zy-wcs.git - Gitblit

			@@ -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) {
			@@ -1571,7 +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");
			}

			/**
			@@ -1693,7 +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");
			}


			@@ -1758,7 +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");
			@@ -1771,7 +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);
			@@ -1808,7 +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");
			}

			/**
			@@ -1851,6 +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;
			@@ -1889,13 +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));
			}
			});
			@@ -2199,7 +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;
			}
			@@ -3211,14 +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));
			@@ -3260,14 +3246,15 @@
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			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.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));