zy-wcs.git - Gitblit

			@@ -22,6 +22,7 @@
			import com.zy.asrs.utils.Utils;
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.HttpHandler;
			import com.zy.common.utils.News;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			import com.zy.core.cache.MessageQueue;
			@@ -36,6 +37,7 @@
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.BarcodeThread;
			import com.zy.core.thread.LedThread;
			import com.zy.core.thread.SiemensDevpThread;
			import com.zy.system.entity.Config;
			import com.zy.system.service.ConfigService;
			@@ -109,13 +111,15 @@
			private SiteController siteController;


			public void generateStoreWrkFile1() throws IOException, InterruptedException {
			public synchronized void generateStoreWrkFile1() throws IOException, InterruptedException {
			String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			StorageEscalationParam storageEscalationParam = new StorageEscalationParam();
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			@@ -127,64 +131,45 @@
			Short workNo = staProtocol.getWorkNo();
			Short stano = staProtocol.getStaNo();

			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			if (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;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && workNo >= 9790
			&& staProtocol.isPakMk()) {
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && workNo >= 9790 && staProtocol.isPakMk()) {
			// 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();

			boolean back = false;
			if (!Cools.isEmpty(barcode) && (staProtocol.getWorkNo() != 9998 \|\| staProtocol.getWorkNo() != 9996)) {
			log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			String errorMsg = "15站扫码失败，已退回14站";
			staProtocol.setWorkNo((short) 9998);
			staProtocol.setStaNo((short) 14);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			storageEscalationParam.setWCSStatus(1);
			storageEscalationParam.setWCSErrorMessage(storageEscalationParam.getWCSErrorMessage() + errorMsg);
			// led 异常显示
			if (ledThread != null) {
			News.error(methodName + ":扫码失败，请重试");
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			back = true;
			}
			}
			String BoxNo = barcodeThread.getBarcode();
			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", BoxNo));
			if (!Cools.isEmpty(taskWrk1)) {
			log.info("托盘码：" + BoxNo + "任务档存在");
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("crn_no", taskWrk1.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("crn_no", taskWrk1.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
			if (Cools.isEmpty(staDesc)) {
			return;
			} else {
			continue;
			}
			}
			}
			if (back) {
			storageEscalationParam.setWCSStatus(1);
			storageEscalationParam.setWCSErrorMessage(storageEscalationParam.getWCSErrorMessage() + errMsg);
			}
			log.info("组托入库={}", storageEscalationParam);
			storageEscalationParam.setBoxNo(BoxNo);
			@@ -198,20 +183,10 @@
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if(back){
			if(staProtocol.getWorkNo()>=9801&&staProtocol.getWorkNo()<=9825){
			staProtocol.setStaNo((short)105);
			} else if (staProtocol.getWorkNo()>=9826&&staProtocol.getWorkNo()<=9850) {
			staProtocol.setStaNo((short)107);
			}else if (staProtocol.getWorkNo()>=9851&&staProtocol.getWorkNo()<=9875) {
			staProtocol.setStaNo((short)109);
			}else{
			staProtocol.setStaNo((short)110);
			}
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			if (back) {
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}else{
			if (!Cools.isEmpty(response)&&!Cools.isEmpty(jsonObject.get("ReturnStatus"))&&jsonObject.get("ReturnStatus").equals(0) && !Cools.isEmpty(jsonObject.get("Result").toString())) {
			} else {
			if (!Cools.isEmpty(response) && !Cools.isEmpty(jsonObject.get("ReturnStatus")) && jsonObject.get("ReturnStatus").equals(0) && !Cools.isEmpty(jsonObject.get("Result").toString())) {
			Result result = JSON.parseObject(jsonObject.get("Result").toString(), Result.class);
			// 创新一个入库工作档
			TaskWrk taskWrk = taskWrkService.selectByTaskNo(result.getTaskNo());
			@@ -221,58 +196,43 @@
			log.error("库位异常，库位号：={}", taskWrk.getOriginTargetPoint());
			} else {
			taskWrkService.insert(taskWrk);
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
			staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
			staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			HashMap<String, Object> hashMap = new HashMap<>();
			hashMap.put("TaskNo",taskWrk.getTaskNo());
			hashMap.put("TaskNo", taskWrk.getTaskNo());
			try {
			//开始上报,任务开始时，WCS回调WMS
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath(taskStatusFeedbackPath)
			.setJson(JSON.toJSONString(hashMap))
			.build()
			.doPost();
			response = new HttpHandler.Builder().setUri(wmsUrl).setPath(taskStatusFeedbackPath).setJson(JSON.toJSONString(hashMap)).build().doPost();
			JSONObject jsonObject1 = JSON.parseObject(response);
			Boolean bool = false;
			if(jsonObject1.get("ReturnStatus").equals(0)){
			if (jsonObject1.get("ReturnStatus").equals(0)) {
			bool = true;
			}
			apiLogService.save("wcs开始入库任务上报wms"
			, wmsUrl + TaskExecCallback
			, null
			, "127.0.0.1"
			, JSON.toJSONString(hashMap)
			, response
			, bool
			);
			apiLogService.save("wcs开始入库任务上报wms", wmsUrl + TaskExecCallback, null, "127.0.0.1", JSON.toJSONString(hashMap), response, bool);
			} catch (Exception e) {

