#1

dubin

2025-11-13 f2b2132ded0de6e3e8e2ff65bfbd98d46caa148e

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

@@ -39,6 +39,7 @@
import com.zy.core.thread.LedThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -97,6 +98,8 @@
    private BasRgvMapService basRgvMapService;
    @Autowired
    private BasCrnOptService crnOptService;
    @Autowired
    private ConfigService configService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -104,6 +107,9 @@
    private boolean isToOrigin;

    public Integer wrkNo = 10000;

    /*堆垛机入出库任务下发控制参数*/
//    Integer ioControl=configService.selectCrnIo(Integer mark);

    /**
     * 组托
@@ -133,6 +139,7 @@
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                Integer outCount=wrkMastService.selectOutCount();
                if (staProtocol.isFrontErr()) {
                    errMsg = "前超限";
                    back = true;
@@ -153,28 +160,22 @@
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.getWeight() > 1000) {
                    errMsg = "超重或未读取";
                if (!back && staProtocol.isWeightErr()) {
                    errMsg = "超重";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeErr()) {
                    errMsg = "扫码失败";
                    back = true;
                }
//                if(staProtocol.getWeight() <= 0 ){
//                    continue;
//                }
//                if (!back && staProtocol.getWeight() == 0.0) {
//                    errMsg = "重量获取失败";
//                    back = true;
//                }

//                News.info("{}重量", staProtocol.getWeight());
                if (!back && outCount > 0) {
                    errMsg = "当前为出库时段,入库暂停";
                    back = true;
                }

                // 退回
                if (back) {
                    log.info("errmsg: " + errMsg);
//                        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()) {
@@ -183,13 +184,13 @@
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);
                    staProtocol.setWorkNo(wrkNo);//退回 工作号:10000
                    News.info("{}PLC入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg, wrkNo);
                    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());
                    log.error("输送线下发（超限全板退回）：" + wrkNo + "," + inSta.getBackSta());
                    break;//超限托盘退回不生成工作档
                }

                // 判断是否满足入库条件
@@ -204,44 +205,25 @@

                        staProtocol.setWorkNo(wrkNo);
                        News.info("{}barcode入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg, wrkNo);
                        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());
                        log.error("输送线下发（扫码全板退回）：" + wrkNo + "," + inSta.getBackSta());
                        continue;
                    }
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    if (wrkMast != null) {
//                        int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
//                        if (wrkNo1 != 0){
//                            if (ledThread != null) {
//                                News.error(methodName + ":扫码失败，请重试");
//                            }
//
//                        }
                        News.error(barcode + "条码已存在状态为（ 2.设备上走 ）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走 ）的任务,工作号=" + wrkMast.getWrkNo()));
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        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");
                        }
                        continue;
//                        barcodeThread.setBarcode("");
//                        staProtocol.setWorkNo(wrkMast.getWrkNo());
//                        staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast.getSourceStaNo()));
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        log.info("输送线下发(存在设备上走的工作档，直接下发！))："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
//
//                        ledThread.errorReset();
//                        log.info("组托请求后LED错误清除");
//
//                        if (!result) {
//                            News.error(methodName + ":更新plc站点信息失败");
//                            log.error("输送线下发(存在设备上走的工作档，直接下发！)==>更新plc站点信息失败");
//
////                            throw new CoolException("更新plc站点信息失败");
//                            continue;
//                        }

                    }
                    WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                            .eq("barcode", barcode)
@@ -275,7 +257,7 @@
                            staProtocol.setStaNo(dto.getStaNo().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2：" + dto.getWorkNo() + "," + dto.getStaNo());
                            log.error("输送线下发（全板）：" + dto.getWorkNo() + "," + dto.getStaNo());

                            ledThread.errorReset();
                            log.error("组托请求后LED错误清除");
@@ -287,43 +269,19 @@
                            }
                        } else {
                            if (jsonObject.getString("msg").equals("工作档已存在")) {

                                //工作档已存在    再次进去
//                                wrkMast = wrkMastMapper.selectPakInStepBarcode(barcode);
//                                if (wrkMast != null) {
//                                    barcodeThread.setBarcode("");
//                                    staProtocol.setWorkNo(9999);
//                                    //staProtocol.setWorkNo(wrkMast.getWrkNo());
//                                    //staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
//                                    staProtocol.setStaNo(inSta.getBackSta().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2：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
//                                    ledThread.errorReset();
//                                    log.error("组托请求后LED错误清除");
//                                    if (!result) {
//                                        News.error(methodName + ":更新plc站点信息失败");
//
//                                        throw new CoolException("更新plc站点信息失败");
//                                    }
//                                }

                                continue;
                            }
                            staProtocol.setWorkNo(wrkNo);
                            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2：" + staProtocol.getWorkNo() + "," + staProtocol.getStaNo());
                            log.error("输送线下发（全板退回）：" + staProtocol.getWorkNo() + "," + staProtocol.getStaNo());

