#

Junjie

9 小时以前 6a7374de6db9fb84439c2448238144a3fc2ea350

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

@@ -6,7 +6,6 @@
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.BasCrnErrorMapper;
@@ -370,24 +369,25 @@
     * 拣料、并板、盘点再入库
     */
    public synchronized void stnToCrnStnPick(Integer mark) {
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历拣料入库口
            for (DevpSlave.Sta pickSta : devp.getPickSta()) {
                // 获取拣料入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
        try {
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历拣料入库口
                for (DevpSlave.Sta pickSta : devp.getPickSta()) {
                    // 获取拣料入库站信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }

                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && staProtocol.getWorkNo() > 0
                        && staProtocol.isPakMk()) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");
                    if (staProtocol.isAutoing()
                            && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && staProtocol.getWorkNo() > 0
                            && staProtocol.isPakMk()) {
                        News.warnNoLog("" + mark + " - 0" + " - 开始执行");

//                    // 获取条码扫描仪信息
//                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
@@ -405,17 +405,17 @@
//                    }

//                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                    if (wrkMast == null) {
                        // 无拣料数据
                        continue;
                    }
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
                            || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                        continue;
                    }
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                        if (wrkMast == null) {
                            // 无拣料数据
                            continue;
                        }
                        if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
                                || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                            continue;
                        }

                    // 拣、盘、并 作业站转换
                        // 拣、盘、并 作业站转换
//                    int stnNo = 0;
//                    if (wrkMast.getStaNo() == 109) {
//                        stnNo = 127;
@@ -424,87 +424,90 @@
//                    } else {
//                        log.error("{}号任务数据异常！", wrkMast.getWrkNo());
//                    }
                    // 获取目标站
                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                            .eq("type_no", wrkMast.getIoType() - 50)
                            .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
                            .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                    StaDesc staDesc = staDescService.selectOne(wrapper);
                    if (Cools.isEmpty(staDesc)) {
                        // 获取目标站
                        Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                                .eq("type_no", wrkMast.getIoType() - 50)
                                .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
                                .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                        StaDesc staDesc = staDescService.selectOne(wrapper);
                        if (Cools.isEmpty(staDesc)) {
//                        News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
//                        staProtocol.setWorkNo((short) 9989);
//                        staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        //LED
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "此为拣料、并板、盘点再入库.请放在" + pickSta.getBackSta().shortValue() + "站点";
                            MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errorMsg));
                        }
                        continue;
                    }

                    try {
                        // 保存工作明细档历史档
                        if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
                            throw new CoolException("保存工作明细档历史档失败");
                        }
                        // 保存工作主档历史档
                        if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
                            throw new CoolException("保存工作主档历史档失败");
                            //LED
                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = "此为拣料、并板、盘点再入库.请放在" + pickSta.getBackSta().shortValue() + "站点";
                                MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errorMsg));
                            }
                            continue;
                        }

                        Date now = new Date();
                        // 堆垛机站点(目标站)
                        Integer staNo = staDesc.getCrnStn();
                        // 更新工作档数据状态
                        wrkMast.setIoTime(now);
                        wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
                        wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                        wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
                        wrkMast.setStaNo(staNo); // 目标站
                        wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
                        wrkMast.setSourceLocNo(""); // 源库位清空
                        wrkMast.setModiTime(now);
                        wrkMast.setUpdMk("");//允许再次移库
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            throw new CoolException("更新工作档数据状态失败");
                        try {
                            // 保存工作明细档历史档
                            if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
                                throw new CoolException("保存工作明细档历史档失败");
                            }
                            // 保存工作主档历史档
                            if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
                                throw new CoolException("保存工作主档历史档失败");
                            }

                            Date now = new Date();
                            // 堆垛机站点(目标站)
                            Integer staNo = staDesc.getCrnStn();
                            // 更新工作档数据状态
                            wrkMast.setIoTime(now);
                            wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
                            wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                            wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
                            wrkMast.setStaNo(staNo); // 目标站
                            wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
                            wrkMast.setSourceLocNo(""); // 源库位清空
                            wrkMast.setModiTime(now);
                            wrkMast.setUpdMk("");//允许再次移库
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                throw new CoolException("更新工作档数据状态失败");
                            }
                            // 更新明细档io_time (历史档关联使用）
                            wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
                            // 修改库位状态 Q.拣料/盘点/并板再入库
                            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
                            locMast.setLocSts("Q");
                            locMast.setModiTime(new Date());
                            if (!locMastService.updateById(locMast)) {
                                throw new CoolException("修改库位状态失败");
                            }
                        } catch (Exception e) {
                            e.printStackTrace();
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                            continue;
                        }
                        // 更新明细档io_time (历史档关联使用）
                        wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
                        // 修改库位状态 Q.拣料/盘点/并板再入库