			}
			}
			} else {
			// staProtocol.setWorkNo((short) 9991);
			if(staProtocol.getWorkNo()>=9801&&staProtocol.getWorkNo()<=9825){
			staProtocol.setStaNo((short)105);
			} else if (staProtocol.getWorkNo()>=9826&&staProtocol.getWorkNo()<=9850) {
			staProtocol.setStaNo((short)107);
			}else if (staProtocol.getWorkNo()>=9851&&staProtocol.getWorkNo()<=9875) {
			staProtocol.setStaNo((short)109);
			}else{
			staProtocol.setStaNo((short)110);
			}
			staProtocol.setWorkNo((short) 9998);
			staProtocol.setStaNo((short) 14);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}

			} else {
			// staProtocol.setWorkNo((short) 9991);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			staProtocol.setWorkNo((short) 9998);
			staProtocol.setStaNo((short) 14);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			}
			}
			}
			} catch (Exception e) {
			@@ -291,14 +251,7 @@
			log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1);
			}
			} finally {
			apiLogService.save("wms请求入库货位接口"
			, wmsUrl + inboundTaskApplyPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(storageEscalationParam)
			, response
			, success
			);
			apiLogService.save("wms请求入库货位接口", wmsUrl + inboundTaskApplyPath, null, "127.0.0.1", JSON.toJSONString(storageEscalationParam), response, success);
			}
			log.info("入库请求参数=" + JSON.toJSONString(BoxNo));
			log.info("入库请求返回参数=" + JSON.toJSONString(response));
			@@ -383,10 +336,7 @@
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (workNo >= 9899)
			&& staProtocol.isPakMk()) {
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (workNo >= 9899) && staProtocol.isPakMk()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			@@ -400,8 +350,7 @@
			if (!Cools.isEmpty(taskWrk1)) {
			log.info("托盘码：" + barcode + "任务档存在");
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("crn_no", taskWrk1.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("crn_no", taskWrk1.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
			if (Cools.isEmpty(staDesc)) {
			log.info("托盘码：" + barcode + "任务档存在");
			return;
			@@ -420,11 +369,7 @@
			try {
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			.setUri(wmsUrl)
			.setPath(inboundTaskApplyPath)
			.setJson(JSON.toJSONString(toWmsDTO))
			.build()
			.doPost();
			.setUri(wmsUrl).setPath(inboundTaskApplyPath).setJson(JSON.toJSONString(toWmsDTO)).build().doPost();
			} catch (Exception e) {
			log.error("请求入库调用接口失败");
			log.error("异常信息打印：" + e);
			@@ -470,9 +415,7 @@
			log.error("站点号异常2" + inSta.getStaNo());
			throw new CoolException("站点号异常2,站点号不存在" + inSta.getStaNo());
			} else {
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
			.eq("crn_no", staNoCrnNo.longValue())
			.eq("loc_no", getWmsDto.getLocNo()));
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("crn_no", staNoCrnNo.longValue()).eq("loc_no", getWmsDto.getLocNo()));
			if (Cools.isEmpty(locMast)) {
			basDevp.setStaErr(1);
			basDevpService.updateById(basDevp);
			@@ -498,9 +441,7 @@
			continue;
			}
			//查看该库位是否为空库位
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
			.eq("loc_sts", "O")
			.eq("loc_no", getWmsDto.getLocNo()));
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_sts", "O").eq("loc_no", getWmsDto.getLocNo()));
			if (Cools.isEmpty(locMast)) {
			try {
			HashMap<String, Object> headParam1 = new HashMap<>();
			@@ -511,20 +452,9 @@
			String response2;
			response2 = new HttpHandler.Builder()
