#

luxiaotao1123

2023-02-15 f5a6d4be5334f706ae73a08943a6667cd196bb78

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

@@ -736,117 +736,95 @@
            wrkMast.setIoPri((double) 9999);
            wrkMastMapper.updateById(wrkMast);

            // 判断是否为穿梭库
            if (!locMastService.isShuttle(wrkMast.getLocNo())) {

                // 非穿梭库入库 【 堆垛机直接入库 】
                if (wrkMast.getWrkSts() == 2) {

                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        continue;
                // 目标库位 ===>> 最外层库位
            if (locMastService.isOutMost(wrkMast.getLocNo(), true)) {
                // 判断小车是否在最外层库位，如果是则搬走，如果不是，则直接堆垛机入库
                Integer steNo = this.hasCar(wrkMast.getLocNo());
                // 有小车
                if (steNo != null) {
                    // 小车行走到堆垛机待搬移点
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                        // 没有其他任务
                        if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
                            this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo());
                            return true;
                        }
                    }
                    // 小车搬走
                    if (wrkMast.getWrkSts() == 3L) {
                        this.carMoveOut(wrkMast, steNo, crnProtocol);
                        return true;
                    }
                    // 没有小车
                } else {

                    // 双深库位且浅库位有货，则需先对浅库位进行库位移转
                    if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
                        LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                        // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                        if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                            WrkMast waitWrkMast = wrkMastMapper.selectBySourceLocNo(shallowLocNo);
                            if (null == waitWrkMast) {
                                News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                    // 当前入库库位组没有小车 堆垛机则去站点取货入库
                    // case 1：从始至终库位组都没有小车，没有迁出小车动作，所以工作状态 = 2
                    // case 2：堆垛机已经搬出小车，有迁出小车动作，所以工作状态 = 6
                    if ((wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) || wrkMast.getWrkSts() == 6L) {

                        // 已经存在吊车执行任务时，则过滤
                        if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                            continue;
                        }

                        // 堆垛机入库 命令下发区 --------------------------------------------------------------------------
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                        crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                        crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                        crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                        crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                        crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
                        crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                            News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                        } else {
                            // 修改工作档状态  7.吊车入库中
                            Date now = new Date();
                            wrkMast.setWrkSts(7L);
                            wrkMast.setCrnStrTime(now);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                News.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
                            } else {
                                if (waitWrkMast.getWrkSts() < 17) {
                                    waitWrkMast.setIoPri(30D);
                                    waitWrkMast.setModiTime(new Date());
                                    if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                        News.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                    }
                                    //20220719 Add，如果浅库位状态为P/R，工作状态为14/15,说明浅库位已经空了，可以执行入库任务
                                }
                            }
                            continue;
                        }
                        if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                            // 此标记避免多次执行移库任务
                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                                wrkMast.setUpdMk("Y");
                                wrkMast.setIoPri(20D);
                                wrkMastMapper.updateById(wrkMast);
                                // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
                                moveLocForDeepLoc(slave, shallowLoc);
                            }
                            continue;
                        }
                        if (shallowLoc.getLocSts().equals("Q")) {
                            WrkMast waitWrkMast = wrkMastMapper.selectBySourceLocNo(shallowLocNo);
                            if (null != waitWrkMast && waitWrkMast.getWrkSts() == 9) {
                                continue;
                                return true;
                            }
                        }
                    }

                    // 堆垛机入库 命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                    crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                    crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                    crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改工作档状态  7.吊车入库中
                        Date now = new Date();
                        wrkMast.setWrkSts(7L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
                }

            // 目标库位 ===>> 非最外层库位
            } else {
                // 判断小车是否在当前组库位，如果是则将穿梭车移至最外层，等待堆垛机放货；如果不是，则堆垛机寻找穿梭车，并放置当前组最外层
                Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
                // 有小车
                if (steNo != null) {
                    // 小车行走到待机位
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                        // 没有其他任务
                        if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
                            this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
                        } else {
                            return true;
                        }
                    }
                }
            } else {
                // 目标库位 ===>> 最外层库位
                if (locMastService.isOutMost(wrkMast.getLocNo(), true)) {
                    // 判断小车是否在最外层库位，如果是则搬走，如果不是，则直接堆垛机入库
                    Integer steNo = this.hasCar(wrkMast.getLocNo());
                    // 有小车
                    if (steNo != null) {
                        // 小车行走到堆垛机待搬移点
                        if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                            // 没有其他任务
                            if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
                                this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo());
                                return true;
                            }
                        }
                        // 小车搬走
                        if (wrkMast.getWrkSts() == 3L) {
                            this.carMoveOut(wrkMast, steNo, crnProtocol);
                            return true;
                        }
                        // 没有小车
                    } else {

