#

luxiaotao1123

2022-10-11 efa33dcd491c9bbad681cd68300269566bf71897

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

@@ -8,6 +8,7 @@
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.mapper.WrkChargeMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
@@ -85,6 +86,8 @@
    private BasSteErrService basSteErrService;
    @Autowired
    private CommonService commonService;
    @Autowired
    private WrkChargeMapper wrkChargeMapper;

    /**
     * 组托
@@ -481,6 +484,8 @@
                }
                // 库位移转
                this.locToLoc(crn, crnProtocol);
                // 演示任务
                this.steMoveDemo(crn, crnProtocol);
            }
        }
    }
@@ -549,10 +554,10 @@
                if (steNo != null) {
                    // 小车行走到堆垛机待搬移点
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
//                        if (null != wrkMastMapper.selectPakin(slave.getId(), steNo)) {
//                            continue;
//                        }
                        this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo());
                        // 没有其他任务
                        if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
                            this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo());
                        }
                    }
                    // 小车搬走
                    if (wrkMast.getWrkSts() == 3L) {
@@ -608,7 +613,10 @@
                if (steNo != null) {
                    // 小车行走到堆垛机待搬移点
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                        this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
                        // 没有其他任务
                        if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
                            this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
                        }
                    }
                    // 堆垛机将货放至小车上 3.小车待搬（小车不用搬运，已经在当前组库位） / 6.小车待入  ===>> 7.吊车入库中
                    if (wrkMast.getWrkSts() == 3L || wrkMast.getWrkSts() == 6L) {
@@ -655,8 +663,11 @@
                        // 寻找当前堆垛机对应的小车
                        SteThread steThread = queryIdleCar(wrkMast);
                        if (steThread != null) {
                            // 让小车等待搬运待续
                            this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo());
                            // 没有其他任务
                            if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
                                // 让小车等待搬运待续
                                this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo());
                            }
                        }
                    }
                    // 堆垛机搬运小车
@@ -835,8 +846,11 @@
                            // 寻找最近的小车
                            SteThread steThread = queryIdleCar(wrkMast);
                            if (steThread != null) {
                                // 让小车等待搬运待续
                                this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo());
                                // 没有其他任务
                                if (null == wrkMastMapper.selectPakout(slave.getId(), steNo)) {
                                    // 让小车等待搬运待续
                                    this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo());
                                }
                            }
                        }
                        // 堆垛机搬运小车
@@ -1296,6 +1310,40 @@
    }

    /**
     * 让小车从 远点 ====>> 移动到近点
     *  等待堆垛机搬运
     */
    public void letCarBeReady(WrkCharge wrkCharge, Integer steNo) {
        // 获取穿梭车信息
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
        SteProtocol steProtocol = steThread.getSteProtocol();
        if (steProtocol == null) { return; }
        if (steProtocol.isIdle()) {

            // 命令下发区 --------------------------------------------------------------------------
            SteCommand steCommand = new SteCommand();
            steCommand.setSteNo(steNo); // 穿梭车编号
            steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
            steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式:  去近点 等待堆垛机叉取

            steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
            steCommand.setBay(steProtocol.getBay());
            steCommand.setLev(steProtocol.getLev());

            if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
            } else {
                // 修改工作档状态 绑定穿梭车
                wrkCharge.setSteNo(steNo);
                wrkCharge.setModiTime(new Date());
                if (!wrkChargeService.updateById(wrkCharge)) {
                    log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo());
                }
            }
        }
    }