                        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
                        locMast.setLocSts("Q");
                        locMast.setModiTime(new Date());
                        if (!locMastService.updateById(locMast)) {
                            throw new CoolException("修改库位状态失败");
                        // 更新站点信息 且 下发plc命令
                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                        staProtocol.setPalletSize(locMast.getLocType2());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            News.error("" + mark + " - 3" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        continue;

                    } else {
                        News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isLoading() + "、可入信号：" + staProtocol.isInEnable()
                                + "、空板信号：" + staProtocol.isEmptyMk());
                    }

                    LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                    staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                    staProtocol.setPalletSize(locMast.getLocType2());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    if (!result) {
                        News.error("" + mark + " - 3" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }

                } else {
                    News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isLoading() + "、可入信号：" + staProtocol.isInEnable()
                            + "、空板信号：" + staProtocol.isEmptyMk());
                }

            }

        } catch (Exception e) {
            e.printStackTrace();
        }
        News.infoNoLog("" + mark + " - 0" + " - 拣料、并板、盘点再入库  ===》执行完成");
    }
@@ -513,51 +516,52 @@
     * 拣料、并板、盘点再入库-条码
     */
    public synchronized void stnToCrnStnPickBarcode(Integer mark) {
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历拣料入库口
            for (DevpSlave.Sta insta : devp.getInSta()) {
                // 获取拣料入库站信息
                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 (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && staProtocol.getWorkNo() > 0
                        && staProtocol.isPakMk()) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");

                    // 获取条码扫描仪信息
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, insta.getBarcode());
                    if (barcodeThread == null) {
        try {
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历拣料入库口
                for (DevpSlave.Sta insta : devp.getInSta()) {
                    // 获取拣料入库站信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(insta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    String barcode = barcodeThread.getBarcode();
                    if (!Cools.isEmpty(barcode)) {
                        News.info("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", insta.getBarcode(), barcode);
                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {

                    if (staProtocol.isAutoing()
                            && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && staProtocol.getWorkNo() > 0
                            && staProtocol.isPakMk()) {
                        News.warnNoLog("" + mark + " - 0" + " - 开始执行");

                        // 获取条码扫描仪信息
                        BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, insta.getBarcode());
                        if (barcodeThread == null) {
                            continue;
                        }
                    } else {
                        continue;
                    }
                        String barcode = barcodeThread.getBarcode();
                        if (!Cools.isEmpty(barcode)) {
                            News.info("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", insta.getBarcode(), barcode);
                            if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                                continue;
                            }
                        } else {
                            continue;
                        }

                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    if (wrkMast == null) {
                        // 无拣料数据
                        continue;
                    }
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
                            || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                        continue;
                    }
                        WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                        if (wrkMast == null) {
                            // 无拣料数据
                            continue;
                        }
                        if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
                                || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                            continue;
                        }

                    // 拣、盘、并 作业站转换
                        // 拣、盘、并 作业站转换
//                    int stnNo = 0;
//                    if (wrkMast.getStaNo() == 109) {
//                        stnNo = 127;
@@ -566,87 +570,90 @@
//                    } else {
//                        log.error("{}号任务数据异常！", wrkMast.getWrkNo());
//                    }
                    // 获取目标站
                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                            .eq("type_no", wrkMast.getIoType() - 50)
                            .eq("stn_no", insta.getStaNo()) // 作业站点 = 拣料出库的目标站
                            .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                    StaDesc staDesc = staDescService.selectOne(wrapper);
                    if (Cools.isEmpty(staDesc)) {
                        // 获取目标站
                        Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                                .eq("type_no", wrkMast.getIoType() - 50)
                                .eq("stn_no", insta.getStaNo()) // 作业站点 = 拣料出库的目标站
                                .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                        StaDesc staDesc = staDescService.selectOne(wrapper);
                        if (Cools.isEmpty(staDesc)) {
//                        News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
//                        staProtocol.setWorkNo((short) 9989);
//                        staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        //LED
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, insta.getLed());
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "此为拣料、并板、盘点再入库.请放在" + insta.getBackSta().shortValue() + "站点";
                            MessageQueue.offer(SlaveType.Led, insta.getLed(), new Task(5, errorMsg));
                        }
                        continue;
                    }

