wrkMast1.setWrkSts(3L);
                        wrkMast1.setCrnStrTime(now);
                        wrkMast1.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast1) == 0) {
                            News.error(""+mark+" - 1"+" - 17"+" - 修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                    }
                }
            }
        }
@@ -794,9 +940,7 @@
        News.warnNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发：执行出库");
        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
            // 获取工作状态为11（生成出库ID）的出库工作档
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            // todo 限制出库到305的工作档，如果配置outModel不等于Y，则跳过
            for (WrkMast wrkMast : wrkMasts) {
                if (wrkMast == null) {
                    continue;
@@ -818,41 +962,22 @@
                if (staProtocol == null) {
                    News.infoNoLog(""+mark+" - 2"+" - 3"+" - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol="+staProtocol);
                    break;
//                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

//            // 入出库模式判断
//            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
//                if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
//                    News.infoNoLog(""+mark+" - 2"+" - 4"+" - 入出库模式（此处出库方法，出库模式继续=="+devpThread.ioModeOf2F);
//                    continue;
//                }
                // 入出库模式判断
//                if ((staProtocol.getSiteId() == 101 && devpThread.ioModeOf101 != IoModeType.PAKOUT_MODE)
//                   || (staProtocol.getSiteId() == 103 && devpThread.ioModeOf103 != IoModeType.PAKOUT_MODE)
//                   || (staProtocol.getSiteId() == 305 && devpThread.ioModeOf305 != IoModeType.PAKOUT_MODE)) {
//                    continue;
//                }

                // 查询站点详细信息
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    break;
//                    continue;
                }
                // 107无物才能出，其他有转运架才能出
                boolean loading = (staProtocol.getSiteId() == 107) != staProtocol.isLoading();

                // 判断堆垛机出库站状态
                if (staProtocol.isAutoing() && loading && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                        && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                    // 命令下发区 --------------------------------------------------------------------------
//                    log.warn("堆垛机出库命令下发："+staProtocol.getWorkNo()+","+staProtocol.isOutEnable()+","+staProtocol.getSiteId());
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                        break;
                    }

@@ -908,11 +1033,39 @@
                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
//                        return;
                    }
//                    if(crnStn.getStaNo() == 105) {
//                        continue;
//                    }

                    WrkMast wrkMast1 = null; // 库位任务对应另一个库位任务
                    LocMast locMast = null; // 库位对应另一个库位
                    // 空桶库出库需要两个库位一起出
                    if(slave.getId() == 4) {
                        Integer row = sourceSta.getRow1();
                        // 获取对应库位
                        String  newLocNo = (row == 9 || row == 11 ? String.valueOf(row + 1) : row == 10 ? "09" : "11") + sourceSta.getLocNo().substring(2);
                        locMast = locMastService.selectById(newLocNo);
                        if (locMast == null) {
                            log.error("空桶出库寻找{}对应库位组库位号{}错误",sourceSta.getLocNo(),newLocNo);
                            break;
                        }
                        if (locMast.getLocSts().equals("R")) {
                            wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_loc_no", newLocNo));
                        } else if(locMast.getLocSts().equals("F")) {
                            log.error("空桶出库寻找{}对应库位组库位号{}库位状态错误F",sourceSta.getLocNo(),newLocNo);
                            break;
                        }
                    }
                    if (wrkMast1 != null) {
                        // 判断给堆垛机发生命令的源库位
                        if (sourceSta.getRow1() == 10 || sourceSta.getRow1() == 11) {
                            // 交换库位和任务
                            LocMast t1 = sourceSta;
                            sourceSta = locMast;
                            locMast = t1;
                            WrkMast t2 = wrkMast1;
                            wrkMast1 = wrkMast;
                            wrkMast = t2;
                        }
                    }

                    News.warnNoLog(""+mark+" - 2"+" - 12"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
                            ,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue()
@@ -941,6 +1094,15 @@
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.error(""+mark+" - 2"+" - 14"+" - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                        // 修改空桶库对应库位任务状态
                        if (wrkMast1 != null) {
                            wrkMast1.setWrkSts(12L);
                            wrkMast1.setCrnStrTime(now);
                            wrkMast1.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast1) == 0) {
                                News.error(""+mark+" - 2"+" - 14"+" - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        }
                        break;
                    }
@@ -1500,7 +1662,7 @@
    }

    /**
     * 生成 空子/母托盘任务
     * 生成 空子/母托盘出库任务
     */
    public synchronized void generateEmptyPalletStoreWrk() {
        Integer devpId = 1;
@@ -1516,7 +1678,7 @@
            // 自动&无物&可出
            if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isOutEnable()) {
                // 判断是否已经生成任务
                if (wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("io_type", 110).eq("sta_no", entry.getKey())).size() > 0) {
                if (wrkMastService.selectList(new EntityWrapper<WrkMast>().in("io_type", 111,112).eq("sta_no", entry.getKey())).size() > 0) {
                    log.warn("{}站点已经存在空板出库任务", entry.getKey());
                    continue;
                }
@@ -1544,4 +1706,165 @@
            }
        }
    }

