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3 天以前 6fcad8a10aab91b9a0825b0465b7e21d37df2332

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 src/main/java/com/zy/asrs/mapper/WrkMastMapper.java

@@ -49,6 +49,11 @@
//    @Select("select top 1 * from dbo.asr_wrk_mast where source_sta_no=#{sourceStaNo} and wrk_sts=12 and io_type>100 order by io_pri desc,io_time desc,wrk_no ASC")
    WrkMast selectPakOutStep2(@Param("sourceStaNo")Integer sourceStaNo);

    WrkMast selectPakOutStep9997(@Param("sourceStaNo")Integer sourceStaNo);
    WrkMast selectPakOutStep107(@Param("barcode")String barcode);
    WrkMast selectPakOutStep9996(@Param("sourceStaNo")Integer sourceStaNo);


    // 库位移转工作档，在进行一次入出库作业后紧跟库位移转
//    @Select("select top 1 * from dbo.asr_wrk_mast where wrk_sts=11 and (io_type=11 or io_type=110) and crn_no=#{crnNo} order by io_time,wrk_no")
    WrkMast selectLocMove(@Param("crnNo")Integer crnNo);
@@ -113,5 +118,8 @@
    WrkMast selectPickStep3(@Param("barcode")String barcode);

    WrkMast selectByWrkNo(@Param("wrkNo")Integer wrkNo);
    WrkMast selectByWrkNo9996(@Param("wrkNo")Integer wrkNo);
    WrkMast selectByWrkNo9997(@Param("wrkNo")Integer wrkNo);

    Integer countPakOutEmpty(@Param("staNo")Integer outSite);
}

 src/main/java/com/zy/asrs/mapper/WrkMastStaMapper.java

@@ -33,6 +33,8 @@
    * 查询不干涉的可执行任务
    * */
    WrkMastSta selectNoInterfere(@Param("staStarts") List<Integer> staStarts, @Param("staEnds") List<Integer> staEnds,@Param("workNo")Long workNo );
    WrkMastSta selectNoInterfereCrn(@Param("staStarts") List<Integer> staStarts, @Param("staEnds") List<Integer> staEnds,@Param("workNo")Long workNo );

    List<WrkMastSta> selectNoInterfereList(@Param("staStarts") List<Integer> staStarts, @Param("staEnds") List<Integer> staEnds);
    WrkMastSta selectNoInterfereToCrn(@Param("staStarts") List<Integer> staStarts, @Param("staEnds") List<Integer> staEnds,@Param("workNo")Long workNo );


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

@@ -747,6 +747,101 @@
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
                    WrkMast wrkMast9997 = wrkMastMapper.selectPakOutStep9997(staProtocol.getSiteId());
                    WrkMast wrkMast9996 = wrkMastMapper.selectPakOutStep9996(staProtocol.getSiteId());

                    if(crnSlave.getId() == 3 && wrkMast9997 != null){
                        WrkMast wrkMast107 = wrkMastMapper.selectPakOutStep107(wrkMast9997.getBarcode());
                        // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast107.getCrnNo());
                        CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                        if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
                            // 移动中
                            continue;
                        }
                        //  判断堆垛机状态等待确认
                        if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast107.getWrkNo().shortValue())
                                && crnProtocol.statusType == CrnStatusType.WAITING
                                && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                            log.info("堆垛机出库完成 - 开始执行");

                            // 命令下发区 --------------------------------------------------------------------------

                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast107.getWrkNo());
                            staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast107.getStaNo(),wrkMast107.getSourceStaNo()));
                            if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发失败");
                                continue;
                            }else {
                                log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发成功");
                            }

                            // 更新工作档状态为14失败
                            wrkMast9997.setWrkSts(14L);
                            wrkMast9997.setCrnEndTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast9997) != 0) {
                                // 复位堆垛机
                                log.error("出库任务完成下发堆垛机复位,{}", wrkMast9997.getWrkNo());
                                crnThread.setResetFlag(true);
                            } else {
                                News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast9997.getWrkNo());
                            }