                    try {
                        // 保存工作明细档历史档
                        if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
                            throw new CoolException("保存工作明细档历史档失败");
                        }
                        // 保存工作主档历史档
                        if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
                            throw new CoolException("保存工作主档历史档失败");
                            //LED
                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, insta.getLed());
                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = "此为拣料、并板、盘点再入库.请放在" + insta.getBackSta().shortValue() + "站点";
                                MessageQueue.offer(SlaveType.Led, insta.getLed(), new Task(5, errorMsg));
                            }
                            continue;
                        }

                        Date now = new Date();
                        // 堆垛机站点(目标站)
                        Integer staNo = staDesc.getCrnStn();
                        // 更新工作档数据状态
                        wrkMast.setIoTime(now);
                        wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
                        wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                        wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
                        wrkMast.setStaNo(staNo); // 目标站
                        wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
                        wrkMast.setSourceLocNo(""); // 源库位清空
                        wrkMast.setModiTime(now);
                        wrkMast.setUpdMk("");//允许再次移库
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            throw new CoolException("更新工作档数据状态失败");
                        try {
                            // 保存工作明细档历史档
                            if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
                                throw new CoolException("保存工作明细档历史档失败");
                            }
                            // 保存工作主档历史档
                            if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
                                throw new CoolException("保存工作主档历史档失败");
                            }

                            Date now = new Date();
                            // 堆垛机站点(目标站)
                            Integer staNo = staDesc.getCrnStn();
                            // 更新工作档数据状态
                            wrkMast.setIoTime(now);
                            wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
                            wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                            wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
                            wrkMast.setStaNo(staNo); // 目标站
                            wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
                            wrkMast.setSourceLocNo(""); // 源库位清空
                            wrkMast.setModiTime(now);
                            wrkMast.setUpdMk("");//允许再次移库
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                throw new CoolException("更新工作档数据状态失败");
                            }
                            // 更新明细档io_time (历史档关联使用）
                            wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
                            // 修改库位状态 Q.拣料/盘点/并板再入库
                            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
                            locMast.setLocSts("Q");
                            locMast.setModiTime(new Date());
                            if (!locMastService.updateById(locMast)) {
                                throw new CoolException("修改库位状态失败");
                            }
                        } catch (Exception e) {
                            e.printStackTrace();
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                            continue;
                        }
                        // 更新明细档io_time (历史档关联使用）
                        wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
                        // 修改库位状态 Q.拣料/盘点/并板再入库

                        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
                        locMast.setLocSts("Q");
                        locMast.setModiTime(new Date());
                        if (!locMastService.updateById(locMast)) {
                            throw new CoolException("修改库位状态失败");
                        // 更新站点信息 且 下发plc命令
                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                        staProtocol.setPalletSize(locMast.getLocType2());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            News.error("" + mark + " - 3" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        continue;

                    } else {
                        News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isLoading() + "、可入信号：" + staProtocol.isInEnable()
                                + "、空板信号：" + staProtocol.isEmptyMk());
                    }

                    LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                    staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                    staProtocol.setPalletSize(locMast.getLocType2());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    if (!result) {
                        News.error("" + mark + " - 3" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }

                } else {
                    News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isLoading() + "、可入信号：" + staProtocol.isInEnable()
                            + "、空板信号：" + staProtocol.isEmptyMk());
                }

            }

        } catch (Exception e) {
            e.printStackTrace();
        }
        News.infoNoLog("" + mark + " - 0" + " - 拣料、并板、盘点再入库  ===》执行完成");
    }
@@ -749,7 +756,7 @@
//            }

            //堆垛机回原点任务中
            Object object = redisUtil.get(RedisConstantType.CRN_MOVE_LOCK);
            Object object = redisUtil.get(RedisConstantType.CRN_MOVE_LOCK + crn.getId());
            if (object != null) {
                continue;
            }
@@ -821,7 +828,7 @@
                    continue;
                }