			// .setHeaders(headParam)
			.setUri(wmsUrl)
			.setPath(taskStatusFeedbackPath)
			.setJson(JSON.toJSONString(headParam1))
			.build()
			.doPost();
			.setUri(wmsUrl).setPath(taskStatusFeedbackPath).setJson(JSON.toJSONString(headParam1)).build().doPost();
			JSONObject jsonObject1 = JSON.parseObject(response2);
			apiLogService.save("wcs派发库位==》不为空《==上报wms"
			, wmsUrl + taskStatusFeedbackPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(headParam1)
			, response
			, true
			);
			apiLogService.save("wcs派发库位==》不为空《==上报wms", wmsUrl + taskStatusFeedbackPath, null, "127.0.0.1", JSON.toJSONString(headParam1), response, true);
			} catch (Exception e) {
			log.error("wcs派发库位==》不为空《==上报wms", getWmsDto.getWrkNo());
			throw new CoolException("wcs派发入库任务上报wms失败,派发库位==》不为空《==，异常信息：" + e);
			@@ -539,8 +469,7 @@
			log.error("库位异常，库位号：{}", getWmsDto.getTargetLocationCode());
			} else {
			taskWrkService.insert(taskWrk);
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
			staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
			staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			@@ -550,14 +479,7 @@
			} else {
			continue;
			}
			apiLogService.save("wms请求入库货位接口"
			, wmsUrl + inboundTaskApplyPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(toWmsDTO)
			, response
			, true
			);
			apiLogService.save("wms请求入库货位接口", wmsUrl + inboundTaskApplyPath, null, "127.0.0.1", JSON.toJSONString(toWmsDTO), response, true);

			} else {
			// 退回
			@@ -588,7 +510,7 @@
			/**
			* 堆垛机站出库到出库站
			*/
			public void crnStnToOutStn() {
			public synchronized void crnStnToOutStn() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			@@ -660,8 +582,7 @@


			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
			&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			@@ -693,7 +614,7 @@
			/**
			* 入库 ===>> 堆垛机站到库位
			*/
			public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) throws IOException {
			public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) throws IOException {
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
			for (StaDesc staDesc : staDescs) {
			@@ -712,8 +633,7 @@
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			@@ -747,18 +667,18 @@

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(staDesc.getCrnNo()); // 堆垛机编号
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(taskWrk.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()); // 源库位列
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位层
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位排
			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.getRowShort(taskWrk.getTargetPoint())); // 目标库位列
			crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位层
			crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排
			crnCommand.setCommand((short) 1);
			log.info("堆垛机入库任务下发={}",crnCommand);
			log.info("堆垛机入库任务下发={}", crnCommand);
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) {
			log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			throw new CoolException("堆垛机命令生成失败");
			@@ -778,7 +698,7 @@
			* 出库 ===>> 库位到堆垛机站
			* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
			*/
			public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
			public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
			List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null);
			if (taskWrksInitial.size() == 0) {
			return;
			@@ -798,24 +718,18 @@
			continue;
			}