    /**
     * 入出库  ===>>  堆垛机搬入小车
     */
    public void carMoveIn(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {
@@ -1451,6 +1499,20 @@
                            wrkCharge.setWrkSts(24L);
                            if (!wrkChargeService.updateById(wrkCharge)) {
                                log.error("修改充电任务状态 23.吊车搬运 ===>> 24.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo());
                            } else {
                                // 堆垛机复位
                                crnThread.setResetFlag(true);
                                // 穿梭车重新定位排列层
                                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
                                if (!steThread.confirmPos()) {
                                    log.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
                                }
                            }
                        } else if (wrkCharge.getWrkSts() == 34) {
                            // 34.吊车搬运 ===>> 35.小车就绪
                            wrkCharge.setWrkSts(35L);
                            if (!wrkChargeService.updateById(wrkCharge)) {
                                log.error("修改充电任务状态 34.吊车搬运 ===>> 35.小车就绪 失败！！，工作号={}", wrkCharge.getWrkNo());
                            } else {
                                // 堆垛机复位
                                crnThread.setResetFlag(true);
@@ -1777,6 +1839,22 @@
                                } else {
                                    steThread.setResetFlag(true);
                                }
                            }  else if (wrkCharge.getWrkSts() == 32) {
                                // 32.小车走行 ===>> 33.小车待搬
                                wrkCharge.setWrkSts(33L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改演示任务状态 25.小车去充电 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
                            } else if (wrkCharge.getWrkSts() == 36) {
                                // 36.小车走行 ===>> 37.演示完成
                                wrkCharge.setWrkSts(37L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改演示任务状态 36.小车走行 ===>> 37.演示完成 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
                            }
                        }
                    }
@@ -1850,10 +1928,21 @@
    }

    /**
     * 异常信息记录
     */
    public void recErr() {
        try {
            this.recCrnErr();
            this.recSteErr();
        } catch (Exception e) {
            log.error("recErr fail", e);
        }
    }

    /**
     * 堆垛机异常信息记录
     */
    @Async
    public void recCrnErr(){
    private void recCrnErr(){
        Date now = new Date();
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
@@ -1862,117 +1951,112 @@
            if (crnProtocol == null) {
                continue;
            }
            if (true) {
//            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? "未知异常":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.getAlarm(),    // 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);
                            }
            // 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;
                        }
                    } else {
                        // 异常修复
                        if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 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());
                            }
                        BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                        String errName = crnError==null? "未知异常":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.getAlarm(),    // 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);
                        }
                    }
                // 无任务
                } else {
                    BasErrLog latest = basErrLogService.findLatest(crn.getId());
                    // 有异常
                    if (crnProtocol.getAlarm() != 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? "未知异常":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.getAlarm(),    // 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);
                            }
                    // 异常修复
                    if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 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());
                            }
                    }
                }
            // 无任务
            } else {
                BasErrLog latest = basErrLogService.findLatest(crn.getId());
                // 有异常
                if (crnProtocol.getAlarm() != 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? "未知异常":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.getAlarm(),    // 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());
                        }
                    }
                }
            }

        }
    }

    /**
     * 穿梭车异常信息记录
     */
    @Async
    public void recSteErr(){
    private void recSteErr(){
        Date now = new Date();
        for (SteSlave ste : slaveProperties.getSte()) {
            // 获取堆垛机信息
@@ -2463,190 +2547,187 @@
                continue;
            }   // 必须为演示状态

//            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
//            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
//            if (crnProtocol == null) {
//                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) {

                String locNo = null;
                Iterator<String> iterator = crn1DemoLocs.iterator();
                if (crn.getId() == 1) {
                    iterator = crn1DemoLocs.iterator();
                } else if (crn.getId() == 2) {
                    iterator = crn2DemoLocs.iterator();
                } else if (crn.getId() == 3) {
                    iterator = crn3DemoLocs.iterator();
                }
                while (iterator.hasNext()) {
                    String next = iterator.next();
                    String lastLoc = "";
                    if (crn.getId() == 1) {
                        lastLoc = crn1LastLoc;
                    } else if (crn.getId() == 2) {
                        lastLoc = crn2LastLoc;
                    } else if (crn.getId() == 3) {
                        lastLoc = crn3LastLoc;
                    }
                    if (!Cools.isEmpty(lastLoc)) {
                        if (!lastLoc.substring(2, 7).equals(next.substring(2, 7)) || !Utils.getGroupRow(lastLoc).equals(Utils.getGroupRow(next))) {
                            locNo = next;
                            iterator.remove();
                            break;
                        } else {
                            iterator.remove();
                        }
                    } else {
                        locNo = next;
                        iterator.remove();
                        break;
                    }