                        // 当前入库库位组没有小车 堆垛机则去站点取货入库
                        // case 1：从始至终库位组都没有小车，没有迁出小车动作，所以工作状态 = 2
                        // case 2：堆垛机已经搬出小车，有迁出小车动作，所以工作状态 = 6
                        if ((wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) || wrkMast.getWrkSts() == 6L) {
                    // 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) {
                        // 小车处于空闲
                        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                        SteProtocol steProtocol = steThread.getSteProtocol();
                        if (steProtocol == null) { continue; }
                        if (steProtocol.isIdle()) {

                            // 已经存在吊车执行任务时，则过滤
                            if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                                continue;
                            }

                            // 堆垛机入库 命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
@@ -856,105 +834,46 @@
                            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                            crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
                            crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).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, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                                News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                            } else {
                                // 修改工作档状态  7.吊车入库中
                                // 修改工作档状态  3.小车待搬 ===>> 7.吊车入库中
                                Date now = new Date();
                                wrkMast.setWrkSts(7L);
                                wrkMast.setCrnStrTime(now);
                                wrkMast.setModiTime(now);
                                if (wrkMastMapper.updateById(wrkMast) == 0) {
                                    News.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
                                    News.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                } else {
                                    return true;
                                }
                            }
                        }

                    }

                // 目标库位 ===>> 非最外层库位
                // 没有小车
                } else {
                    // 判断小车是否在当前组库位，如果是则将穿梭车移至最外层，等待堆垛机放货；如果不是，则堆垛机寻找穿梭车，并放置当前组最外层
                    Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
                    // 有小车
                    if (steNo != null) {
                        // 小车行走到待机位
                        if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                        // 寻找当前堆垛机对应的小车
                        SteThread steThread = queryIdleCar(wrkMast);
                        if (steThread != null) {
                            // 没有其他任务
                            if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
                                this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
                            } else {
                                // 让小车等待搬运待续
                                this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo());
                                return true;
                            }
                        }
                        // 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) {
                            // 小车处于空闲
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
                            if (steProtocol.isIdle()) {

                                // 已经存在吊车执行任务时，则过滤
                                if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                                    continue;
                                }
                                // 堆垛机入库 命令下发区 --------------------------------------------------------------------------
                                CrnCommand crnCommand = new CrnCommand();
                                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                                crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                                crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                                crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                                crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).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, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                                    News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                                } else {
                                    // 修改工作档状态  3.小车待搬 ===>> 7.吊车入库中
                                    Date now = new Date();
                                    wrkMast.setWrkSts(7L);
                                    wrkMast.setCrnStrTime(now);
                                    wrkMast.setModiTime(now);
                                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                                        News.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                    } else {
                                        return true;
                                    }
                                }
                            }
                        }
                    // 没有小车
                    } else {
                        if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                            // 寻找当前堆垛机对应的小车
                            SteThread steThread = queryIdleCar(wrkMast);
                            if (steThread != null) {
                                // 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());
                                    return true;
                                }
                            }
                        }
                        // 堆垛机搬运小车
                        if (wrkMast.getWrkSts() == 3L) {
                            this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
                            return true;
                        }
                    }
                    // 堆垛机搬运小车
                    if (wrkMast.getWrkSts() == 3L) {
                        this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
                        return true;
                    }
                }
            }

        }
        return false;
    }
@@ -1032,47 +951,80 @@
                wrkMast.setIoPri((double) 9998);
                wrkMastMapper.updateById(wrkMast);

                // 判断是否为穿梭库
                if (!locMastService.isShuttle(wrkMast.getSourceLocNo())) {

