#二楼

zjj

2024-05-13 f69bc4779fa1abd564fdfea2c99aced36d90b5f8

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

@@ -90,6 +90,10 @@
    private BasCrnErrorMapper basCrnErrorMapper;
    @Autowired
    private EmptyBarrelInService emptyBarrelInService;
    @Autowired
    private WrkMastStaService wrkMastStaService;
    @Autowired
    private MatnrCodeService matnrCodeService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -543,7 +547,7 @@
                        }


                        if (crnStn.getStaNo() == 1016 || crnStn.getStaNo() == 1019) {
                        if (crnStn.getStaNo() > 1013) {
                            // 更新工作档状态为13.RGV搬运中
                            wrkMast.setWrkSts(13L);
                        }else {
@@ -1326,8 +1330,9 @@

                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() >= 9990
                        && staProtocol.getWorkNo() <= 9999) && staProtocol.isPakMk()) {
                        && (staProtocol.isEmptyMk() || staProtocol.getStaNo() == 9999)
//                        && (staProtocol.getWorkNo() >= 9990  && staProtocol.getWorkNo() <= 9999)
                        && staProtocol.isPakMk()) {
                    List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                            .eq("sta_no", emptyInSta.getStaNo())
                            .eq("io_type", 10)
@@ -2299,7 +2304,7 @@
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
//                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(crnStn.getStaNo());
                    if (wrkMast == null) {
@@ -2334,7 +2339,7 @@

                    }

                }
//                }
            }
        }
    }
@@ -2487,115 +2492,633 @@
        }
    }

    public synchronized void RGVTaskPut(){
    public synchronized void RGVTaskCreate(){
        for (RgvSlave rgvSlave:slaveProperties.getRgv()){
            ZyRgvThread rgvThread = (ZyRgvThread)SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol.getModeType() != RgvModeType.AUTO){
            if (Cools.isEmpty(rgvProtocol)){
                continue;
            }


            int workNo1 = 0;
            int workNo2 = 0;
            short souSta1 = 0;
            short sta1 = 0;
            short souSta2 = 0;
            short sta2 = 0;

            //工位一任务
            for (RgvSlave.Sta inStn :  rgvSlave.getInStn()){
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, inStn.getSourcePlcId());
                StaProtocol staProtocol = devpThread.getStation().get(inStn.getSourceStaNo());
                if (staProtocol == null) {
                    break;
//                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isLoading() && staProtocol.isLoading() && staProtocol.isInEnable()){
                    if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() <9900){
                        WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
                        if (Cools.isEmpty(wrkMast)){
                            log.error("未找到工作档");
                            continue;
                        }
                        workNo1 = wrkMast.getWrkNo();
                        souSta1 = inStn.getSourceStaNo().shortValue();
                        sta1 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
                        break;
                    }
                    workNo1 = workNo++;
                    souSta1 = inStn.getSourceStaNo().shortValue();
                    sta1 = inStn.getStaNo().shortValue();
                    break;
                }
            }


            //工位二任务
            for (RgvSlave.Sta inStn :  rgvSlave.getInStn()){
                if (souSta1 == inStn.getSourceStaNo()){
                    continue;
                }
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, inStn.getSourcePlcId());
                StaProtocol staProtocol = devpThread.getStation().get(inStn.getSourceStaNo());
                if (staProtocol == null) {
                    break;
//                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isLoading() && staProtocol.isLoading() && staProtocol.isInEnable()){
                    if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() <9900){
                        WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
                        if (Cools.isEmpty(wrkMast)){
                            log.error("未找到工作档");
                            continue;
                        }
                        workNo2 = wrkMast.getWrkNo();
                        souSta2 = inStn.getSourceStaNo().shortValue();
                        sta2 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
                        break;
                    }
                    workNo2 = workNo++;
                    souSta2 = inStn.getSourceStaNo().shortValue();
                    sta2 = inStn.getStaNo().shortValue();
                    break;
                }
            }

            //rgv任务下发--------------------------------------------------------------
            RgvCommand command = new RgvCommand();
            command.setRgvNo(rgvSlave.getId()); // RGV编号
            //工位1
            command.setTaskNo1(workNo1); // 工作号
            command.setSourceStaNo1(souSta1); // 源站
            command.setDestinationStaNo1(sta1);  // 目标站
            command.setAckFinish1(false);  // 任务完成确认位

