#

luxiaotao1123

2022-12-30 994b12f9df6da1db761445ce75dd7bee899cd304

#

 src/main/java/com/zy/asrs/controller/SiteController.java

@@ -15,6 +15,7 @@
import com.zy.common.model.enums.WrkChargeType;
import com.zy.common.service.CommonService;
import com.zy.core.DevpThread;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
@@ -121,7 +122,7 @@
            wrkCharge.setMemo("reset");
            wrkCharge.setAppeTime(new Date());
            if (!wrkChargeService.insert(wrkCharge)) {
                log.error("保存{}号穿梭车复位任务失败!!!", steNo);
                News.error("保存{}号穿梭车复位任务失败!!!", steNo);
            }
        }
        return R.ok(steNo + "号小车准备离开" + floor + "号充电桩");

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

@@ -6,6 +6,7 @@
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.mapper.BasCrnpMapper;
import com.zy.asrs.service.BasCrnpService;
import com.zy.core.News;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;

@@ -32,29 +33,29 @@
    public boolean checkSiteError(Integer crnNo, boolean pakin) {
        BasCrnp crnp = this.selectById(crnNo);
        if (Cools.isEmpty(crnp)) {
            log.error("{}号堆垛机不存在", crnNo);
            News.error("{}号堆垛机不存在", crnNo);
            return false;
        }
        if (pakin) {
            if ("N".equals(crnp.getInEnable())) {
                log.error("{}号堆垛机不可入", crnNo);
                News.error("{}号堆垛机不可入", crnNo);
                return false;
            }
        } else {
            if ("N".equals(crnp.getOutEnable())) {
                log.error("{}号堆垛机不可出", crnNo);
                News.error("{}号堆垛机不可出", crnNo);
                return false;
            }
        }
        if (crnp.getCrnSts() != null) {
            if (crnp.getCrnSts() == 10) {
                log.error("{}号堆垛机状态为10.错误", crnNo);
                News.error("{}号堆垛机状态为10.错误", crnNo);
                return false;
            }
        }
//        if (crnp.getCrnErr() != null) {
//            if (crnp.getCrnErr() != 0) {
//                log.error("{}号堆垛机异常，异常码{}", crnNo, crnp.getCrnErr());
//                News.error("{}号堆垛机异常，异常码{}", crnNo, crnp.getCrnErr());
//                return false;
//            }
//        }

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

@@ -20,6 +20,7 @@
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
@@ -153,7 +154,7 @@

                    // 退回
                    if (back) {
                        log.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                        staProtocol.setWorkNo((short) 32002);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -174,7 +175,7 @@
                    }
                    String barcode = barcodeThread.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
//                        log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
//                        News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                            staProtocol.setWorkNo((short) 32002);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
@@ -212,7 +213,7 @@
                    // 判断重复工作档
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
//                    if (wrkMast != null) {
//                        log.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
//                        News.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
//                        continue;
//                    }

@@ -251,7 +252,7 @@
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                }
                            }
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        } else if (code == 700) {
                            staProtocol.setWorkNo((short) 32002);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
@@ -332,7 +333,7 @@

                    // 退回
                    if (back) {
                        log.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                        staProtocol.setWorkNo((short) 32002);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -362,10 +363,10 @@
                        wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
                        wrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
                            News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
                        }
                    } else {
                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                        News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }
                }
            }
@@ -406,7 +407,7 @@
                    if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
                        wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
                        if (null == wrkMast) {
                            log.error("{}任务号错误，暂无拣料任务！", staProtocol.getWorkNo());
                            News.error("{}任务号错误，暂无拣料任务！", staProtocol.getWorkNo());
                            continue;
                        }
                    } else {
@@ -415,7 +416,7 @@
//                    if (staProtocol.getWorkNo() == 9996) {
//                        String barcode = barcodeThread.getBarcode();
//                        if(!Cools.isEmpty(barcode)) {
//                            log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                            News.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                            if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
//                                staProtocol.setWorkNo((short) 32002);
//                                staProtocol.setStaNo(pickSta.getBackSta().shortValue());
@@ -446,7 +447,7 @@
//                        }
//                        wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
//                        if (null == wrkMast) {
//                            log.error("{}条码错误，暂无拣料任务！", barcode);
//                            News.error("{}条码错误，暂无拣料任务！", barcode);
//                        }
//                    }
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
@@ -481,7 +482,7 @@
//                                    .eq("crn_no", dto.getCrnNo()); // 堆垛机号
//                            StaDesc staDesc = staDescService.selectOne(wrapper);
//                            if (Cools.isEmpty(staDesc)) {
//                                log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
//                                News.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
//                                continue;
//                            }
//                            // 堆垛机站点(目标站)
@@ -519,7 +520,7 @@
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                                News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                            }