                    // 双深库位且浅库位有货，则需先对浅库位进行库位移转
                    if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
                        LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                        // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                        if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                            WrkMast waitWrkMast = wrkMastMapper.selectBySourceLocNo(shallowLocNo);
                            if (null == waitWrkMast) {
                                News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                            } else {
                                if(waitWrkMast.getWrkSts() == 11) {
                                    waitWrkMast.setIoPri(wrkMast.getIoPri() + 1);
                                    waitWrkMast.setModiTime(new Date());
                                    if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                        News.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                    }
                // 双深库位且浅库位有货，则需先对浅库位进行库位移转
                if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
                    LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                    // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                    if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                        WrkMast waitWrkMast = wrkMastMapper.selectBySourceLocNo(shallowLocNo);
                        if (null == waitWrkMast) {
                            News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                        } else {
                            if(waitWrkMast.getWrkSts() == 11) {
                                waitWrkMast.setIoPri(wrkMast.getIoPri() + 1);
                                waitWrkMast.setModiTime(new Date());
                                if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                    News.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                }
                                continue;
                            }
                        } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                            // 此标记避免多次执行移库任务
                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                                wrkMast.setUpdMk("Y");
                                wrkMastMapper.updateById(wrkMast);
                                // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
                                moveLocForDeepLoc(slave, shallowLoc);
                            }
                            News.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
                            continue;
                        }
                    } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                        // 此标记避免多次执行移库任务
                        if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                            wrkMast.setUpdMk("Y");
                            wrkMastMapper.updateById(wrkMast);
                            // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
                            moveLocForDeepLoc(slave, shallowLoc);
                        }
                        News.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
                        continue;
                    }
                }

                // 已经存在吊车执行任务时，则过滤
                if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                    continue;
                }

                // 1.堆垛机开始移动
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                    News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改工作档状态 11.生成出库ID => 16.吊车出库中
                    Date now = new Date();
                    wrkMast.setWrkSts(16L);
                    wrkMast.setCrnStrTime(now);
                    wrkMast.setModiTime(now);
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        News.error("修改工作档状态 11.生成出库ID => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                    } else {
                        return true;
                    }
                }

            } else {

                // 最外层库位，直接堆垛机出库
                if (locMastService.isOutMost(wrkMast.getSourceLocNo(), false)) {
                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        continue;
                    }

                    // 1.堆垛机开始移动
                    // 堆垛机出库 命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
@@ -1098,143 +1050,105 @@
                            return true;
                        }
                    }

                // 不是最外层库位，需要使用穿梭车搬运后，再堆垛机出库
                } else {
                    // 当前组库位是否有穿梭车
                    Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo());
                    // 有小车
                    if (steNo != null) {
                        if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {

                    // 最外层库位，直接堆垛机出库
                    if (locMastService.isOutMost(wrkMast.getSourceLocNo(), false)) {
                        // 已经存在吊车执行任务时，则过滤
                        if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                            continue;
                        }
                            // 给穿梭车下发命令 让其将货物挪至堆垛机搬运点
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
                            if (steProtocol.isIdle()) {

                        // 堆垛机出库 命令下发区 --------------------------------------------------------------------------
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                        crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                        crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                        crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                        crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                        crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                        crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                            News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                        } else {
                            // 修改工作档状态 11.生成出库ID => 16.吊车出库中
                            Date now = new Date();
                            wrkMast.setWrkSts(16L);
                            wrkMast.setCrnStrTime(now);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                News.error("修改工作档状态 11.生成出库ID => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                            } else {
                                return true;
                            }
                        }
                    // 不是最外层库位，需要使用穿梭车搬运后，再堆垛机出库
                    } else {
                        // 当前组库位是否有穿梭车
                        Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo());
                        // 有小车
                        if (steNo != null) {
                            if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
                                steCommand.setSteNo(steNo); // 穿梭车编号
                                steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                                steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式:  去近点 等待堆垛机叉取

                                // 给穿梭车下发命令 让其将货物挪至堆垛机搬运点
                                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                                SteProtocol steProtocol = steThread.getSteProtocol();
                                if (steProtocol == null) { continue; }
                                if (steProtocol.isIdle()) {
                                steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
                                steCommand.setBay(steProtocol.getBay());
                                steCommand.setLev(steProtocol.getLev());

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

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

                                    if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                                        News.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 11.生成出库ID => 14.小车搬出库
                                        Date now = new Date();
                                        wrkMast.setWrkSts(14L);
                                        wrkMast.setSteNo(steNo);
                                        wrkMast.setCrnStrTime(now);
                                        wrkMast.setModiTime(now);
                                        LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
                                        Integer outCrnNo = locMastService.getOutCrnNo(locMast);
                                        wrkMast.setCrnNo(outCrnNo);
                                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                                            News.error("修改工作档状态 11.生成出库ID => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
                                        } else {
                                            return true;
                                        }
                                    }
                                }
                            }
                            if (wrkMast.getWrkSts() == 15L) {
                                // 已经存在吊车执行任务时，则过滤
                                if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                                    continue;
                                }