            //工位2
            command.setTaskNo2(workNo2); // 工作号
            command.setSourceStaNo2(souSta2); // 源站
            command.setDestinationStaNo2(sta2);  // 目标站
            command.setAckFinish2(false);  // 任务完成确认位

            if (workNo1 != 0 && workNo2 ==0){
                command.setTaskMode(RgvTaskModeType.FETCH_PUT2); // 任务模式: 取放货
            } else if (workNo1 == 0 && workNo2 !=0) {
                command.setTaskMode(RgvTaskModeType.FETCH_PUT1); // 任务模式: 取放货
            }else {
                command.setTaskMode(RgvTaskModeType.FETCH_PUT_ALL); // 任务模式: 取放货
                rgvProtocol = rgvProtocol.clone();
            }
            command.setCommand(false);
            MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(2, command));
            log.info("rgv任务下发："+JSON.toJSONString(command));
            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getLoaded1() == 0){
                boolean work1 = false;
                boolean work2 = false;
                int workNo1 = 0;
                int workNo2 = 0;
                short souSta1 = 0;
                short sta1 = 0;
                short souSta2 = 0;
                short sta2 = 0;
                Integer matnr = 0;
                Integer matnr2 = 0;
                String batch = "";
                String batch2 = "";
                short type = 0;
                short type2 = 0;
                short anfme = 0;
                short anfme2 = 0;

                //工位一任务
                for (RgvSlave.Sta inStn :  rgvSlave.getInStn()){
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, inStn.getSourcePlcId());
                    StaProtocol staProtocol = devpThread.getStation().get(inStn.getSourceStaNo());
                    if (staProtocol == null) {
                        break;
//                    continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && staProtocol.getWorkNo()>0){

                            WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
                            if (Cools.isEmpty(wrkMast)){
                                log.error("未找到工作档");
                                continue;
                            }
                            workNo1 = wrkMast.getWrkNo();
                            souSta1 = Utils.getRgvStaNo(rgvSlave.getId(),staProtocol.getSiteId());
                            sta1 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
                            work1 = true;
                            devpThread.setPakMk(inStn.getSourceStaNo(),false);
                            break;


                    }
                }

                if (rgvSlave.getId() != 3){
                    //工位二任务
                    for (RgvSlave.Sta inStn :  rgvSlave.getInStn()){
                        if (souSta1 == inStn.getSourceStaNo()){
                            continue;
                        }
                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, inStn.getSourcePlcId());
                        StaProtocol staProtocol = devpThread.getStation().get(inStn.getSourceStaNo());
                        if (staProtocol == null) {
                            break;
//                    continue;
                        } else {
                            staProtocol = staProtocol.clone();
                        }
                        if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()&& staProtocol.isPakMk() && staProtocol.getWorkNo()>0){

                                WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
                                if (Cools.isEmpty(wrkMast)){
                                    log.error("未找到工作档");
                                    continue;
                                }
                                workNo2 = wrkMast.getWrkNo();
                                souSta2 = inStn.getSourceStaNo().shortValue();
                                sta2 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
                                work2 = true;
                                devpThread.setPakMk(inStn.getSourceStaNo(),false);
                                break;
                            }


                    }
                }


                if (work1 || work2){
                    //rgv任务下发--------------------------------------------------------------
                    RgvCommand command = new RgvCommand();
                    command.setRgvNo(rgvSlave.getId()); // RGV编号
                    //工位1
                    command.setTaskNo1(workNo1); // 工作号
                    command.setSourceStaNo1(souSta1); // 源站
                    command.setDestinationStaNo1(sta1);  // 目标站
                    command.setAckFinish1(false);  // 任务完成确认位

                    //工位2
                    command.setTaskNo2(workNo2); // 工作号
                    command.setSourceStaNo2(souSta2); // 源站
                    command.setDestinationStaNo2(sta2);  // 目标站
                    command.setAckFinish2(false);  // 任务完成确认位

                    command.setMatnr(matnr);
                    command.setMatnr2(matnr2);
                    command.setBatch(batch);
                    command.setBatch2(batch2);
                    command.setAnfme(anfme);
                    command.setAnfme2(anfme2);

                    command.setType(type);
                    command.setType2(type2);

                    if (workNo1 == 0 && workNo2 !=0){
                        command.setTaskMode(RgvTaskModeType.FETCH_PUT2); // 任务模式: 2取放货
                    } else if (workNo1 != 0 && workNo2 ==0) {
                        command.setTaskMode(RgvTaskModeType.FETCH_PUT1); // 任务模式: 1取放货
                    }else {
                        command.setTaskMode(RgvTaskModeType.FETCH_PUT_ALL); // 任务模式: all取放货
                    }
                    command.setCommand(false);
                    rgvTaskSave(command);
                    MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(2, command));
                    log.info("rgv任务下发："+JSON.toJSONString(command));
                }
            }