                        } else if (code == 500){
@@ -529,7 +530,7 @@
                                    MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
                                }
                            }
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        } else {
                            staProtocol.setWorkNo((short) 32002);
                            staProtocol.setStaNo(pickSta.getBackSta().shortValue());
@@ -608,7 +609,7 @@
                            // 复位堆垛机
                            crnThread.setResetFlag(true);
                        } else {
                            log.error("更新工作档的工作状态为 17.出库完成 失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                            News.error("更新工作档的工作状态为 17.出库完成 失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                        }

                    }
@@ -629,7 +630,7 @@
            if (crnProtocol == null) { continue; }
            BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
            if (basCrnp == null) {
                log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
                News.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
                continue;
            }
            // 只有当堆垛机空闲 并且 无任务时才继续执行
@@ -687,13 +688,13 @@
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                News.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            // 获取工作状态为 2,3,4,5,6 的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            if(null == wrkMast) {
//                log.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
//                News.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                continue;
            }

@@ -717,17 +718,17 @@
            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
            if (locMast == null) {
                log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
                News.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
                continue;
            }
            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
                log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
                News.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
                continue;
            }

            // 检测是否存在出库任务
            if (null != wrkMastMapper.selectPakout(slave.getId(), null)) {
                log.error("{}入库任务无法作业，因存在出库中任务!", wrkMast.getWrkNo());
                News.error("{}入库任务无法作业，因存在出库中任务!", wrkMast.getWrkNo());
                continue;
            }

@@ -754,13 +755,13 @@
                        if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                            WrkMast waitWrkMast = wrkMastMapper.selectBySourceLocNo(shallowLocNo);
                            if (null == waitWrkMast) {
                                log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                                News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                            } else {
                                if (waitWrkMast.getWrkSts() < 17) {
                                    waitWrkMast.setIoPri(30D);
                                    waitWrkMast.setModiTime(new Date());
                                    if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                        log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                        News.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                    }
                                    //20220719 Add，如果浅库位状态为P/R，工作状态为14/15,说明浅库位已经空了，可以执行入库任务
                                }
@@ -799,7 +800,7 @@
                    crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                        News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改工作档状态  7.吊车入库中
                        Date now = new Date();
@@ -807,7 +808,7 @@
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
                            News.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
                        } else {
                            return true;
                        }
@@ -859,7 +860,7 @@
                            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                                News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                            } else {
                                // 修改工作档状态  7.吊车入库中
                                Date now = new Date();
@@ -867,7 +868,7 @@
                                wrkMast.setCrnStrTime(now);
                                wrkMast.setModiTime(now);
                                if (wrkMastMapper.updateById(wrkMast) == 0) {
                                    log.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
                                    News.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
                                } else {
                                    return true;
                                }
@@ -916,7 +917,7 @@
                                crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                                crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                                    News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                                } else {
                                    // 修改工作档状态  3.小车待搬 ===>> 7.吊车入库中
                                    Date now = new Date();
@@ -924,7 +925,7 @@
                                    wrkMast.setCrnStrTime(now);
                                    wrkMast.setModiTime(now);
                                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                                        log.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                        News.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                    } else {
                                        return true;
                                    }
@@ -970,13 +971,13 @@
            }
            // 工作档状态判断
            if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){
                log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                News.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                continue;
            }
            // 获取源库位信息
            LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
            if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
                log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                News.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                continue;
            }

@@ -992,7 +993,7 @@
            List<String> outsideLoc = Utils.getGroupOutsideLoc(wrkMast.getSourceLocNo());
            if (!Cools.isEmpty(outsideLoc)) {
                if (!Cools.isEmpty(wrkMastMapper.selectWorkingOfPakOutBySource(outsideLoc))) {
//                    log.warn("{}工作档出库失败，原因：外层库位{}正在执行出库任务！", wrkMast.getWrkNo(), JSON.toJSONString(outsideLoc));
//                    News.warn("{}工作档出库失败，原因：外层库位{}正在执行出库任务！", wrkMast.getWrkNo(), JSON.toJSONString(outsideLoc));
                    continue;
                }
            }
@@ -1008,7 +1009,7 @@
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                News.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            // 判断堆垛机出库站状态
@@ -1023,7 +1024,7 @@

                // 过滤
                if (null != wrkMastMapper.selectPakin(slave.getId(), null)) {
                    log.error("{}出库任务无法作业，因存在入库中任务!", wrkMast.getWrkNo());
                    News.error("{}出库任务无法作业，因存在入库中任务!", wrkMast.getWrkNo());
                    continue;
                }