                }
                if (!Cools.isEmpty(locNo)) {
                    if (crn.getId() == 1) {
                        crn1LastLoc = locNo;
                    } else if (crn.getId() == 2) {
                        crn2LastLoc = locNo;
                    } else if (crn.getId() == 3) {
                        crn3LastLoc = locNo;
                    }
                }

//                log.info("{}号堆垛机对{}库位进行演示", crn.getId(), locNo);

            // 获取移库工作档信息
//                WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
//                if (null != wrkMast) { continue; }
//
//                LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
//                LocMast loc = locMastService.queryDemoLoc(crn.getId());
//                if (null == sourceLoc || null == loc) { continue; }
//
//                String sourceLocNo = sourceLoc.getLocNo();
//                String locNo = loc.getLocNo();
//
//                // 获取工作号
//                int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
//                // 保存工作档
//                wrkMast = new WrkMast();
//                wrkMast.setWrkNo(workNo);
//                wrkMast.setIoTime(new Date());
//                wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
//                wrkMast.setIoType(11); // 入出库状态： 11.库格移载
//                wrkMast.setIoPri(13D);
//                wrkMast.setCrnNo(crn.getId());
//                wrkMast.setSourceLocNo(sourceLocNo); // 源库位
//                wrkMast.setLocNo(locNo); // 目标库位
//                wrkMast.setFullPlt("N"); // 满板：Y
//                wrkMast.setPicking("N"); // 拣料
//                wrkMast.setExitMk("N"); // 退出
//                wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D")?"Y":"N"); // 空板
//                wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
//                wrkMast.setLinkMis("N");
//                wrkMast.setAppeTime(new Date());
//                wrkMast.setModiTime(new Date());
//                int res = wrkMastMapper.insert(wrkMast);
//                if (res == 0) {
//                    throw new CoolException("保存工作档失败");
//                }

            }

//        }
    }

    /**
     * 堆垛机演示  ===>> 库位移转
     */
    public synchronized void crnDemoOfLocMove(){
        for (CrnSlave crn : slaveProperties.getCrn()) {
            if (!crn.getDemo()) { continue; }   // 必须为演示状态

            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) { continue; }

            log.info("{}号堆垛机正在演示", crn.getId());
            if (crnProtocol == null) {
                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) {
//                // 获取移库工作档信息
//                WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
//                if (null != wrkMast) { continue; }
//
//                LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
//                LocMast loc = locMastService.queryDemoLoc(crn.getId());
//                if (null == sourceLoc || null == loc) { continue; }
//
//                String sourceLocNo = sourceLoc.getLocNo();
//                String locNo = loc.getLocNo();
//
//                // 获取工作号
//                int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
//                // 保存工作档
//                wrkMast = new WrkMast();
//                wrkMast.setWrkNo(workNo);
//                wrkMast.setIoTime(new Date());
//                wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
//                wrkMast.setIoType(11); // 入出库状态： 11.库格移载
//                wrkMast.setIoPri(13D);
//                wrkMast.setCrnNo(crn.getId());
//                wrkMast.setSourceLocNo(sourceLocNo); // 源库位
//                wrkMast.setLocNo(locNo); // 目标库位
//                wrkMast.setFullPlt("N"); // 满板：Y
//                wrkMast.setPicking("N"); // 拣料
//                wrkMast.setExitMk("N"); // 退出
//                wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D")?"Y":"N"); // 空板
//                wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
//                wrkMast.setLinkMis("N");
//                wrkMast.setAppeTime(new Date());
//                wrkMast.setModiTime(new Date());
//                int res = wrkMastMapper.insert(wrkMast);
//                if (res == 0) {
//                    throw new CoolException("保存工作档失败");
//                }
//                // 工作档明细保存
//                List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
//                for (LocDetl locDetl : locDetls) {
//                    WrkDetl wrkDetl = new WrkDetl();
//                    wrkDetl.sync(locDetl);
//                    wrkDetl.setWrkNo(workNo);
//                    wrkDetl.setIoTime(new Date());
//                    wrkDetl.setAnfme(locDetl.getAnfme());
//                    wrkDetl.setAppeTime(new Date());
//                    wrkDetl.setModiTime(new Date());
//                    if (!wrkDetlService.insert(wrkDetl)) {
//                        throw new CoolException("保存工作档明细失败");
//                    }
//                }
//                // 修改源库位状态
//                if (sourceLoc.getLocSts().equals("D") || sourceLoc.getLocSts().equals("F")) {
//                    sourceLoc.setLocSts("R"); // R.出库预约
//                    sourceLoc.setModiTime(new Date());
//                    if (!locMastService.updateById(sourceLoc)){
//                        throw new CoolException("更新源库位状态失败");
//                    }
//                } else {
//                    throw new CoolException("源库位出库失败");
//                }
//                // 修改目标库位状态
//                if (loc.getLocSts().equals("O")) {
//                    loc.setLocSts("S"); // S.入库预约
//                    loc.setModiTime(new Date());
//                    if (!locMastService.updateById(loc)) {
//                        throw new CoolException("更新目标库位状态失败");
//                    }
//                } else {
//                    throw new CoolException("移转失败");
//                }