        }
    }


    public synchronized void RGVTaskOver() {
        for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
            if (rgvSlave.getId() ==2){
                continue;
            }
            ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (Cools.isEmpty(rgvProtocol)){
                continue;
            }else {
                rgvProtocol = rgvProtocol.clone();
            }

            //工位一任务完成
            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING && rgvProtocol.getLoaded1() == 0) {

                try {
                    Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvProtocol.getRgvNo()).eq("wrk_no", rgvProtocol.getTaskNo1());
                    WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
                    if (Cools.isEmpty(wrkMastSta1)){
                        log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                    }else {
                        if (wrkMastSta1.getWrkType() == 8 ){
                            wrkMastSta1.setWrkSts(3);
                            wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
                        }
                    }

                }catch (Exception e){
                    log.error("完成{}号车工位一任务出错!!!!!!!!!!!!!!!!,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                    continue;
                }


                MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(3,new RgvCommand()));
                log.info("{}号rgv工位一工作完成复位,工作号:{}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
            }

            //工位二任务完成
            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING2 && rgvProtocol.getLoaded2() == 0) {
                try {
                    Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvProtocol.getRgvNo()).eq("wrk_no", rgvProtocol.getTaskNo2());
                    WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
                    if (Cools.isEmpty(wrkMastSta1)){
                        log.error("完成{}号车工位二任务未找到对应工作任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
                    }else {
                        if (wrkMastSta1.getWrkType() == 9 ){
                            wrkMastSta1.setWrkSts(3);
                            wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
                        }else if (wrkMastSta1.getWrkType() == 1){
                            wrkMastSta1.setWrkSts(3);
                            wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
                        }
                    }
                }catch (Exception e){
                    log.error("完成{}号车工位一任务出错!!!!!!!!!!!!!!!!,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                    continue;
                }



                MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(4,new RgvCommand()));
                log.info("{}号rgv工位二工作完成复位,工作号:{}",rgvSlave.getId(),rgvProtocol.getTaskNo2());
            }
        }
    }

    //二号rgv输送线命令下发
    public synchronized void RGVTaskput() {
        for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
            if (rgvSlave.getId() ==2){
                continue;
            }
            ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (Cools.isEmpty(rgvProtocol)){
                continue;
            }else {
                rgvProtocol = rgvProtocol.clone();
            }

            //工位一任务完成
            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN1 && rgvProtocol.getLoaded1() == 1) {
                WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo1());
                WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo1());
                if (Cools.isEmpty(wrkMastSta)){
                    log.error("未查询到rgv工作任务，rgv编号{},工作号{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                    continue;
                }
                for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
                    if (!Objects.equals(Utils.getStaNo(rgvSlave.getId(), wrkMastSta.getWrkEnd()), outStn.getStaNo())){
                        continue;
                    }
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
                    StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    if (staProtocol.isAutoing() && !staProtocol.isLoading()  && staProtocol.isPakMk()){
                        staProtocol.setWorkNo(wrkMastSta.getWrkNo().shortValue());
                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                        MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol));
                    }
                }
            }

            //工位二任务完成
            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN8 && rgvProtocol.getLoaded2() == 1) {
                WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo2());
                WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo2());
                if (Cools.isEmpty(wrkMastSta)){
                    log.error("未查询到rgv工作任务，rgv编号{},工作号{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
                    continue;
                }
                for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
                    if (wrkMastSta.getStaEnd() != outStn.getStaNo()){
                        continue;
                    }
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
                    StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    if (staProtocol.isAutoing() && !staProtocol.isLoading()  && staProtocol.isPakMk()){
                        staProtocol.setWorkNo(wrkMastSta.getWrkNo2().shortValue());
                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                        MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol));
                    }
                }
            }
        }
    }

    //二号rgv输送线命令下发
    public synchronized void RGV2Taskput() {
        for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
            if (rgvSlave.getId() !=2){
                continue;
            }
            ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (Cools.isEmpty(rgvProtocol)){
                continue;
            }else {
                rgvProtocol = rgvProtocol.clone();
            }

            //工位一任务完成
            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN1 && rgvProtocol.getLoaded1() == 1) {
                WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo1());
                if (Cools.isEmpty(wrkMastSta)){
                    log.error("未查询到rgv工作任务，rgv编号{},工作号{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                    continue;
                }
                for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
                    StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }

                    if (outStn.getStaPlcId() == 2){
                        if (staProtocol.isAutoing() && !staProtocol.isLoading()  && staProtocol.isPakMk()){
                            staProtocol.setWorkNo(wrkMastSta.getWrkNo().shortValue());
                            if (wrkMastSta.getType() == 1){
                                staProtocol.setStaNo((short) 9999);
                            }else {
                                staProtocol.setStaNo((short) 2106);
                            }
                            staProtocol.setMatnr(wrkMastSta.getMatnr1());