                        }else {
                            News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！"
                                    +" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO
                                    +"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast9997.getWrkNo().shortValue()
                                    +"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
                                    +"、货叉位置："+crnProtocol.forkPosType+"==HOME：0  // 货叉原位：" + CrnForkPosType.HOME);
                        }
                    }
                    if(crnSlave.getId() == 3 && wrkMast9996 != null){
                        WrkMast wrkMast107 = wrkMastMapper.selectPakOutStep107(wrkMast9996.getBarcode());
                        // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast107.getCrnNo());
                        CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                        if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
                            // 移动中
                            continue;
                        }
                        //  判断堆垛机状态等待确认
                        if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast107.getWrkNo().shortValue())
                                && crnProtocol.statusType == CrnStatusType.WAITING
                                && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                            log.info("堆垛机出库完成 - 开始执行");

                            // 命令下发区 --------------------------------------------------------------------------

                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast107.getWrkNo());
                            staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast107.getStaNo(),wrkMast107.getSourceStaNo()));
                            if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发失败");
                                continue;
                            }else {
                                log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发成功");
                            }

                            // 更新工作档状态为14失败
                            wrkMast9996.setWrkSts(14L);
                            wrkMast9996.setCrnEndTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast9996) != 0) {
                                // 复位堆垛机
                                log.error("出库任务完成下发堆垛机复位,{}", wrkMast9996.getWrkNo());
                                crnThread.setResetFlag(true);
                            } else {
                                News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast9996.getWrkNo());
                            }

                        }else {
                            News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！"
                                    +" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO
                                    +"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast9996.getWrkNo().shortValue()
                                    +"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
                                    +"、货叉位置："+crnProtocol.forkPosType+"==HOME：0  // 货叉原位：" + CrnForkPosType.HOME);
                        }
                    }
                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
                    if (wrkMast == null) {
@@ -828,14 +923,17 @@
                    staProtocolOut = staProtocolOut.clone();
                }

                if (staProtocolOut.getWorkNo() != null && staProtocolOut.getStaNo() == 4006) {
                    WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
                WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
                if(wrkMastOut == null ){
                    continue;
                }
                if (staProtocolOut.getWorkNo() != null && wrkMastOut.getStaNo() == 4006) {
                    WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9997);
                    if (wrkMastOut == null) {
                        continue;
                    }
                    if (wrkMast != null) {
                        News.info("已存在斜街任务，等待任务完成");
//                        News.info("已存在斜街任务，等待任务完成");
                        continue;
                    }
                    try {
@@ -1040,61 +1138,62 @@
            } else {
                staProtocol = staProtocol.clone();
            }
//            if (slave.getId() == 3) {
//                SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
//                StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
//                if (staProtocol2 == null) {
//                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
//                    break;
//                } else {
//                    staProtocol2 = staProtocol2.clone();
//                }
//                WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9996);
//                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
//                if (staDetl == null) {
//                    News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
//                    break;
////                    continue;
//                }
//                if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
//                    // 堆垛机控制过滤
//                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
////                        continue;
//                        break;
//                    }
//                    // 已经存在吊车执行任务时，则过滤
//                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
//                        break;
////                        return;
//                    }
//                    // 1.堆垛机开始移动
//                    CrnCommand crnCommand = new CrnCommand();
//                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
//                    crnCommand.setTaskNo((short) 9996); // 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((short) 5);     // 源库位排
//                    crnCommand.setSourcePosY((short) 1);     // 源库位列
//                    crnCommand.setSourcePosZ((short) 4);     // 源库位层
//                    crnCommand.setDestinationPosX((short) 6);     // 目标库位排
//                    crnCommand.setDestinationPosY((short) 1);     // 目标库位列
//                    crnCommand.setDestinationPosZ((short) 1);     // 目标库位层
////                crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
//                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.getCrnNo(), new Task(2, crnCommand))) {
//                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9999.getCrnNo(), JSON.toJSON(crnCommand));
//                    } else {
//                        // 修改工作档状态 11.生成出库ID => 12.吊车出库中
//                        Date now = new Date();
//                        wrkMast9999.setWrkSts(3L);
//                        wrkMast9999.setCrnStrTime(now);
//                        wrkMast9999.setModiTime(now);
//                        if (wrkMastMapper.updateById(wrkMast9999) == 0) {
//                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9999.getWrkNo());
//                        }
//                        break;
//                    }
//                }
//            }
            WrkMast wrkMast9996 = wrkMastMapper.selectByWrkNo9996(9996);