                                // 堆垛机出库 命令下发区 --------------------------------------------------------------------------
                                CrnCommand crnCommand = new CrnCommand();
                                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                                crnCommand.setSourcePosX(Utils.getGroupRow(sourceSta.getRow1(), false).shortValue());     // 源库位排
                                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                                crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                                crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                                crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                                    News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                                    News.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 15.等待吊车 => 16.吊车出库中
                                    // 修改工作档状态 11.生成出库ID => 14.小车搬出库
                                    Date now = new Date();
                                    wrkMast.setWrkSts(16L);
                                    wrkMast.setWrkSts(14L);
                                    wrkMast.setSteNo(steNo);
                                    wrkMast.setCrnStrTime(now);
                                    wrkMast.setModiTime(now);
                                    LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
                                    Integer outCrnNo = locMastService.getOutCrnNo(locMast);
                                    wrkMast.setCrnNo(outCrnNo);
                                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                                        News.error("修改工作档状态 15.等待吊车 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                        News.error("修改工作档状态 11.生成出库ID => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
                                    } else {
                                        return true;
                                    }
                                }
                            }
                        }
                        if (wrkMast.getWrkSts() == 15L) {
                            // 已经存在吊车执行任务时，则过滤
                            if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                                continue;
                            }

                        // 没有小车
                        } else {
                            if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
                                // 寻找最近的小车
                                SteThread steThread = queryIdleCar(wrkMast);
                                if (steThread != null) {
                                    // 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());
                                        return true;
                                    }
                            // 堆垛机出库 命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                            crnCommand.setSourcePosX(Utils.getGroupRow(sourceSta.getRow1(), false).shortValue());     // 源库位排
                            crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                            crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                            crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                            crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                            crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                                News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                            } else {
                                // 修改工作档状态 15.等待吊车 => 16.吊车出库中
                                Date now = new Date();
                                wrkMast.setWrkSts(16L);
                                wrkMast.setCrnStrTime(now);
                                wrkMast.setModiTime(now);
                                if (wrkMastMapper.updateById(wrkMast) == 0) {
                                    News.error("修改工作档状态 15.等待吊车 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                } else {
                                    return true;
                                }
                            }
                            // 堆垛机搬运小车
                            if (wrkMast.getWrkSts() == 12L) {
                                this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
                                return true;
                        }

                    // 没有小车
                    } else {
                        if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
                            // 寻找最近的小车
                            SteThread steThread = queryIdleCar(wrkMast);
                            if (steThread != null) {
                                // 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());
                                    return true;
                                }
                            }
                        }
                        // 堆垛机搬运小车
                        if (wrkMast.getWrkSts() == 12L) {
                            this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
                            return true;
                        }
                    }
                }