@@ -1042,13 +1043,13 @@
                        if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                            WrkMast waitWrkMast = wrkMastMapper.selectBySourceLocNo(shallowLocNo);
                            if (null == waitWrkMast) {
                                log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                                News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                            } else {
                                if(waitWrkMast.getWrkSts() == 11) {
                                    waitWrkMast.setIoPri(wrkMast.getIoPri() + 1);
                                    waitWrkMast.setModiTime(new Date());
                                    if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                        log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                        News.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                    }
                                }
                                continue;
@@ -1061,7 +1062,7 @@
                                // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
                                moveLocForDeepLoc(slave, shallowLoc);
                            }
                            log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
                            News.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
                            continue;
                        }
                    }
@@ -1084,7 +1085,7 @@
                    crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                        News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改工作档状态 11.生成出库ID => 16.吊车出库中
                        Date now = new Date();
@@ -1092,7 +1093,7 @@
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("修改工作档状态 11.生成出库ID => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                            News.error("修改工作档状态 11.生成出库ID => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        } else {
                            return true;
                        }
@@ -1120,7 +1121,7 @@
                        crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                            log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                            News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                        } else {
                            // 修改工作档状态 11.生成出库ID => 16.吊车出库中
                            Date now = new Date();
@@ -1128,7 +1129,7 @@
                            wrkMast.setCrnStrTime(now);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 11.生成出库ID => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                News.error("修改工作档状态 11.生成出库ID => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                            } else {
                                return true;
                            }
@@ -1158,7 +1159,7 @@
                                    steCommand.setLev(steProtocol.getLev());

                                    if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                                        log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                                        News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                                    } else {
                                        // 修改工作档状态 11.生成出库ID => 14.小车搬出库
                                        Date now = new Date();
@@ -1170,7 +1171,7 @@
                                        Integer outCrnNo = locMastService.getOutCrnNo(locMast);
                                        wrkMast.setCrnNo(outCrnNo);
                                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                                            log.error("修改工作档状态 11.生成出库ID => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
                                            News.error("修改工作档状态 11.生成出库ID => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
                                        } else {
                                            return true;
                                        }
@@ -1196,7 +1197,7 @@
                                crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                                crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                                    News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                                } else {
                                    // 修改工作档状态 15.等待吊车 => 16.吊车出库中
                                    Date now = new Date();
@@ -1204,7 +1205,7 @@
                                    wrkMast.setCrnStrTime(now);
                                    wrkMast.setModiTime(now);
                                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                                        log.error("修改工作档状态 15.等待吊车 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                        News.error("修改工作档状态 15.等待吊车 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                                    } else {
                                        return true;
                                    }
@@ -1252,7 +1253,7 @@
        // 获取源库位信息
        LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo());
        if (null == sourceLoc) {
            log.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
            News.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
            return;
        }
        // 源库位  库位状态判断
@@ -1262,7 +1263,7 @@
        // 获取目标库位信息
        LocMast loc = locMastService.selectById(wrkMast.getLocNo());
        if (null == loc) {
            log.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
            News.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
            return;
        }
        // 获取堆垛机信息 并 判断是否可入出
@@ -1298,7 +1299,7 @@
        crnCommand.setDestinationPosY(loc.getBay1().shortValue());     // 目标库位列
        crnCommand.setDestinationPosZ(loc.getLev1().shortValue());     // 目标库位层
        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
            log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
        } else {
            // 修改工作档状态 11.生成出库ID => 16.吊车出库中
            Date now = new Date();
@@ -1306,7 +1307,7 @@
            wrkMast.setCrnStrTime(now);
            wrkMast.setModiTime(now);
            if (wrkMastMapper.updateById(wrkMast) == 0) {
                log.error("【库位移转】 修改工作档状态 11.生成出库ID => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                News.error("【库位移转】 修改工作档状态 11.生成出库ID => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
            }
        }

@@ -1466,7 +1467,7 @@
                wrkMast.setSteNo(steNo);
                wrkMast.setModiTime(new Date());
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
                    News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
                }
            } else {
                // 命令下发区 --------------------------------------------------------------------------
@@ -1480,13 +1481,13 @@
                steCommand.setLev(steProtocol.getLev());

                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                    News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                } else {
                    // 修改工作档状态 绑定穿梭车
                    wrkMast.setSteNo(steNo);
                    wrkMast.setModiTime(new Date());
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
                        News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
                }
            }
@@ -1500,7 +1501,7 @@
        if (steProtocol == null) { return; }

        if (!basSteService.updatePakMk(steNo, "Y")) {
            log.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);
            News.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);
            return;
        }