                Object object = redisUtil.get(RedisConstantType.CRN_MOVE_LOCK);
                Object object = redisUtil.get(RedisConstantType.CRN_MOVE_LOCK + crn.getId());
                if (object != null) {
                    continue;
                }
@@ -893,7 +900,7 @@
                    continue;
                }

                Object object = redisUtil.get(RedisConstantType.CRN_MOVE_LOCK);
                Object object = redisUtil.get(RedisConstantType.CRN_MOVE_LOCK + crn.getId());
                if (object != null) {
                    continue;
                }
@@ -1251,7 +1258,7 @@
                            turnCrnExecuteCurrentChannel = turnCrnExecuteCurrentChannelConfig.getValue();
                        }

                        if(turnCrnExecuteCurrentChannel.equals("Y")) {
                        if (turnCrnExecuteCurrentChannel.equals("Y")) {
                            //判断堆垛机和当前任务是否处于一个巷道
                            if (Utils.getLaneByLocNo(wrkMast.getSourceLocNo()) != crnProtocol.getCrnLane()) {
                                //判断堆垛机所在巷道是否存在其他任务，如存在则优先执行
@@ -1650,6 +1657,7 @@
                if (crnProtocol.getTaskNo() == 9999) {
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
                    redisUtil.set(RedisConstantType.CRN_MOVE_LOCK + crn.getId(), "lock", 8);//防止回原点后下发指令过快
                    continue;
                }

@@ -1661,7 +1669,7 @@
                }

                Date now = new Date();
                if(wrkMast.getIoType() < 100){
                if (wrkMast.getIoType() < 100) {
                    // 入库 + 库位转移  ==> 4.入库完成
                    if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && (wrkMast.getIoType() == 11 || wrkMast.getIoType() == 111))) {
                        wrkMast.setWrkSts(4L);
@@ -1677,7 +1685,7 @@
                        News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
                        crnThread.setResetFlag(true);
                    }
                }else {
                } else {
                    List<Long> list = new ArrayList<>();
                    list.add(14L);
                    list.add(15L);
@@ -2142,21 +2150,25 @@

                    if (!wrkDetls.isEmpty()) {
                        WrkDetl wrkDetl = wrkDetls.get(0);
                        double anfme = 0D;
                        double weight = 0D;
                        for (WrkDetl detl : wrkDetls) {
                            double anfme = wrkDetl.getAnfme() + detl.getAnfme();
                            double weight = wrkDetl.getWeight() + detl.getWeight();
                            if (wrkDetl.getStockNum() != null) {
                                double stockNum = wrkDetl.getStockNum() + detl.getStockNum();
                                wrkDetl.setStockNum(stockNum);
                            }

                            if (wrkDetl.getStockNum2() != null) {
                                double stockNum2 = wrkDetl.getStockNum2() + detl.getStockNum2();
                                wrkDetl.setStockNum2(stockNum2);
                            }
                            anfme += detl.getAnfme();
                            weight += detl.getWeight();
                            wrkDetl.setAnfme(anfme);
                            wrkDetl.setWeight(weight);
                        }

                        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>()
                                .eq("loc_no", wrkMast.getSourceLocNo()));
                        double totalAnfme = 0D;
                        double totalWeight = 0D;
                        for (LocDetl locDetl : locDetls) {
                            totalAnfme += locDetl.getAnfme();
                            totalWeight += locDetl.getWeight();
                        }
                        wrkDetl.setStockNum(totalAnfme);
                        wrkDetl.setStockNum2(totalWeight);

                        ledCommand.getMatDtos().add(new MatDto(
                                wrkDetl.getMatnr()
@@ -2423,6 +2435,15 @@
                return false;
//                throw new CoolException("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
            } else {
                String deepLoc2 = Utils.getDeepLoc2(slaveProperties, loc.getLocNo());
                if (deepLoc2 != null) {
                    LocMast locnew = locMastService.selectById(deepLoc2);
                    if (locnew != null && locnew.getLocSts().equals("O")) {
                        loc = locnew;
                    }
                }


                try {
                    // 获取工作号
                    int workNo = commonService.getWorkNo(0);