//                            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);
                        }


@@ -337,7 +295,7 @@

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

    }

@@ -359,7 +317,7 @@
                    staProtocol = staProtocol.clone();
                }

//                // 入出库模式判断
                // 入出库模式判断
                if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) {
                    continue;
                }
@@ -416,11 +374,11 @@
            // 遍历拣料入库口
            for (DevpSlave.Sta pickSta : devp.getPickSta()) {
                // 获取条码扫描仪信息
//                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
//                if (barcodeThread == null) {
//                    continue;
//                }
//                String barcode = barcodeThread.getBarcode();
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                // 获取拣料入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

@@ -431,66 +389,61 @@
                    continue;
                }
                // 尺寸检测异常
//                boolean back = false;
//                String errMsg = "";
//                if (!back && 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;
//                }
//                if(staProtocol.getSiteId() > 400){
//                    back = false;
//                }
                boolean back = false;
                String errMsg = "";
                if (!back && 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) {
//                    log.info("errmsg: " + errMsg);
////                        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, pickSta.getLed(), new Task(5, errMsg));
//                    if (!staProtocol.isLoading()) {
//                        continue;
//                    }
//                    if (!staProtocol.isPakMk()) {
//                        continue;
//                    }
//                    staProtocol.setWorkNo(wrkNo);
//                    News.info("{}入库回退：{}，任务号：{}", pickSta.getStaNo(), errMsg, wrkNo);
//                    wrkNo++;
//                    staProtocol.setStaNo(pickSta.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：" + 9999 + "," + pickSta.getBackSta());
//                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
//
//                    // led 异常显示
//                    if (ledThread != null) {
//                        MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
//                    }
//                    continue;
//                }
                if (back) {
                    log.info("errmsg: " + errMsg);
                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", pickSta.getStaNo(), errMsg);
                    MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
                    if (!staProtocol.isLoading()) {
                        continue;
                    }
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);
                    News.info("{}入库回退：{}，任务号：{}", pickSta.getStaNo(), errMsg, wrkNo);
                    staProtocol.setStaNo(pickSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());

                    // led 异常显示
                    if (ledThread != null) {
                        MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
                    }
                    continue;
                }
//                if(staProtocol.getSiteId() < 400){
//                    if (!Cools.isEmpty(barcode)) {
//                        News.infoNoLog("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
@@ -503,7 +456,7 @@
//
//
//                    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;
//                        }
@@ -520,16 +473,12 @@
                    staProtocol = staProtocol.clone();
                }

//                // 入出库模式判断
                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");
//                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
//                    if(staProtocol.getSiteId() > 400){
//                        wrkMast = wrkMastMapper.selectPickStep3(staProtocol.getWorkNo());
//                    }
                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                    if (wrkMast == null) {
                        // 无拣料数据
@@ -539,16 +488,6 @@
                            || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                        continue;
                    }

                    // 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());
//                    }
                    // 获取目标站
                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                            .eq("type_no", wrkMast.getIoType() - 50)
@@ -556,12 +495,12 @@
                            .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                    StaDesc staDesc = staDescService.selectOne(wrapper);
                    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(wrkNo++);
//                        staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue() - (short) 1));
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        log.error("输送线下发4：" + 9989 + "," + (pickSta.getStaNo().shortValue() - (short) 1));
                        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(wrkNo);
                        staProtocol.setStaNo(pickSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发（盘点、拣料、并板退回）：" + wrkNo + "," + pickSta.getBackSta());
                        //LED
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                        // led 异常显示
@@ -614,12 +553,10 @@

                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo(wrkMast.getWrkNo());
//                    if(staProtocol.getSiteId() < 400){
                        staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString()));
//                    }
                    staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString()));
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发5：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
                    log.error("输送线下发（盘点、拣料、并板）：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
                    if (!result) {
                        News.error("" + mark + " - 3" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }
@@ -901,6 +838,9 @@
     */
    public synchronized void crnIoExecute(Integer mark) {

        /*堆垛机入出库任务下发控制参数*/
        Integer ioControl=configService.selectCrnIo();