@@ -1515,13 +1516,13 @@
        steCommand.setLev(steProtocol.getLev());

        if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
            log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
            News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
        } else {
            // 修改工作档状态 绑定穿梭车
            wrkCharge.setSteNo(steNo);
            wrkCharge.setModiTime(new Date());
            if (!wrkChargeService.updateById(wrkCharge)) {
                log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo());
                News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo());
            }
        }
    }
@@ -1548,13 +1549,13 @@
            steCommand.setLev(steProtocol.getLev());

            if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
            } else {
                // 修改工作档状态 绑定穿梭车
                wrkMast.setSteNo(steNo);
                wrkMast.setModiTime(new Date());
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
                    News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
                }
            }
        }
@@ -1582,13 +1583,13 @@
            steCommand.setLev(steProtocol.getLev());

            if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
            } else {
                // 修改工作档状态 绑定穿梭车
                wrkCharge.setSteNo(steNo);
                wrkCharge.setModiTime(new Date());
                if (!wrkChargeService.updateById(wrkCharge)) {
                    log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo());
                    News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo());
                }
            }
        }
@@ -1612,7 +1613,7 @@
                    // 判断被移库位是否存在其他小车
                    Integer otherSte = existOtherSte(wrkMast.getLocNo(), steNo);
                    if (otherSte != null) {
                        log.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", steNo, wrkMast.getLocNo(), otherSte);
                        News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", steNo, wrkMast.getLocNo(), otherSte);
                        return;
                    }

@@ -1630,7 +1631,7 @@
                    crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                        News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改穿梭车运行中排列层
                        steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
@@ -1640,7 +1641,7 @@
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("修改工作档状态 3.小车待搬 => 4.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo());
                            News.error("修改工作档状态 3.小车待搬 => 4.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                    }
                // 出库搬
@@ -1648,7 +1649,7 @@
                    // 判断被移库位是否存在其他小车
                    Integer otherSte = existOtherSte(wrkMast.getSourceLocNo(), steNo);
                    if (otherSte != null) {
                        log.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", steNo, wrkMast.getSourceLocNo(), otherSte);
                        News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", steNo, wrkMast.getSourceLocNo(), otherSte);
                        return;
                    }

@@ -1666,7 +1667,7 @@
                    crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                        News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改穿梭车运行中排列层
                        steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
@@ -1676,7 +1677,7 @@
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("修改工作档状态 12.小车待搬 => 13.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo());
                            News.error("修改工作档状态 12.小车待搬 => 13.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                    }
                }
@@ -1700,7 +1701,7 @@

                BasSte basSte = basSteService.selectById(steNo);
                if (basSte == null) {
                    log.error("{}号穿梭车在数据库不存在！！！", steNo);
                    News.error("{}号穿梭车在数据库不存在！！！", steNo);
                    return;
                }

@@ -1709,7 +1710,7 @@
                // 判断被移库位是否存在其他小车
                Integer otherSte = existOtherSte(idleLocNo, steNo);
                if (otherSte != null) {
                    log.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", steNo, idleLocNo, otherSte);
                    News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", steNo, idleLocNo, otherSte);
                    return;
                }