			LocMast locMast=locMastService.selectByLocNo(taskWrk.getStartPoint());
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
			//判断其库位是否为深库位，如果为深库位找其浅库位是都有货
			if(locMast.getRow1()==1\|\|locMast.getRow1()==5){
			LocMast locMast1=locMastService.selectOne(new EntityWrapper<LocMast>()
			.eq("row1", (locMast.getRow1()+1))
			.eq("bay1",locMast.getBay1())
			.eq("lev1",locMast.getLev1()).eq("loc_sts","F"));
			if (!Cools.isEmpty(locMast1)){
			log.info(locMast.getLocNo()+"出深库位，浅库位有货");
			if (locMast.getRow1() == 1 \|\| locMast.getRow1() == 5\|\| locMast.getRow1() == 9\|\| locMast.getRow1() == 13) {
			LocMast locMast1 = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", (locMast.getRow1() + 1)).eq("bay1", locMast.getBay1()).eq("lev1", locMast.getLev1()).eq("loc_sts", "F"));
			if (!Cools.isEmpty(locMast1)) {
			log.info(locMast.getLocNo() + "出深库位，浅库位有货");
			continue;
			}
			}else if(locMast.getRow1()==4\|\|locMast.getRow1()==8){
			LocMast locMast1=locMastService.selectOne(new EntityWrapper<LocMast>()
			.eq("row1", (locMast.getRow1()-1))
			.eq("bay1",locMast.getBay1())
			.eq("lev1",locMast.getLev1()).eq("loc_sts","F"));
			if (!Cools.isEmpty(locMast1)){
			log.info(locMast.getLocNo()+"出深库位，浅库位有货");
			} else if (locMast.getRow1() == 4 \|\| locMast.getRow1() == 8\|\| locMast.getRow1() == 12\|\| locMast.getRow1() == 16) {
			LocMast locMast1 = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", (locMast.getRow1() - 1)).eq("bay1", locMast.getBay1()).eq("lev1", locMast.getLev1()).eq("loc_sts", "F"));
			if (!Cools.isEmpty(locMast1)) {
			log.info(locMast.getLocNo() + "出深库位，浅库位有货");
			continue;
			}
			}
			@@ -837,8 +751,7 @@
			}

			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			@@ -854,7 +767,7 @@
			command.setCrnNo(taskWrk.getCrnNo()); // 堆垛机编号
			command.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
			command.setAckFinish((short) 0); // 任务完成确认位
			command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
			command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			command.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排
			command.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列
			command.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层
			@@ -863,32 +776,20 @@
			command.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			command.setCommand((short) 1);

			if(Cools.isEmpty(taskWrk.getMarkStart())\|\|taskWrk.getMarkStart()==0){
			if (Cools.isEmpty(taskWrk.getMarkStart()) \|\| taskWrk.getMarkStart() == 0) {
			HashMap<String, Object> hashMap = new HashMap<>();
			hashMap.put("TaskNo",taskWrk.getTaskNo());
			hashMap.put("TaskNo", taskWrk.getTaskNo());
			String response = "";
			try {
			//开始上报,出库任务开始时，WCS回调WMS
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath(taskStatusFeedbackPath)
			.setJson(JSON.toJSONString(hashMap))
			.build()
			.doPost();
			response = new HttpHandler.Builder().setUri(wmsUrl).setPath(taskStatusFeedbackPath).setJson(JSON.toJSONString(hashMap)).build().doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Boolean bool = false;
			if(jsonObject.get("ReturnStatus").equals(0)){
			if (jsonObject.get("ReturnStatus").equals(0)) {
			bool = true;
			taskWrk.setMarkStart(1);
			}
			apiLogService.save("wcs开始任务上报wms"
			, wmsUrl + TaskExecCallback
			, null
			, "127.0.0.1"
			, JSON.toJSONString(hashMap)
			, response
			, bool
			);
			apiLogService.save("wcs开始任务上报wms", wmsUrl + TaskExecCallback, null, "127.0.0.1", JSON.toJSONString(hashMap), response, bool);
			} catch (Exception e) {
			}
			}
			@@ -950,11 +851,7 @@
			public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的移库工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>()
			.eq("crn_no", slave.getId())
			.eq("wrk_sts", 11)
			.eq("io_type", 3)
			.orderBy("io_pri", false));
			List<TaskWrk> taskWrks = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>().eq("crn_no", slave.getId()).eq("wrk_sts", 11).eq("io_type", 3).orderBy("io_pri", false));
			for (TaskWrk taskWrk : taskWrks) {