            if (slave.getId() == 3 && wrkMast9996 != null) {
                SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
                if (staProtocol2 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
                    break;
                } else {
                    staProtocol2 = staProtocol2.clone();
                }
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    break;
//                    continue;
                }
                if( staProtocol2.isAutoing() && staProtocol2.isLoading() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                        break;
                    }
                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
//                        return;
                    }
                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo((short) 9996); // 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((short) 9);     // 源库位排
                    crnCommand.setSourcePosY((short) 52);     // 源库位列
                    crnCommand.setSourcePosZ((short) 3);     // 源库位层
                    crnCommand.setDestinationPosX((short) 9);     // 目标库位排
                    crnCommand.setDestinationPosY((short) 52);     // 目标库位列
                    crnCommand.setDestinationPosZ((short) 2);     // 目标库位层
//                crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast9996.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9996.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                        Date now = new Date();
                        wrkMast9996.setWrkSts(3L);
                        wrkMast9996.setCrnStrTime(now);
                        wrkMast9996.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast9996) == 0) {
                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9996.getWrkNo());
                        }
                        break;
                    }
                }
            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
@@ -1239,61 +1338,108 @@
            // 获取工作状态为11（生成出库ID）的出库工作档
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
//            if (slave.getId() == 3) {
//                SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
//                StaProtocol staProtocol2 = devpThread1.getStation().get(1015);
//                if (staProtocol2 == null) {
//                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
//                    break;
//                } else {
//                    staProtocol2 = staProtocol2.clone();
//                }
//                WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9997);
//                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
//                if (staDetl == null) {
//                    News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
//                    break;
////                    continue;
//                }
//                if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
//                    // 堆垛机控制过滤
//                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
////                        continue;
//                        break;
//                    }
//                    // 已经存在吊车执行任务时，则过滤
//                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
//                        break;
////                        return;
//                    }
//                    // 1.堆垛机开始移动
//                    CrnCommand crnCommand = new CrnCommand();
//                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
//                    crnCommand.setTaskNo((short) 9997); // 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((short) 5);     // 源库位排
//                    crnCommand.setSourcePosY((short) 1);     // 源库位列
//                    crnCommand.setSourcePosZ((short) 1);     // 源库位层
//                    crnCommand.setDestinationPosX((short) 6);     // 目标库位排
//                    crnCommand.setDestinationPosY((short) 1);     // 目标库位列
//                    crnCommand.setDestinationPosZ((short) 4);     // 目标库位层
////                crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
//                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.getCrnNo(), new Task(2, crnCommand))) {
//                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9999.getCrnNo(), JSON.toJSON(crnCommand));
//                    } else {
//                        // 修改工作档状态 11.生成出库ID => 12.吊车出库中
//                        Date now = new Date();
//                        wrkMast9999.setWrkSts(12L);
//                        wrkMast9999.setCrnStrTime(now);
//                        wrkMast9999.setModiTime(now);
//                        if (wrkMastMapper.updateById(wrkMast9999) == 0) {
//                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9999.getWrkNo());
//                        }
//                        break;
//                    }
//                }
//            }
            WrkMast wrkMast9997 = wrkMastMapper.selectByWrkNo9997(9997);