        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -924,25 +864,68 @@
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行堆垛机入出库作业下发");
                // 如果最近一次是入库模式
                if (crnProtocol.getLastIo().equals("I")) {
                    if (basCrnp.getInEnable().equals("Y")) {
//                if (crnProtocol.getLastIo().equals("I")) {
//                    if (basCrnp.getInEnable().equals("Y")) {
//                        //mark - 1 - ....
//                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
//                        crnProtocol.setLastIo("O");
//                    } else if (basCrnp.getOutEnable().equals("Y")) {
//                        //mark - 2 - ....
//                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
//                        crnProtocol.setLastIo("I");
//                    }
//                }
                // 如果最近一次是出库模式
//                else if (crnProtocol.getLastIo().equals("O")) {
//                    if (basCrnp.getOutEnable().equals("Y")) {
//                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
//                        crnProtocol.setLastIo("I");
//                    } else if (basCrnp.getInEnable().equals("Y")) {
//                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
//                        crnProtocol.setLastIo("O");
//                    }
//                }
                if (ioControl==1){
                    //入库优先  先执行入库再执行出库
                    Integer inCount=wrkMastService.selectIn();
                    if (inCount == 0 && basCrnp.getOutEnable().equals("Y")){
                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
                    }
                    if (basCrnp.getInEnable().equals("Y")){
                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
                    }
                }else if (ioControl==2){
                    //出库优先 先执行出库再执行入库
                    Integer outCount=wrkMastService.selectOut();
                    if (outCount==0 && basCrnp.getInEnable().equals("Y")){
                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
                    }
                    if (basCrnp.getOutEnable().equals("Y")){
                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
                    }
                }else if(ioControl==3){
                    //入出库交替执行 不做限制
                    // 如果最近一次是入库模式
                    if (crnProtocol.getLastIo().equals("I")) {
                        if (basCrnp.getInEnable().equals("Y")) {
                        //mark - 1 - ....
                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
                        crnProtocol.setLastIo("O");
                    } else if (basCrnp.getOutEnable().equals("Y")) {
                        } else if (basCrnp.getOutEnable().equals("Y")) {
                        //mark - 2 - ....
                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
                        crnProtocol.setLastIo("I");
                        }
                    }
                }
                // 如果最近一次是出库模式
                else if (crnProtocol.getLastIo().equals("O")) {
                    if (basCrnp.getOutEnable().equals("Y")) {
                    // 如果最近一次是出库模式
                    else if (crnProtocol.getLastIo().equals("O")) {
                        if (basCrnp.getOutEnable().equals("Y")) {
                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
                        crnProtocol.setLastIo("I");
                    } else if (basCrnp.getInEnable().equals("Y")) {
                        } else if (basCrnp.getInEnable().equals("Y")) {
                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
                        crnProtocol.setLastIo("O");
                        }
                    }
                }
            }
@@ -952,7 +935,7 @@
//            this.crnRebackHp(crnProtocol, crnThread);

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

    /**
@@ -1198,24 +1181,28 @@
                } else {
                    staProtocol = staProtocol.clone();
                }
                StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() - 1);
                if (staProtocol1 == 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;
                } else {
                    staProtocol1 = staProtocol1.clone();
                }
                StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() - 2);
                if (staProtocol2 == 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;
                } else {
                    staProtocol2 = staProtocol2.clone();
                }
//                StaProtocol staProtocol1 = staProtocol.getSiteId()==101?devpThread.getStation().get(crnStn.getStaNo() + 1):devpThread.getStation().get(crnStn.getStaNo() - 1);
//                StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() - 1);
//                StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() + 1);
//                if (staProtocol1 == 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;
//                } else {
//                    staProtocol1 = staProtocol1.clone();
//                }
//                StaProtocol staProtocol2 = staProtocol.getSiteId()==101?devpThread.getStation().get(crnStn.getStaNo() + 2):devpThread.getStation().get(crnStn.getStaNo());
//                StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() - 2);
//                StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() + 2);
//                if (staProtocol2 == 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;
//                } else {
//                    staProtocol2 = staProtocol2.clone();
//                }
                //出入口输送线只允许存在一个托盘
                if(staProtocol.isLoading() || staProtocol1.isLoading() || staProtocol2.isLoading() ) {
                    break;
                }
//                if(staProtocol.isLoading() || staProtocol1.isLoading() || staProtocol2.isLoading() || staProtocol.getWorkNo() != 0 || staProtocol1.getWorkNo() != 0 || staProtocol2.getWorkNo() != 0) {
//                    break;
//                }

//            // 入出库模式判断
//            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
@@ -1544,7 +1531,10 @@
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

                if (crnProtocol.getTaskNo() == 9999){
                    crnThread.setResetFlag(true);
                    continue;
                }
                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                if (wrkMast == null) {
@@ -1554,9 +1544,7 @@
                // 入库 + 库位转移  ==> 4.入库完成
                if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                    wrkMast.setWrkSts(4L);
                } else if (wrkMast.getIoType()==120 && wrkMast.getWrkSts()==2){
                    wrkMast.setWrkSts(5L);
                }else {
                } else {
                    continue;
                }
                Date now = new Date();
@@ -1573,7 +1561,7 @@


        }
//        News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成");
    }

    /**
@@ -1695,7 +1683,7 @@
            }

        }
//        News.infoNoLog(""+mark+" - 0"+" - 堆垛机异常信息记录执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 堆垛机异常信息记录执行完成");
    }