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			@@ -1017,20 +914,9 @@
			String response;
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			.setUri(wmsUrl)
			.setPath(taskStatusFeedbackPath)
			.setJson(JSON.toJSONString(headParam))
			.build()
			.doPost();
			.setUri(wmsUrl).setPath(taskStatusFeedbackPath).setJson(JSON.toJSONString(headParam)).build().doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			apiLogService.save("wcs派发移库任务上报wms"
			, wmsUrl + taskStatusFeedbackPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(headParam)
			, response
			, true
			);
			apiLogService.save("wcs派发移库任务上报wms", wmsUrl + taskStatusFeedbackPath, null, "127.0.0.1", JSON.toJSONString(headParam), response, true);
			} catch (Exception e) {
			log.error("wcs派发移库库任务上报wms失败", taskWrk);
			// throw new CoolException("wcs派发移库库任务上报wms失败");
			@@ -1102,10 +988,8 @@
			if (crnProtocol == null) {
			continue;
			}

			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
			//获取入库待确认工作档
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) { //获取入库待确认工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(), crnProtocol.getTaskNo().intValue());
			if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			@@ -1116,7 +1000,7 @@
			crnOperatorParam.setCrnNo(crn.getId());
			R r = crnController.crnTaskComplete(crnOperatorParam);
			Thread.sleep(1000);
			if(!r.get("code").equals(200)){
			if (!r.get("code").equals(200)) {
			return;
			}
			if (!Cools.isEmpty(taskWrk)) {
			@@ -1168,120 +1052,120 @@
			/**
			* 堆垛机异常信息记录
			*/
			public void recCrnErr() {
			Date now = new Date();
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			if (false) {
			// if (crnProtocol.getModeType() != CrnModeType.STOP) {
			// 有任务
			if (crnProtocol.getTaskNo() != 0) {
			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			crn.getId(), // 堆垛机
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			(int) crnProtocol.getAlarm1(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (crnProtocol.getAlarm1() == null \|\| crnProtocol.getAlarm1() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			// 无任务
			} else {
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm() > 0) {
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			null, // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			crn.getId(), // 堆垛机
			null, // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int) crnProtocol.getAlarm1(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			}
			}