@@ -1726,7 +1727,7 @@
                crnCommand.setDestinationPosY((short) Utils.getBay(idleLocNo));     // 目标库位列
                crnCommand.setDestinationPosZ((short) Utils.getLev(idleLocNo));     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改穿梭车运行中排列层
                    steThread.modifyPos(Utils.getGroupRow(idleLocNo, true), Utils.getBay(idleLocNo), Utils.getLev(idleLocNo));
@@ -1736,7 +1737,7 @@
                    wrkMast.setCrnStrTime(now);
                    wrkMast.setModiTime(now);
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        log.error("修改工作档状态 3.小车待搬 => 5.迁出小车 失败！！，工作号={}", wrkMast.getWrkNo());
                        News.error("修改工作档状态 3.小车待搬 => 5.迁出小车 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
                }
            }
@@ -1763,7 +1764,7 @@
                    // 充电任务
                    WrkCharge wrkCharge = wrkChargeService.selectById(crnProtocol.getTaskNo());
                    if (wrkCharge == null) {
                        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());
                        News.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());
                        continue;
                    } else {
                        // 小车搬至指定库位完成
@@ -1771,14 +1772,14 @@
                            // 23.吊车搬运 ===>> 24.小车到达
                            wrkCharge.setWrkSts(24L);
                            if (!wrkChargeService.updateById(wrkCharge)) {
                                log.error("修改充电任务状态 23.吊车搬运 ===>> 24.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo());
                                News.error("修改充电任务状态 23.吊车搬运 ===>> 24.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo());
                            } else {
                                // 堆垛机复位
                                crnThread.setResetFlag(true);
                                // 穿梭车重新定位排列层
                                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
                                if (!steThread.confirmPos()) {
                                    log.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
                                    News.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
                                }
                            }
                        } else if (wrkCharge.getWrkSts() == 27) {
@@ -1790,51 +1791,51 @@
                                // 27.放至充电位 ===>> 28.充电就绪
                                wrkCharge.setWrkSts(28L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改充电任务状态 27.放至充电位 ===>> 28.充电就绪 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    News.error("修改充电任务状态 27.放至充电位 ===>> 28.充电就绪 失败！！，工作号={}", wrkCharge.getWrkNo());
                                }
                            } else {
                                log.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
                                News.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
                            }
                        } else if (wrkCharge.getWrkSts() == 34) {
                            // 34.吊车搬运 ===>> 35.小车就绪
                            wrkCharge.setWrkSts(35L);
                            if (!wrkChargeService.updateById(wrkCharge)) {
                                log.error("修改充电任务状态 34.吊车搬运 ===>> 35.小车就绪 失败！！，工作号={}", wrkCharge.getWrkNo());
                                News.error("修改充电任务状态 34.吊车搬运 ===>> 35.小车就绪 失败！！，工作号={}", wrkCharge.getWrkNo());
                            } else {
                                // 堆垛机复位
                                crnThread.setResetFlag(true);
                                // 穿梭车重新定位排列层
                                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
                                if (!steThread.confirmPos()) {
                                    log.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
                                    News.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
                                }
                            }
                        } else if (wrkCharge.getWrkSts() == 42) {
                            // 42.吊车搬运 ===>> 43.小车到达
                            wrkCharge.setWrkSts(43L);
                            if (!wrkChargeService.updateById(wrkCharge)) {
                                log.error("修改复位任务状态 42.吊车搬运 ===>> 43.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo());
                                News.error("修改复位任务状态 42.吊车搬运 ===>> 43.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo());
                            } else {
                                // 堆垛机复位
                                crnThread.setResetFlag(true);
                                // 穿梭车重新定位排列层
                                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
                                if (!steThread.confirmPos()) {
                                    log.error("{}号穿梭车重新定位失败！作业复位任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
                                    News.error("{}号穿梭车重新定位失败！作业复位任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
                                }
                            }
                        } else if (wrkCharge.getWrkSts() == 46) {
                            // 46.放至待机位 ===>> 47.复位成功
                            wrkCharge.setWrkSts(47L);
                            if (!wrkChargeService.updateById(wrkCharge)) {
                                log.error("修改复位任务状态 46.放至待机位 ===>> 47.复位成功 失败！！，工作号={}", wrkCharge.getWrkNo());
                                News.error("修改复位任务状态 46.放至待机位 ===>> 47.复位成功 失败！！，工作号={}", wrkCharge.getWrkNo());
                            } else {
                                // 堆垛机复位
                                crnThread.setResetFlag(true);
                                // 穿梭车重新定位排列层
                                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
                                if (!steThread.confirmPos()) {
                                    log.error("{}号穿梭车重新定位失败！作业复位任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
                                    News.error("{}号穿梭车重新定位失败！作业复位任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
                                }
                            }
                        }
@@ -1856,7 +1857,7 @@
                                // 堆垛机复位
                                crnThread.setResetFlag(true);
                            } else {
                                log.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo());
                                News.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        } else {
                            // 判断是否需要小车入库
@@ -1871,7 +1872,7 @@
                                    // 堆垛机复位
                                    crnThread.setResetFlag(true);
                                } else {
                                    log.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo());
                                    News.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo());
                                }
                            } else {
                                // 给穿梭车下发命令
@@ -1886,7 +1887,7 @@
                                    steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                                    steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 任务模式: 搬入库
                                    if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                                        log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                                        News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                                    } else {
                                        // 修改工作档状态 7.吊车入库中 => 8.小车搬入库
                                        wrkMast.setWrkSts(8L);
@@ -1897,7 +1898,7 @@
                                            // 堆垛机复位
                                            crnThread.setResetFlag(true);
                                        } else {
                                            log.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库 失败！！，工作号={}", wrkMast.getWrkNo());
                                            News.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库 失败！！，工作号={}", wrkMast.getWrkNo());
                                        }
                                    }
                                }
@@ -1917,7 +1918,7 @@
                            // 穿梭车重新定位排列层
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo());
                            if (!steThread.confirmPos()) {
                                log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
                                News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
                            }
                            // 穿梭车去待机位