            if (slave.getId() == 3 && wrkMast9997 != null) {
                SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                StaProtocol staProtocol2 = devpThread1.getStation().get(1015);
                if (staProtocol2 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
                    break;
                } else {
                    staProtocol2 = staProtocol2.clone();
                }
                SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
                StaProtocol staProtocol3 = devpThread2.getStation().get(2016);
                if (staProtocol3 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
                    break;
                } else {
                    staProtocol3 = staProtocol3.clone();
                }
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    break;
//                    continue;
                }
                if(staProtocol2.isLoading() && staProtocol2.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                        break;
                    }
                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
//                        return;
                    }
                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo((short) 9997); // 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((short) 9);     // 源库位排
                    crnCommand.setSourcePosY((short) 52);     // 源库位列
                    crnCommand.setSourcePosZ((short) 1);     // 源库位层
                    crnCommand.setDestinationPosX((short) 11);     // 目标库位排
                    crnCommand.setDestinationPosY((short) 52);     // 目标库位列
                    crnCommand.setDestinationPosZ((short) 3);     // 目标库位层
//                crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast9997.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9997.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                        Date now = new Date();
                        wrkMast9997.setWrkSts(12L);
                        wrkMast9997.setCrnStrTime(now);
                        wrkMast9997.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast9997) == 0) {
                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9997.getWrkNo());
                        }
                        break;
                    }
                }
                if(staProtocol3.isLoading() && staProtocol3.isAutoing()){
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                        break;
                    }
                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
//                        return;
                    }
                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo((short) 9997); // 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((short) 11);     // 源库位排
                    crnCommand.setSourcePosY((short) 52);     // 源库位列
                    crnCommand.setSourcePosZ((short) 2);     // 源库位层
                    crnCommand.setDestinationPosX((short) 11);     // 目标库位排
                    crnCommand.setDestinationPosY((short) 52);     // 目标库位列
                    crnCommand.setDestinationPosZ((short) 3);     // 目标库位层
//                crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast9997.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9997.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                        Date now = new Date();
                        wrkMast9997.setWrkSts(12L);
                        wrkMast9997.setCrnStrTime(now);
                        wrkMast9997.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast9997) == 0) {
                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9997.getWrkNo());
                        }
                        break;
                    }
                }
            }
            for (WrkMast wrkMast : wrkMasts) {
                if (wrkMast == null) {
                    continue;
@@ -3325,7 +3471,7 @@
            if(wrkMastSta1 != null && wrkMastSta2 != null){
                rgvThread.setPakMk(false);  //小车双工位锁定
            }
//            if(!rgvThread.isPakToCrn()){
//            if(basRgv.getPakToCrn().equals("0")){
//                rgvRunWrkToCrn(rgv, rgvProtocol,mark); //若小车取到一个接驳任务，第二个工位只能取接驳任务
//            }
//            if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakIn() && rgvThread.isPakRgv()){
@@ -3580,6 +3726,9 @@
                continue;
            }
            WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
            if(basRgv.getPakToCrn().equals("0")){
                wrkMastSta = wrkMastStaMapper.selectNoInterfereCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));
            }
            boolean result = false;
            if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //距离计算   2楼单入库口不需要计算
                result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
@@ -3588,7 +3737,6 @@
                basRgv.setPakRgv("0");
                basRgvService.updateById(basRgv);

//                rgvThread.setPakRgv(false);
                continue;
            }
            wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//若1号工位有任务给2号工位
@@ -3599,8 +3747,11 @@
                if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
                    basRgv.setPakToCrn("0");
                    basRgvService.updateById(basRgv);