            }
        }
        return false;
@@ -1846,7 +1760,8 @@
                if (wrkMast.getIoType() != 11) {
                    // 入库 ==>> 货物搬入库
                    if (wrkMast.getWrkSts() == 7){
                        if (!locMastService.isShuttle(wrkMast.getLocNo())) {
                        // 判断是否需要小车入库
                        if (locMastService.isOutMost(wrkMast.getLocNo(), true)) {
                            // ==> 9.入库完成
                            wrkMast.setWrkSts(9L);
                            Date now = new Date();
@@ -1860,46 +1775,30 @@
                                News.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        } else {
                            // 判断是否需要小车入库
                            if (locMastService.isOutMost(wrkMast.getLocNo(), true)) {
                                // ==> 9.入库完成
                                wrkMast.setWrkSts(9L);
                                Date now = new Date();
                                wrkMast.setCrnEndTime(now);
                                wrkMast.setModiTime(now);
                                // 修改成功后复位堆垛机
                                if (wrkMastMapper.updateById(wrkMast) > 0) {
                                    // 堆垛机复位
                                    crnThread.setResetFlag(true);
                            // 给穿梭车下发命令
                            Integer steNo = wrkMast.getSteNo();
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
                            if (steProtocol.isIdle()) {
                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
                                steCommand.setSteNo(steNo); // 穿梭车编号
                                steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                                steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 任务模式: 搬入库
                                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                                    News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                                } else {
                                    News.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo());
                                }
                            } else {
                                // 给穿梭车下发命令
                                Integer steNo = wrkMast.getSteNo();
                                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                                SteProtocol steProtocol = steThread.getSteProtocol();
                                if (steProtocol == null) { continue; }
                                if (steProtocol.isIdle()) {
                                    // 命令下发区 --------------------------------------------------------------------------
                                    SteCommand steCommand = new SteCommand();
                                    steCommand.setSteNo(steNo); // 穿梭车编号
                                    steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                                    steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 任务模式: 搬入库
                                    if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                                        News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                                    // 修改工作档状态 7.吊车入库中 => 8.小车搬入库
                                    wrkMast.setWrkSts(8L);
                                    Date now = new Date();
                                    wrkMast.setCrnEndTime(now);
                                    wrkMast.setModiTime(now);
                                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                                        // 堆垛机复位
                                        crnThread.setResetFlag(true);
                                    } else {
                                        // 修改工作档状态 7.吊车入库中 => 8.小车搬入库
                                        wrkMast.setWrkSts(8L);
                                        Date now = new Date();
                                        wrkMast.setCrnEndTime(now);
                                        wrkMast.setModiTime(now);
                                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                                            // 堆垛机复位
                                            crnThread.setResetFlag(true);
                                        } else {
                                            News.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库 失败！！，工作号={}", wrkMast.getWrkNo());
                                        }
                                        News.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库 失败！！，工作号={}", wrkMast.getWrkNo());
                                    }
                                }
                            }
@@ -2002,21 +1901,6 @@
                            }
                        }
                        // 移库 ===>> 堆垛机搬至目标库位组 完成
                    }
                // 库位移转
                } else {
                    if (!locMastService.isShuttle(wrkMast.getLocNo())) {
                        if (wrkMast.getWrkSts() == 16 && wrkMast.getIoType() == 11){
                            // 更新工作档状态为 17.出库完成
                            wrkMast.setWrkSts(17L);
                            wrkMast.setCrnEndTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast) != 0) {
                                // 复位堆垛机
                                crnThread.setResetFlag(true);
                            } else {
                                News.error("更新工作档的工作状态为 17.出库完成 失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                            }
                        }
                    }
                }
            }
@@ -2677,24 +2561,24 @@
                                break;
                            }
                        }
                        if (!devpThread.charge1) {
                            SteChargeType second = SteChargeType.SECOND;
                            locNo = second.locNo;
                            if (basSteService.hasCarOfLocNo(locNo) == null
                                && wrkChargeService.selectWorkingOfCharge(second.ssbm) == null) {
                                steCharge = second;
                                break;
                            }
                        }
                        if (!devpThread.charge2) {
                            SteChargeType third = SteChargeType.THIRD;
                            locNo = third.locNo;
                            if (basSteService.hasCarOfLocNo(locNo) == null
                                && wrkChargeService.selectWorkingOfCharge(third.ssbm) == null) {
                                steCharge = third;
                                break;
                            }
                        }
//                        if (!devpThread.charge1) {
//                            SteChargeType second = SteChargeType.SECOND;
//                            locNo = second.locNo;
//                            if (basSteService.hasCarOfLocNo(locNo) == null
//                                && wrkChargeService.selectWorkingOfCharge(second.ssbm) == null) {
//                                steCharge = second;
//                                break;
//                            }
//                        }
//                        if (!devpThread.charge2) {
//                            SteChargeType third = SteChargeType.THIRD;
//                            locNo = third.locNo;
//                            if (basSteService.hasCarOfLocNo(locNo) == null
//                                && wrkChargeService.selectWorkingOfCharge(third.ssbm) == null) {
//                                steCharge = third;
//                                break;
//                            }
//                        }
                        break;
                    } while (false);

@@ -2955,6 +2839,7 @@
    /**
     * 轮询充电桩是否有空闲小车
     */
    @Deprecated
    public synchronized void queryChargeLocOfComplete() {
        // 与充电任务不同步进行
        if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) { return; }
@@ -3031,6 +2916,7 @@
    /**
     * 小车从充电桩 至 待机库位
     */
    @Deprecated
    public synchronized void steFromChargeToIdleLoc() {
        WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.reset);
        if (wrkCharge == null) { return; }