                // filter
                if (wrkChargeService.selectCount(new EntityWrapper<WrkCharge>()
                        .eq("crn_no", crn.getId()).between("wrk_sts", 31, 36)) > 0) {
                    continue;
                }

                int steNo = crn.getId();
                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                SteProtocol steProtocol = steThread.getSteProtocol();
                BasSte basSte = basSteService.selectById(steNo);
                if (Cools.isEmpty(steProtocol, basSte)) { continue; }

                // 只有当穿梭车空闲 并且 无任务时才继续执行
                if (steProtocol.isIdle()) {

                    String locNo = null;
                    Iterator<String> iterator = crn1DemoLocs.iterator();
                    if (crn.getId() == 1) {
                        iterator = crn1DemoLocs.iterator();
                    } else if (crn.getId() == 2) {
                        iterator = crn2DemoLocs.iterator();
                    } else if (crn.getId() == 3) {
                        iterator = crn3DemoLocs.iterator();
                    }
                    while (iterator.hasNext()) {
                        String next = iterator.next();
                        String lastLoc = "";
                        if (crn.getId() == 1) {
                            lastLoc = crn1LastLoc;
                        } else if (crn.getId() == 2) {
                            lastLoc = crn2LastLoc;
                        } else if (crn.getId() == 3) {
                            lastLoc = crn3LastLoc;
                        }
                        if (!Cools.isEmpty(lastLoc)) {
                            if (!lastLoc.substring(2, 7).equals(next.substring(2, 7)) || !Utils.getGroupRow(lastLoc).equals(Utils.getGroupRow(next))) {
                                locNo = next;
                                iterator.remove();
                                break;
                            } else {
                                iterator.remove();
                            }
                        } else {
                            locNo = next;
                            iterator.remove();
                            break;
                        }

                    }
                    if (!Cools.isEmpty(locNo)) {
                        if (crn.getId() == 1) {
                            crn1LastLoc = locNo;
                        } else if (crn.getId() == 2) {
                            crn2LastLoc = locNo;
                        } else if (crn.getId() == 3) {
                            crn3LastLoc = locNo;
                        }
                    }

                    log.info("{}号堆垛机对{}库位进行演示", crn.getId(), locNo);

                    String sourceLocNo = Utils.getLocNo(steProtocol.getRow(), steProtocol.getBay(), steProtocol.getLev());