                            BasSte basSte = basSteService.selectById(wrkMast.getSteNo());
@@ -1929,10 +1930,10 @@
//                        steCommand.setBay(steProtocol.getBay());
//                        steCommand.setLev(steProtocol.getLev());
                            if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) {
                                log.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand));
                                News.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand));
                            }
                        } else {
                            log.error("修改工作档状态 4.迁入小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());
                            News.error("修改工作档状态 4.迁入小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                        // 入库 ===>> 迁出小车 完成
                    } else if (wrkMast.getWrkSts() == 5) {
@@ -1948,7 +1949,7 @@
                            // 穿梭车重新定位排列层
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo());
                            if (!steThread.confirmPos()) {
                                log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
                                News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
                            }
                            // 穿梭车去待机位
                            BasSte basSte = basSteService.selectById(wrkMast.getSteNo());
@@ -1960,10 +1961,10 @@
//                        steCommand.setBay(steProtocol.getBay());
//                        steCommand.setLev(steProtocol.getLev());
                            if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) {
                                log.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand));
                                News.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand));
                            }
                        } else {
                            log.error("修改工作档状态 5.迁出小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());
                            News.error("修改工作档状态 5.迁出小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                        // 出库 ===>> 迁入小车 完成
                    } else if (wrkMast.getWrkSts() == 13) {
@@ -1974,7 +1975,7 @@
                        if (steProtocol == null) { continue; }
                        // 穿梭车重新定位排列层
                        if (!steThread.confirmPos()) {
                            log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
                            News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
                        }
                        // 命令下发区 --------------------------------------------------------------------------
                        SteCommand steCommand = new SteCommand();
@@ -1982,7 +1983,7 @@
                        steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                        steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式:  搬出库
                        if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                            log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                            News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                        } else {
                            // 13.迁入小车 ==> 14.小车搬出库
                            wrkMast.setWrkSts(14L);
@@ -1997,7 +1998,7 @@
                                // 堆垛机复位
                                crnThread.setResetFlag(true);
                            } else {
                                log.error("修改工作档状态 13.迁入小车 ==> 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
                                News.error("修改工作档状态 13.迁入小车 ==> 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        }
                        // 移库 ===>> 堆垛机搬至目标库位组 完成
@@ -2013,7 +2014,7 @@
                                // 复位堆垛机
                                crnThread.setResetFlag(true);
                            } else {
                                log.error("更新工作档的工作状态为 17.出库完成 失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                                News.error("更新工作档的工作状态为 17.出库完成 失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                            }
                        }
                    }
@@ -2048,7 +2049,7 @@
                                // 21.准备充电 ===>> 22.小车待搬
                                wrkCharge.setWrkSts(22L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改充电任务状态 21.准备充电 ===>> 22.小车待搬 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    News.error("修改充电任务状态 21.准备充电 ===>> 22.小车待搬 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
@@ -2056,7 +2057,7 @@
                                // 25.小车走行 ===>> 26.等待充电
                                wrkCharge.setWrkSts(26L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改充电任务状态 25.小车走行 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    News.error("修改充电任务状态 25.小车走行 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
@@ -2064,7 +2065,7 @@
                                // 29.开始充电 ===>> 30.完成充电
                                wrkCharge.setWrkSts(30L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改充电任务状态 29.开始充电 ===>> 30.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    News.error("修改充电任务状态 29.开始充电 ===>> 30.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
@@ -2072,7 +2073,7 @@
                                // 32.小车走行 ===>> 33.小车待搬
                                wrkCharge.setWrkSts(33L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改演示任务状态 32.小车走行 ===>> 33.小车待搬 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    News.error("修改演示任务状态 32.小车走行 ===>> 33.小车待搬 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
@@ -2080,7 +2081,7 @@
                                // 36.小车走行 ===>> 37.演示完成
                                wrkCharge.setWrkSts(37L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改演示任务状态 36.小车走行 ===>> 37.演示完成 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    News.error("修改演示任务状态 36.小车走行 ===>> 37.演示完成 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
@@ -2088,7 +2089,7 @@
                                // 44.小车走行 ===>> 45.小车待搬
                                wrkCharge.setWrkSts(45L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改演示任务状态 44.小车走行 ===>> 45.小车待搬 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    News.error("修改演示任务状态 44.小车走行 ===>> 45.小车待搬 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
@@ -2103,7 +2104,7 @@
                            wrkMast.setWrkSts(3L);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 2.设备上走 => 3.小车待搬 失败！！，工作号={}", wrkMast.getWrkNo());
                                News.error("修改工作档状态 2.设备上走 => 3.小车待搬 失败！！，工作号={}", wrkMast.getWrkNo());
                            } else {
                                steThread.setResetFlag(true);
                            }
@@ -2113,7 +2114,7 @@
                            wrkMast.setWrkSts(9L);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 8.小车搬入库 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo());
                                News.error("修改工作档状态 8.小车搬入库 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo());
                            } else {
                                steThread.setResetFlag(true);
                            }
@@ -2124,7 +2125,7 @@
                                wrkMast.setWrkSts(12L);
                            } else {
                                if (Cools.isEmpty(wrkMast.getMk())) {
                                    log.error("移库工作档没有流程标记！！，工作号={}", wrkMast.getWrkNo());
                                    News.error("移库工作档没有流程标记！！，工作号={}", wrkMast.getWrkNo());
                                } else {
                                    if (wrkMast.getMk().equals("I")) {
                                        String locNo = wrkMast.getLocNo();
@@ -2145,7 +2146,7 @@
                            }
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 11.生成出库ID => 12.小车待搬 失败！！，工作号={}", wrkMast.getWrkNo());
                                News.error("修改工作档状态 11.生成出库ID => 12.小车待搬 失败！！，工作号={}", wrkMast.getWrkNo());
                            } else {
                                steThread.setResetFlag(true);
                            }
@@ -2155,7 +2156,7 @@
                            wrkMast.setWrkSts(15L);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 14.小车搬出库 => 15.等待吊车 失败！！，工作号={}", wrkMast.getWrkNo());
                                News.error("修改工作档状态 14.小车搬出库 => 15.等待吊车 失败！！，工作号={}", wrkMast.getWrkNo());
                            } else {
                                steThread.setResetFlag(true);
                            }
@@ -2174,7 +2175,7 @@
            this.recCrnErr();
            this.recSteErr();
        } catch (Exception e) {
            log.error("recErr fail", e);
            News.error("recErr fail", e);
        }
    }