//                    rgvThread.setPakToCrn(false); //锁定小车只能接接驳任务
                    if(wrkMastSta3 != null){
                        if(!LEFT_POSITION.contains(wrkMastSta3.getStaEnd())){
                            wrkMastSta3 = null;//若接驳第二位不接驳时取消连续取货
                        }
                    }
                }

                if(wrkMastSta3 != null ){

 src/main/java/com/zy/core/MainProcess.java

@@ -82,7 +82,7 @@
                // 入库  ===>> 空栈板初始化入库,叉车入库站放货
                mainService.storeEmptyPlt(8);
                // 出库  ===>> 工作档信息写入led显示器
                mainService.ledExecute(9);
//                mainService.ledExecute(9);
                // 其他  ===>> LED显示器复位，显示默认信息
                mainService.ledReset();
                //堆垛机衔接任务生成

 src/main/java/com/zy/core/thread/SiemensDevpThread.java

@@ -219,11 +219,61 @@
                throw new CoolException("服务器异常");
        }
    }
    private boolean connectDev = false;

    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        connect();
        connectDev = connect();
        while(!connectDev){
            try {
                connectDev = this.connect();
                Thread.sleep(100);
            } catch (Exception e){

            }
        }

        // 启动线程自动重连
        new Thread(this::devConnect).start();
        new Thread(this::readStatusDev).start();
        new Thread(this::writeStatusDev).start();
    }
    private void readStatusDev() {
        while (true) {
            try {
                Thread.sleep(50);
                read();

            } catch (Exception e) {
                log.error("Dev数据读取线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                initSite();
            }

        }

    }
    private void devConnect() {
        while (true) {
            try {
                Thread.sleep(1000);

                if(!connectDev){
                    try {
                        connectDev = this.connect();
                        Thread.sleep(100);
                    } catch (Exception e){

                    }
                }
            } catch (Exception e) {
                log.info("dev连接失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                initSite();
//                e.printStackTrace();
            }
        }
    }
    private void writeStatusDev() {
        while (true) {
            try {
                int step = 1;
@@ -234,7 +284,7 @@
                switch (step) {
                    // 读数据
                    case 1:
                        read();
//                        read();
                        break;
                    // 写数据 ID+目标站
                    case 2:
@@ -246,13 +296,55 @@
                }
                // 心跳
//                heartbeat();
                Thread.sleep(100);
                Thread.sleep(400);
            } catch (Exception e) {
                e.printStackTrace();
//                e.printStackTrace();
                try{
                    log.error("dev写线程异常"+e.getMessage());

                } catch (Exception e1){

                }
                log.error("DEV数据写入线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());

            }

        }

    }
//    @Override
//    @SuppressWarnings("InfiniteLoopStatement")
//    public void run() {
//        connect();
//        while (true) {
//            try {
//                int step = 1;
//                Task task = MessageQueue.poll(SlaveType.Devp, slave.getId());
//                if (task != null) {
//                    step = task.getStep();
//                }
//                switch (step) {
//                    // 读数据
//                    case 1:
//                        read();
//                        break;
//                    // 写数据 ID+目标站
//                    case 2:
//                        write((StaProtocol)task.getData());
//                        log.error("输送线下发命令："+((StaProtocol) task.getData()).getWorkNo()+","+((StaProtocol) task.getData()).getStaNo());
//                        break;
//                    default:
//                        break;
//                }
//                // 心跳
////                heartbeat();
//                Thread.sleep(100);
//            } catch (Exception e) {
//                e.printStackTrace();
//            }
//
//        }
//    }
    /**
     * 初始化站点状态
     */