                    WrkCharge wrkCharge = new WrkCharge();
                    wrkCharge.setCrnNo(crn.getId());
                    wrkCharge.setSteNo(steNo);
                    wrkCharge.setWrkNo(commonService.getChargeWorkNo(5));
                    wrkCharge.setWrkSts(31L);   // 31.生成演示ID
                    wrkCharge.setIoPri((double) 10);
                    wrkCharge.setSourceLocNo(sourceLocNo);
                    wrkCharge.setLocNo(locNo);
                    if (!wrkChargeService.insert(wrkCharge)) {
                        log.error("生成演示任务失败，堆垛机号：{}，小车：{}，源库位：{}，目标库位：{}", crn.getId(), steNo, sourceLocNo, locNo);
                        continue;
                    }
                }
            }

        }
    }

    /**
     * 演示取货
     */
    private void steMoveDemo(CrnSlave slave, CrnProtocol crnProtocol) {
        // 获取工作档信息
        WrkCharge wrkCharge = wrkChargeService.selectOne(new EntityWrapper<WrkCharge>().eq("crn_no", slave.getId())
                .in("wrk_sts", 31, 33, 35));
        if (null == wrkCharge) {
            return;
        }
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
        SteProtocol steProtocol = steThread.getSteProtocol();
        if (null == steProtocol) { return; }
        if (steProtocol.isIdle()) {
            // 31.生成演示ID
            if (wrkCharge.getWrkSts() == 31L) {
                this.letCarBeReady(wrkCharge, steProtocol.getSteNo().intValue());
                wrkCharge.setWrkSts(32L);
                wrkCharge.setModiTime(new Date());
                if (!wrkChargeService.updateById(wrkCharge)) {
                    log.error("修改演示任务{}工作档 31.生成演示ID ==>> 32.小车走行 失败!", wrkCharge.getWrkNo());
                }
            // 33.小车待搬
            } else if (wrkCharge.getWrkSts() == 33L) {
                LocMast locMast = locMastService.selectById(wrkCharge.getLocNo());
                // 堆垛机命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排
                crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).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
                if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改穿梭车运行中排列层
                    steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());
                    // 修改工作档状态 33.小车待搬 => 34.吊车搬运
                    Date now = new Date();
                    wrkCharge.setWrkSts(34L);
                    wrkCharge.setCrnStrTime(now);
                    wrkCharge.setModiTime(now);
                    if (!wrkChargeService.updateById(wrkCharge)) {
                        log.error("修改演示任务{}工作档 33.小车待搬 => 34.吊车搬运 失败!", wrkCharge.getWrkNo());
                    }
                }
            // 35.小车就绪
            } else if (wrkCharge.getWrkSts() == 35L) {

                int steNo = steProtocol.getSteNo().intValue();
                if (!basSteService.updatePakMk(steNo, "Y")) {
                    log.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);
                    return;
                }

                // 命令下发区 --------------------------------------------------------------------------
                SteCommand steCommand = new SteCommand();
                steCommand.setSteNo(steNo); // 穿梭车编号
                steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                SteTaskModeType originByLoc = SteTaskModeType.findOriginByLoc(steProtocol.getRow());
                if (originByLoc.equals(SteTaskModeType.GO_ORIGIN)) {
                    originByLoc = SteTaskModeType.BACK_ORIGIN;
                } else if (originByLoc.equals(SteTaskModeType.BACK_ORIGIN)) {
                    originByLoc = SteTaskModeType.GO_ORIGIN;
                } else {
                    return;
                }
                steCommand.setTaskMode(originByLoc);

                steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
                steCommand.setBay(steProtocol.getBay());
                steCommand.setLev(steProtocol.getLev());

                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                } else {
                    // 修改工作档状态 35.小车就绪 => 36.小车走行
                    wrkCharge.setWrkSts(36L);
                    wrkCharge.setModiTime(new Date());
                    if (!wrkChargeService.updateById(wrkCharge)) {
                        log.error("修改演示任务{}工作档 35.小车就绪 => 36.小车走行 失败!", wrkCharge.getWrkNo());
                    }
                }
            }
        }

    }


}