			}
			}
			// public void recCrnErr() {
			// Date now = new Date();
			// for (CrnSlave crn : slaveProperties.getCrn()) {
			// // 获取堆垛机信息
			// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			// if (crnProtocol == null) {
			// continue;
			// }
			// if (false) {
			//// if (crnProtocol.getModeType() != CrnModeType.STOP) {
			// // 有任务
			// if (crnProtocol.getTaskNo() != 0) {
			// BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// // 有异常
			// if (latest == null) {
			// if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			// WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			// if (wrkMast == null) {
			// continue;
			// }
			// BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			// String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			// BasErrLog basErrLog = new BasErrLog(
			// null, // 编号
			// wrkMast.getWrkNo(), // 工作号
			// now, // 发生时间
			// null, // 结束时间
			// wrkMast.getWrkSts(), // 工作状态
			// wrkMast.getIoType(), // 入出库类型
			// crn.getId(), // 堆垛机
			// null, // plc
			// wrkMast.getLocNo(), // 目标库位
			// wrkMast.getStaNo(), // 目标站
			// wrkMast.getSourceStaNo(), // 源站
			// wrkMast.getSourceLocNo(), // 源库位
			// wrkMast.getBarcode(), // 条码
			// (int) crnProtocol.getAlarm1(), // 异常码
			// errName, // 异常
			// 1, // 异常情况
			// now, // 添加时间
			// null, // 添加人员
			// now, // 修改时间
			// null, // 修改人员
			// "任务中异常" // 备注
			// );
			// if (!basErrLogService.insert(basErrLog)) {
			// log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			// }
			// }
			// } else {
			// // 异常修复
			// if (crnProtocol.getAlarm1() == null \|\| crnProtocol.getAlarm1() == 0) {
			// latest.setEndTime(now);
			// latest.setUpdateTime(now);
			// latest.setStatus(2);
			// if (!basErrLogService.updateById(latest)) {
			// log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			// }
			// }
			// }
			// // 无任务
			// } else {
			// BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// // 有异常
			// if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm() > 0) {
			// // 记录新异常
			// if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			// BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			// String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			// BasErrLog basErrLog = new BasErrLog(
			// null, // 编号
			// null, // 工作号
			// now, // 发生时间
			// null, // 结束时间
			// null, // 工作状态
			// null, // 入出库类型
			// crn.getId(), // 堆垛机
			// null, // plc
			// null, // 目标库位
			// null, // 目标站
			// null, // 源站
			// null, // 源库位
			// null, // 条码
			// (int) crnProtocol.getAlarm1(), // 异常码
			// errName, // 异常
			// 1, // 异常情况
			// now, // 添加时间
			// null, // 添加人员
			// now, // 修改时间
			// null, // 修改人员
			// "无任务异常" // 备注
			// );
			// if (!basErrLogService.insert(basErrLog)) {
			// log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			// }
			// }
			// // 无异常
			// } else {
			// // 异常修复
			// if (latest != null && latest.getStatus() == 1) {
			// latest.setEndTime(now);
			// latest.setUpdateTime(now);
			// latest.setStatus(2);
			// if (!basErrLogService.updateById(latest)) {
			// log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			// }
			// }
			// }
			// }
			// }
			//
			// }
			// }

			//自动派发任务
			public void autoDistribute() {
			@@ -1456,24 +1340,11 @@
			taskOverToWms.setTaskStatus("executing"); //任务状态
			String response = null;
			try {
			response = new HttpHandler.Builder()
			.setHeaders(map)
			.setUri(wmsUrl)
			.setPath("wcsManager/wcsInterface/taskStatusFeedback")
			.setJson(JSON.toJSONString(taskOverToWms))
			.build()
			.doPost();
			response = new HttpHandler.Builder().setHeaders(map).setUri(wmsUrl).setPath("wcsManager/wcsInterface/taskStatusFeedback").setJson(JSON.toJSONString(taskOverToWms)).build().doPost();
			} catch (Exception e) {
			log.error("堆垛机任务完成，请求wms任务完成接口失败");
			}
			apiLogService.save("堆垛机开始运行"
			, wmsUrl + "wcsManager/wcsInterface/taskStatusFeedback"
			, null
			, "127.0.0.1"
			, JSON.toJSONString(taskOverToWms)
			, response
			, true
			);
			apiLogService.save("堆垛机开始运行", wmsUrl + "wcsManager/wcsInterface/taskStatusFeedback", null, "127.0.0.1", JSON.toJSONString(taskOverToWms), response, true);
			return response;
			}

			@@ -1494,12 +1365,12 @@
			LocMast locMast = locMastService.selectByLocNo(locNo);
			taskWrk.setCrnNo(locMast.getCrnNo());
			taskWrk.setTargetPoint(locNo);
			taskWrk.setStartPoint("116");
			taskWrk.setStartPoint("15");
			if (result.getAlley().equals("1")) {
			taskWrk.setCrnNo(1);
			} else {
			} else if (result.getAlley().equals("2")) {
			taskWrk.setCrnNo(2);
			}
			} else if (result.getAlley().equals("3")) {taskWrk.setCrnNo(3);}else if (result.getAlley().equals("4")) {taskWrk.setCrnNo(4);}
			if (taskWrk.getIoType() == 1) {
			taskWrk.setWrkSts(2);
			if (!Cools.isEmpty(taskWrk.getTargetPoint())) {