 src/main/resources/mapper/WrkMastMapper.xml

@@ -113,6 +113,15 @@
    <select id="selectPakOutStep2" resultMap="BaseResultMap">
        select top 1 * from dbo.asr_wrk_mast where source_sta_no=#{sourceStaNo} and wrk_sts=12 and io_type>100 order by io_pri desc,io_time desc,wrk_no ASC
    </select>
    <select id="selectPakOutStep9996" resultMap="BaseResultMap">
        select top 1 * from dbo.asr_wrk_mast where wrk_no = 9996 and wrk_sts=12 and io_type = 12 order by io_pri desc,io_time desc,wrk_no ASC
    </select>
    <select id="selectPakOutStep9997" resultMap="BaseResultMap">
        select top 1 * from dbo.asr_wrk_mast where wrk_no = 9997 and wrk_sts=12 and io_type = 12 order by io_pri desc,io_time desc,wrk_no ASC
    </select>
    <select id="selectPakOutStep107" resultMap="BaseResultMap">
        select top 1 * from dbo.asr_wrk_mast where barcode = #{barcode}
    </select>

    <select id="selectLocMove" resultMap="BaseResultMap">
        select top 1 * from dbo.asr_wrk_mast where wrk_sts=11 and io_type=11 and crn_no=#{crnNo} order by io_time,wrk_no
@@ -201,4 +210,14 @@
        select * from asr_wrk_mast
        where wrk_no = #{wrkNo}
    </select>
    <select id="selectByWrkNo9996" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where wrk_no = #{wrkNo}
        and wrk_sts = 2
    </select>
    <select id="selectByWrkNo9997" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where wrk_no = #{wrkNo}
        and wrk_sts = 11
    </select>
</mapper>

 src/main/resources/mapper/WrkMastStaMapper.xml

@@ -103,6 +103,26 @@
        and wrk_no = #{workNo}
        order by line_number,id
    </select>
    <select id="selectNoInterfereCrn" resultMap="BaseResultMap">
        select * from asr_wrk_mast_sta
        where 1=1
        and (sta_start in
        <foreach item="item" collection="staStarts" index="index" separator="," open="(" close=")">
            #{item}
        </foreach>
        or sta_start = 0
        )
        and (sta_end in
        <foreach item="item" collection="staEnds" index="index" separator="," open="(" close=")">
            #{item}
        </foreach>
        or sta_end = 0
        )
        and wrk_sts=0
        and sta_end in (1018,2018)
        and wrk_no = #{workNo}
        order by line_number,id
    </select>

    <select id="selectNoInterfereToCrn" resultMap="BaseResultMap">
        select * from asr_wrk_mast_sta

 src/main/webapp/views/console.html

@@ -41,72 +41,72 @@
                </div>
            </div>
            <!-- 堆垛机状态 -->
<!--            <div class="machine-status">-->
<!--                <div class="body-head">堆垛机状态</div>-->
<!--                <div class="state">-->
<!--                    <span>堆垛机 1</span>-->
<!--                    <span class="state-ss machine-put-flag    ">入库</span>-->
<!--                </div>-->
<!--                <div class="state">-->
<!--                    <span>堆垛机 2</span>-->
<!--                    <span class="state-ss machine-auto-flag    ">自动</span>-->
            <div class="machine-status">
                <div class="body-head">堆垛机状态</div>
                <div class="state">
                    <span>堆垛机 1</span>
                    <span class="state-ss machine-put-flag    ">入库</span>
                </div>
                <div class="state">
                    <span>堆垛机 2</span>
                    <span class="state-ss machine-auto-flag    ">自动</span>