    /**
     * 托盘到达rgv接驳站点，更改工作档状态为9.呼叫RGV，环穿程序调度rgv
     */
    public synchronized void callRgv() {
        // 输送线plc编号
        Integer devpPlcId = 1;
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpPlcId);
        for (Integer site : rgvConnectionSiteList) {
            StaProtocol staProtocol = devpThread.getStation().get(site);
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0) {
                // 查询工作档
                WrkMast wrkMast = wrkMastMapper.selectByWrkNo(staProtocol.getWorkNo());
                if ((wrkMast.getWrkSts() == 2 || wrkMast.getWrkSts() == 15) && wrkMast.getRgvNo() == null) {
                    wrkMast.setRgvNo(0);
                    wrkMast.setRgvSstaNo(site);
                    wrkMast.setRgvDstaNo(taskStaNoToRgvStaNoMap.get(wrkMast.getStaNo()));
                    wrkMast.setModiTime(new Date());
                    wrkMastMapper.updateById(wrkMast);
                    log.info("任务号：{}已到达rgv接驳位，准备呼叫rgv...", wrkMast.getWrkNo());
                }
            }
        }
    }

    /**
     * 母托盘叠满自动入库
     */
    public synchronized void autoEmptyIn() {

        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历空板入库口
            for (Integer site :  stackingSite) {
                // 获取空板入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(site);
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                if (!staProtocol.isLoading()){
                    continue;
                }

                // 站点条件判断
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && staProtocol.isPakMk()
                        && staProtocol.getWorkNo() == 0
                ) {

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setIoType(10);
                        param.setSourceStaNo(site);
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(dto.getWorkNo());
                            staProtocol.setStaNo(staProtocol.getSiteId().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发6："+dto.getWorkNo()+","+staProtocol.getSiteId());
                            if (!result) {
                                News.errorNoLog(""+" - 1"+" - 更新plc站点信息失败");
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            News.error(" - 3"+" - 母托叠盘入库请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }
                } else {
                    News.errorNoLog(" - 母托叠盘入库站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isAutoing()+"、可入信号：" + staProtocol.isInEnable()
                            +"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
                            +"、锁定标记"+ staProtocol.isPakMk());
                }
            }
        }

    }

    /**
     * 空桶罐装完成到达罐装线rgv口 完成直供罐装线任务和空桶出库任务，创建成品桶入库任务
     */
    public synchronized void canningLineTaskFinish() {
        // 输送线plc编号
        Integer devpPlcId = 1;
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpPlcId);
        for (Integer site : canningLineRgvConnectionSiteList) {
            StaProtocol staProtocol = devpThread.getStation().get(site);
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.getWorkNo() != 0) {
                // 查询工作档
                WrkMast wrkMast = wrkMastMapper.selectByWrkNo(staProtocol.getWorkNo());
                if (wrkMast.getIoType() != 1) {
                    try {
                        CanningLineInLocParam param = new CanningLineInLocParam();
                        param.setWrkNo(wrkMast.getWrkNo());
                        param.setSourceStaNo(site);

                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/CanningLine/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        log.info("罐装线入库请求wms原始返回：" + response);
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                            staProtocol.setWorkNo(dto.getWorkNo());
                            staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(), dto.getSourceStaNo()));
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            // 这里下发命令后，输送线要把该站点可入信号去除
                            boolean result = MessageQueue.offer(SlaveType.Devp, devpPlcId, new Task(2, staProtocol));
                            if (result) {
                                log.info("罐装线入库推送输送线命令成功：" + dto.getWorkNo() + "," + site + "," + dto.getStaNo());
                                News.info("罐装线入库推送输送线命令成功：" + dto.getWorkNo() + "," + site + "," + dto.getStaNo());
                            } else {
                                log.error("罐装线入库推送输送线命令失败：" + dto.getWorkNo() + "," + site + "," + dto.getStaNo());
                                News.error("罐装线入库推送输送线命令失败：" + dto.getWorkNo() + "," + site + "," + dto.getStaNo());
                                throw new CoolException("罐装线入库推送输送线命令失败:" + site);
                            }
                        } else {
                            log.error("罐装线入库请求接口异常，url:{}，request:{},response:{}", wmsUrl + "/rpc/pakin/CanningLine/loc/v1", JSON.toJSONString(param), response);
                            News.error("罐装线入库请求接口异常！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/CanningLine/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }
                }
            }
        }
    }
}