@@ -2226,7 +2227,7 @@
                                "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);
                            News.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                        }
                    }
                } else {
@@ -2236,7 +2237,7 @@
                        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());
                            News.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                        }
                    }
                }
@@ -2273,7 +2274,7 @@
                                "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);
                            News.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                        }
                    }
                // 无异常
@@ -2284,7 +2285,7 @@
                        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());
                            News.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                        }
                    }
                }
@@ -2340,7 +2341,7 @@
                                "任务中异常"    // 备注
                        );
                        if (!basSteErrLogService.insert(basSteErrLog)) {
                            log.error("穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", ste.getId(), errName);
                            News.error("穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", ste.getId(), errName);
                        }
                    }
                } else {
@@ -2350,7 +2351,7 @@
                        latest.setUpdateTime(now);
                        latest.setStatus(2);
                        if (!basSteErrLogService.updateById(latest)) {
                            log.error("穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", ste.getId(), latest.getId());
                            News.error("穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", ste.getId(), latest.getId());
                        }
                    }
                }
@@ -2387,7 +2388,7 @@
                                "无任务异常"    // 备注
                        );
                        if (!basSteErrLogService.insert(basSteErrLog)) {
                            log.error("穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", ste.getId(), errName);
                            News.error("穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", ste.getId(), errName);
                        }
                    }
                    // 无异常
@@ -2398,7 +2399,7 @@
                        latest.setUpdateTime(now);
                        latest.setStatus(2);
                        if (!basSteErrLogService.updateById(latest)) {
                            log.error("穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", ste.getId(), latest.getId());
                            News.error("穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", ste.getId(), latest.getId());
                        }
                    }
                }
@@ -2438,7 +2439,7 @@
                    if (barcodeThread != null) {
                        String barcode0 = barcodeThread.getBarcode();
                        if(!Cools.isEmpty(barcode0)) {
//                            log.info("{}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode0);
//                            News.info("{}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode0);
                            if(!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) {
                                barcode = barcode0;
                            }
@@ -2483,7 +2484,7 @@
                                    MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
                                }
                            }
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
@@ -2543,7 +2544,7 @@
                        ledCommand.setEmptyMk(true);
                        break;
                    default:
                        log.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                        News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                        break;
                }
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
@@ -2557,7 +2558,7 @@
                            ledCommand.getMatDtos().add(new MatDto(orderDetl));
                        }
                    } catch (Exception e) {
                        log.error("led execute fail", e);
                        News.error("led execute fail", e);
                    }
                }
                commands.add(ledCommand);
@@ -2572,7 +2573,7 @@
            // 命令下发 -------------------------------------------------------------------------------
            if (!commands.isEmpty()) {
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
                    log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    continue;
                }
            }
@@ -2621,7 +2622,7 @@
            // led显示默认内容
            if (reset) {
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
                    log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                }
            }
        }
@@ -2698,7 +2699,7 @@
                    } while (false);