<!--                </div>-->
<!--                <div class="button"><span>所有状态</span></div>-->
<!--                <div class="button item-group">-->
<!--                    <span class="machine-put-flag">入库</span>-->
<!--                    <span class="machine-take-flag">出库</span>-->
<!--                    <span class="machine-stock-move-flag">库到库</span>-->
<!--                    <span class="machine-site-move-flag">站到站</span>-->
<!--                    <span class="machine-p-move-flag">PToP</span>-->
<!--                    <span class="machine-error-flag">异常</span>-->
<!--                    <span class="machine-auto-flag">自动</span>-->
<!--                    <span class="machine-unauto-flag">非自动/手动</span>-->
<!--                </div>-->
<!--            </div>-->
<!--            <div class="line-status">-->
<!--                <div class="body-head">输送线状态</div>-->
<!--                <div class="state states">-->
<!--                    <span>运输线总数</span>-->
<!--                    <span id="line-total" class="line-ss"></span>-->
<!--                </div>-->
<!--                <div class="button"><span>所有状态</span></div>-->
<!--                <div class="button item-group">-->
<!--                    <span class="site-auto-run-id">自动+有物+ID</span>-->
<!--                    <span class="site-auto-run">自动+有物</span>-->
<!--                    <span class="site-auto-id">自动+ID</span>-->
<!--                    <span class="site-auto">自动</span>-->
<!--                    <span class="site-unauto">非自动/手动</span>-->
<!--                </div>-->
<!--            </div>-->
<!--            <div class="bar-code">-->
<!--                <div class="body-head" id="code">条码扫描器</div>-->
<!--                <div class="tablebox">-->
<!--                    <div class="table-head">-->
<!--                        <li><span>条码名称</span><span class="right">扫码时间</span></li>-->
<!--                    </div>-->
<!--                    <div id="barcode1" class="table-body">-->
                </div>
                <div class="button"><span>所有状态</span></div>
                <div class="button item-group">
                    <span class="machine-put-flag">入库</span>
                    <span class="machine-take-flag">出库</span>
                    <span class="machine-stock-move-flag">库到库</span>
                    <span class="machine-site-move-flag">站到站</span>
                    <span class="machine-p-move-flag">PToP</span>
                    <span class="machine-error-flag">异常</span>
                    <span class="machine-auto-flag">自动</span>
                    <span class="machine-unauto-flag">非自动/手动</span>
                </div>
            </div>
            <div class="line-status">
                <div class="body-head">输送线状态</div>
                <div class="state states">
                    <span>运输线总数</span>
                    <span id="line-total" class="line-ss"></span>
                </div>
                <div class="button"><span>所有状态</span></div>
                <div class="button item-group">
                    <span class="site-auto-run-id">自动+有物+ID</span>
                    <span class="site-auto-run">自动+有物</span>
                    <span class="site-auto-id">自动+ID</span>
                    <span class="site-auto">自动</span>
                    <span class="site-unauto">非自动/手动</span>
                </div>
            </div>
            <div class="bar-code">
                <div class="body-head" id="code">条码扫描器</div>
                <div class="tablebox">
                    <div class="table-head">
                        <li><span>条码名称</span><span class="right">扫码时间</span></li>
                    </div>
                    <div id="barcode1" class="table-body">

<!--                    </div>-->
<!--                </div>-->
<!--                <div class="tablebox">-->
<!--                    <div class="table-head">-->
<!--                        <li><span>条码名称</span><span class="right">扫码时间</span></li>-->
<!--                    </div>-->
<!--                    <div id="barcode2" class="table-body">-->
                    </div>
                </div>
                <div class="tablebox">
                    <div class="table-head">
                        <li><span>条码名称</span><span class="right">扫码时间</span></li>
                    </div>
                    <div id="barcode2" class="table-body">

<!--                    </div>-->
<!--                </div>-->
<!--                <div class="tablebox">-->
<!--                    <div class="table-head">-->
<!--                        <li><span>条码名称</span><span class="right">扫码时间</span></li>-->
<!--                    </div>-->
<!--                    <div id="barcode3" class="table-body">-->
                    </div>
                </div>
                <div class="tablebox">
                    <div class="table-head">
                        <li><span>条码名称</span><span class="right">扫码时间</span></li>
                    </div>
                    <div id="barcode3" class="table-body">

<!--                    </div>-->
<!--                </div>-->
<!--            </div>-->
<!--        </div>-->
                    </div>
                </div>
            </div>
        </div>
        <!-- 堆垛机弹窗 -->
        <div id="crnWindow" style="display: none;" class="animate__animated animate__fadeIn">
            <div id="crnWindow-head">