                            if (!MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol))) {
                                continue;
                            }
                        }
                    }

                }
            }

            //工位二任务完成
            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN8 && rgvProtocol.getLoaded2() == 1) {
                WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo2(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo2());
                if (Cools.isEmpty(wrkMastSta)){
                    log.error("未查询到rgv工作任务，rgv编号{},工作号{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
                    continue;
                }
                for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
                    StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    if (outStn.getStaPlcId() == 2){
                        if (staProtocol.isAutoing() && !staProtocol.isLoading()  && staProtocol.isPakMk()){
                            staProtocol.setWorkNo(wrkMastSta.getWrkNo2().shortValue());
                            if (wrkMastSta.getType2() == 1){
                                staProtocol.setStaNo((short) 9999);
                            }else {
                                staProtocol.setStaNo((short) 2106);
                            }

                            staProtocol.setMatnr(wrkMastSta.getMatnr2());

                            if (!MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol))) {
                                continue;
                            }
                        }
                    }
                }
            }
        }
    }

    public synchronized void RGV2TaskOver() {
        for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
            if (rgvSlave.getId() !=2){
                continue;
            }
            ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (Cools.isEmpty(rgvProtocol)){
                continue;
            }else {
                rgvProtocol = rgvProtocol.clone();
            }

            //工位一任务完成
            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING && rgvProtocol.getLoaded1() == 0) {

                try {
                    Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvProtocol.getRgvNo()).eq("wrk_no", rgvProtocol.getTaskNo1());
                    WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
                    if (Cools.isEmpty(wrkMastSta1)){
                        log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                    }else {
                        if (wrkMastSta1.getWrkType() == 8 ){
                            wrkMastSta1.setWrkSts(3);
                            wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
                        }
                    }

                }catch (Exception e){
                    log.error("完成{}号车工位一任务出错!!!!!!!!!!!!!!!!,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                    continue;
                }


                MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(3,new RgvCommand()));
                log.info("{}号rgv工位一工作完成复位,工作号:{}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
            }

            //工位二任务完成
            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING2 && rgvProtocol.getLoaded2() == 0) {
                try {
                    Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvProtocol.getRgvNo()).eq("wrk_no", rgvProtocol.getTaskNo2());
                    WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
                    if (Cools.isEmpty(wrkMastSta1)){
                        log.error("完成{}号车工位二任务未找到对应工作任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
                    }else {
                        if (wrkMastSta1.getWrkType() == 9 ){
                            wrkMastSta1.setWrkSts(3);
                            wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
                        }else if (wrkMastSta1.getWrkType() == 1){
                            wrkMastSta1.setWrkSts(3);
                            wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
                        }
                    }

                }catch (Exception e){
                    log.error("完成{}号车工位一任务出错!!!!!!!!!!!!!!!!,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                    continue;
                }



                MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(4,new RgvCommand()));
                log.info("{}号rgv工位二工作完成复位,工作号:{}",rgvSlave.getId(),rgvProtocol.getTaskNo2());
            }
        }
    }

    public boolean rgvTaskSave(RgvCommand command){
        Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", command.getRgvNo()).eq("wrk_no", command.getTaskNo1());
        WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
        if (!Cools.isEmpty(wrkMastSta1)){
            wrkMastStaService.delete(wrkMastStaWrapper);
        }
        WrkMastSta wrkMastSta = new WrkMastSta();
        wrkMastSta.setWrkNo(Long.valueOf(command.getTaskNo1()));
        wrkMastSta.setWrkNo2(Long.valueOf(command.getTaskNo2()));
        wrkMastSta.setWrkStart(command.getSourceStaNo1().intValue());
        wrkMastSta.setWrkEnd(command.getDestinationStaNo1().intValue());
        wrkMastSta.setStaStart(command.getSourceStaNo2().intValue());
        wrkMastSta.setStaEnd(command.getDestinationStaNo2().intValue());
        wrkMastSta.setWrkSts(1);
        Date now = new Date();
        wrkMastSta.setCreateTime(now);
        wrkMastSta.setUpdateTime(now);
        wrkMastSta.setWrkCrn(command.getRgvNo());
        wrkMastSta.setWrkType(command.getTaskMode().intValue());
        wrkMastSta.setMatnr1(command.getMatnr().intValue());
        wrkMastSta.setMatnr2(command.getMatnr2().intValue());
        wrkMastSta.setType(command.getType().intValue());
        wrkMastSta.setType2(command.getType2().intValue());
        wrkMastSta.setBatch(command.getBatch());
        wrkMastSta.setBatch2(command.getBatch2());
        wrkMastSta.setAnfme(command.getAnfme().intValue());
        wrkMastSta.setAnfme2(command.getAnfme2().intValue());
        return wrkMastStaService.insert(wrkMastSta);
    }