@@ -1760,7 +1748,7 @@
                            //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());
                            log.error("输送线下发（空板）：" + dto.getWorkNo() + "," + staProtocol.getSiteId());
                            if (!result) {
                                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");
@@ -1773,7 +1761,7 @@
                                LedCommand ledCommand = new LedCommand();
                                ledCommand.setWorkNo(dto.getWorkNo());
                                ledCommand.setIoType(1);
                                ledCommand.setTitle("全板入库");
                                ledCommand.setTitle("空板入库");
                                ledCommand.setLocNo(dto.getLocNo());
                                ledCommand.setStaNo(dto.getStaNo());
                                commands.add(ledCommand);
@@ -1810,7 +1798,7 @@
                }
            }
        }
//        News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成");
    }

    /**
@@ -1853,6 +1841,9 @@
                    case 53:
                        ledCommand.setTitle("拣料再入库");
                        break;
                    case 54:
                        ledCommand.setTitle("并板再入库");
                        break;
                    case 57:
                        ledCommand.setTitle("盘点再入库");
                        break;
@@ -1891,13 +1882,13 @@
                        } else {
                            total = locDetl.getAnfme();
                        }
                        if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1 || wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57) {
                        if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1 || wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57||wrkMast.getIoType() == 54) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(), total));
                        }
                        if (wrkMast.getIoType() == 103 ) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(), total));
                        }
                        if (wrkMast.getIoType() == 107) {
                        if (wrkMast.getIoType() == 107||wrkMast.getIoType()==104) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(), total));
                        }
                    });
@@ -2201,7 +2192,7 @@
                    }

                    LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
                    LocMast loc = locMastService.queryDemoLoc(crn.getId());
                    LocMast loc = locMastService.queryDemoLoc(crn.getId(),sourceLoc.getLocType2().toString());
                    if (null == sourceLoc || null == loc) {
                        continue;
                    }
@@ -3213,14 +3204,7 @@
            }

            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {

//                if ((crnProtocol.getCrnNo()==3 || crnProtocol.getCrnNo()==4) && crnProtocol.getBay()==0 && crnProtocol.getLevel() == 1) {
//                    continue;
//                }
//                if ((crnProtocol.getCrnNo()==1 || crnProtocol.getCrnNo()==2) && crnProtocol.getBay()==1 && crnProtocol.getLevel() == 1) {
//                    continue;
//                }
                if (crnProtocol.getCrnNo()==1 && crnProtocol.getBay()==1 && crnProtocol.getLevel() == 1) {
                if (crnProtocol.getBay()==0 && crnProtocol.getLevel() == 1) {
                    continue;
                }
                Page<BasCrnOpt> basCrnOptPage = crnOptService.selectPage(new Page<>(1, 1), new EntityWrapper<BasCrnOpt>().eq("crn_no", crn.getId()).orderBy("send_time", false));
@@ -3244,21 +3228,6 @@
                CrnSlave.CrnStn crnStn = crn.getCrnInStn().get(0);

                News.info("堆垛机无任务自动回入库口待机==>>" + crnProtocol.getCrnNo() + "号堆垛机");
                //生成回原点工作档  余姚锐麒
                WrkMast wrkMast=new WrkMast();
                wrkMast.setWrkNo(9999);//工作号
                wrkMast.setIoTime(new Date());
                wrkMast.setWrkSts(2L);//工作状态
                wrkMast.setIoType(120);//任务类型  120.堆垛机回原点
                wrkMast.setIoPri(13.0);//优先级
                wrkMast.setCrnNo(1);//堆垛机号
                wrkMast.setSourceStaNo(0);//源站
                wrkMast.setStaNo(0);//目标站
                wrkMast.setSourceLocNo("");//源库位
                wrkMast.setLocNo("");//目标库位
                if (wrkMastMapper.insert(wrkMast)==0){
                    throw new CoolException("保存工作档数据状态失败");
                }
                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
//                if (crnProtocol.getCrnNo()==3 || crnProtocol.getCrnNo()==4){
@@ -3278,14 +3247,14 @@
                    crnCommand.setTaskNo((short) 9999); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
//                    crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  堆垛机移动
                    crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);//余姚锐麒回原点任务类型
                    crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);//余姚锐麒回原点任务模式:  站位转移
                    crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                    crnCommand.setSourcePosY((short) 1);     // 源库位列
                    crnCommand.setSourcePosY((short) 0);     // 源库位列
                    crnCommand.setSourcePosZ((short) 1);     // 源库位层
                    crnCommand.setDestinationPosX((short) 0);     // 目标库位排
                    crnCommand.setDestinationPosY((short) 0);     // 目标库位列
                    crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
                    crnCommand.setCommand((short) 1);
                    crnCommand.setCommand((short) 1);//任务确认位
//                }
                if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
                    News.error("堆垛机移动命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));