    //二期组托
    public synchronized void generateStoreWrkFile2() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            if (devp.getId() != 2){
                continue;
            }
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
  // 获取入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (!Cools.isEmpty(barcode)) {
                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
                } else {
                    // led 异常显示
//                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
//                    if (ledThread != null) {
//                        String errorMsg = "扫码失败，请重试";
//                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
//                    }
                    continue;
                }
                // 判断是否满足入库条件
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && staProtocol.getStaNo() != 9999
                        && staProtocol.isPakMk()) {

                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                        //条码为空或者不符合，退库到
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        if (ledThread != null) {
                            String errorMsg = "扫码失败，请重试";
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                        }
                        continue;
                    }

                    // 判断重复工作档
                    WrkMast wrkMast = new WrkMast();
                    if (barcode.length() == 8) {
                        wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                        if (wrkMast != null) {
                            log.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                            continue;
                        }
                    }
//                     获取入库通知档
                    List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
                    if (waitPakins.isEmpty()) {
                        try {
                            CreateComb(barcode,staProtocol.getMatnr().intValue(),staProtocol.getWorkNo().intValue());
                        }catch (IOException e) {
                            throw new CoolException(e);
                        }
                    }else {
                        try {
                            LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
                            SearchLocParam param = new SearchLocParam();
                            param.setBarcode(barcode);
                            param.setIoType(1);
                            param.setSourceStaNo(inSta.getStaNo());
                            param.setLocType1(locTypeDto.getLocType1());
                            String response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/pakin/loc/v1")
                                    .setJson(JSON.toJSONString(param))
                                    .build()
                                    .doPost();
                            JSONObject jsonObject = JSON.parseObject(response);
                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                            if (jsonObject.getInteger("code").equals(200)) {
                                StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                                barcodeThread.setBarcode("");
                                staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                                staProtocol.setStaNo(dto.getStaNo().shortValue());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                ledThread.errorReset();
                                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");
                                }
                            } else if(jsonObject.getInteger("code").equals(700)) {
                                log.error(barcode + "托盘识别异常，请先进行组托！");
                                // led 异常显示
                                ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                                if (ledThread != null) {
                                    String errorMsg = barcode + "托盘识别异常，请先进行组托！";
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                }
                            } else {
                                log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            }

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


                }

            }
        }

    }

    public void CreateComb(String barcode,Integer code,Integer wrkNo) throws IOException {
        String batch = "";
        Double anfme = 0D;

        WrkMastSta wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkNo));
        if (Cools.isEmpty(wrkMastSta)){
            wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no2", wrkNo));
            if (Cools.isEmpty(wrkMastSta)){
                throw new  CoolException("未找到对应的任务信息");
            }
            batch = wrkMastSta.getBatch2();
            anfme = wrkMastSta.getAnfme2().doubleValue();
            code = wrkMastSta.getMatnr2();
        }else {
            batch = wrkMastSta.getBatch();
            anfme = wrkMastSta.getAnfme().doubleValue();
            code = wrkMastSta.getMatnr1();
        }
        MatnrCode matnrCode = matnrCodeService.selectByCode(code);
        if (Cools.isEmpty(matnrCode)){
            throw new  CoolException("未找到对应的物料信息");
        }
        CombParam combParam = new CombParam();
        ArrayList<CombParam.CombMat> combMats = new ArrayList<>();
        CombParam.CombMat combMat = new CombParam.CombMat();
        combParam.setBarcode(barcode);
        combMat.setMatnr(matnrCode.getMatnr());
        combMat.setBatch(batch);
        combMat.setAnfme(anfme);

        combMats.add(combMat);
        combParam.setCombMats(combMats);

        String response = new HttpHandler.Builder()
                .setUri(wmsUrl)
                .setPath("/mobile/comb/auth")
                .setJson(JSON.toJSONString(combParam))
                .build()
                .doPost();
        JSONObject jsonObject = JSON.parseObject(response);
        if (jsonObject.getInteger("code").equals(200)) {

        }
    }

}