                    if (steCharge == null) {
//                        log.warn("{}号小车【电量：{}】充电失败，原因：没有空闲充电桩。", ste.getId(), steProtocol.getCharge());
//                        News.warn("{}号小车【电量：{}】充电失败，原因：没有空闲充电桩。", ste.getId(), steProtocol.getCharge());
                        continue;
                    }
                    String chargeLocNo = steCharge.locNo;
@@ -2713,7 +2714,7 @@
                    wrkCharge.setMemo("charge");
                    wrkCharge.setAppeTime(new Date());
                    if (!wrkChargeService.insert(wrkCharge)) {
                        log.error("保存{}号穿梭车充电任务失败!!!", ste.getId());
                        News.error("保存{}号穿梭车充电任务失败!!!", ste.getId());
                        continue;
                    }

@@ -2725,7 +2726,7 @@
                                && steProtocol.getLev().intValue() == Utils.getLev(channelLocNo)) {
                            Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
                            if (null != otherSte) {
                                log.warn("{}号小车充电阻断，原因：通道存在{}号穿梭车！", wrkCharge.getSteNo(), otherSte);
                                News.warn("{}号小车充电阻断，原因：通道存在{}号穿梭车！", wrkCharge.getSteNo(), otherSte);
                            } else {
                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
@@ -2737,14 +2738,14 @@
                                steCommand.setBay(steProtocol.getBay());
                                steCommand.setLev(steProtocol.getLev());
                                if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                                    News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                                } else {
                                    // 修改工作档状态 21.准备充电 ===> 25.小车走行
                                    wrkCharge.setWrkSts(25L);
                                    Date now = new Date();
                                    wrkCharge.setModiTime(now);
                                    if (!wrkChargeService.updateById(wrkCharge)) {
                                        log.error("修改充电任务状态 21.准备充电 ===> 25.小车走行 失败！！，工作号={}", wrkCharge.getWrkNo());
                                        News.error("修改充电任务状态 21.准备充电 ===> 25.小车走行 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    }
                                }
                            }
@@ -2759,7 +2760,7 @@
                        wrkCharge.setWrkSts(28L);
                        wrkCharge.setModiTime(new Date());
                        if (!wrkChargeService.updateById(wrkCharge)) {
                            log.error("修改充电任务状态 21.准备充电 => 28.充电就绪 失败！！，工作号={}", wrkCharge.getWrkNo());
                            News.error("修改充电任务状态 21.准备充电 => 28.充电就绪 失败！！，工作号={}", wrkCharge.getWrkNo());
                        }
                    } else {
                        this.letCarBeWaiting(wrkCharge, ste.getId());
@@ -2769,7 +2770,7 @@
                }
            } catch (Exception e) {
                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                log.error("loopSteCharge fail", e);
                News.error("loopSteCharge fail", e);
            }
        }
    }
@@ -2820,7 +2821,7 @@
                for (String channelLocNo : channel) {
                    Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
                    if (null != otherSte) {
                        log.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
                        News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
                    } else {
                        LocMast channelLoc = locMastService.selectById(channelLocNo);

@@ -2842,7 +2843,7 @@
                            crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue());     // 目标库位列
                            crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue());     // 目标库位层
                            if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                                News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                            } else {
                                // 修改穿梭车运行中排列层
                                steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), true), channelLoc.getBay1(), channelLoc.getLev1());
@@ -2852,7 +2853,7 @@
                                wrkCharge.setCrnStrTime(now);
                                wrkCharge.setModiTime(now);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改工作档状态 22.小车待搬 => 23.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    News.error("修改工作档状态 22.小车待搬 => 23.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
                                }
                            }
                            break;
@@ -2875,7 +2876,7 @@
                    steCommand.setBay(steProtocol.getBay());
                    steCommand.setLev(steProtocol.getLev());
                    if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                        log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                        News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                    } else {
                        // 修改工作档状态 24.小车到达 ===> 25.小车走行
                        wrkCharge.setWrkSts(25L);
@@ -2883,7 +2884,7 @@
                        wrkCharge.setCrnEndTime(now);
                        wrkCharge.setModiTime(now);
                        if (!wrkChargeService.updateById(wrkCharge)) {
                            log.error("修改充电任务状态 24.小车到达 ===> 25.小车走行 失败！！，工作号={}", wrkCharge.getWrkNo());
                            News.error("修改充电任务状态 24.小车到达 ===> 25.小车走行 失败！！，工作号={}", wrkCharge.getWrkNo());
                        }
                    }
                }
@@ -2916,7 +2917,7 @@
                    crnCommand.setDestinationPosY(chargeLoc.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(chargeLoc.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(crnCommand));
                        News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(crnCommand));
                    } else {
                        // 修改穿梭车运行中排列层
                        steThread.modifyPos(chargeLoc.getRow1(), chargeLoc.getBay1(), chargeLoc.getLev1());
@@ -2926,7 +2927,7 @@
                        wrkCharge.setCrnStrTime(now);
                        wrkCharge.setModiTime(now);
                        if (!wrkChargeService.updateById(wrkCharge)) {
                            log.error("修改工作档状态 26.等待充电 => 27.放至充电位 失败！！，工作号={}", wrkCharge.getWrkNo());
                            News.error("修改工作档状态 26.等待充电 => 27.放至充电位 失败！！，工作号={}", wrkCharge.getWrkNo());
                        }
                    }
                }
@@ -2937,17 +2938,17 @@
                steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                steCommand.setTaskMode(SteTaskModeType.CHARGE_LEFT); // 任务模式: 充电
                if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                    News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                } else {
                    // 28.充电就绪 ===>> 29.开始充电
                    wrkCharge.setWrkSts(29L);
                    if (!wrkChargeService.updateById(wrkCharge)) {
                        log.error("修改充电任务状态 28.充电就绪 ===>> 29.开始充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                        News.error("修改充电任务状态 28.充电就绪 ===>> 29.开始充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                    }
                }
            }
        } catch (Exception e) {
            log.error("executeSteCharge fail", e);
            News.error("executeSteCharge fail", e);
        }
    }

@@ -3018,7 +3019,7 @@
                    wrkCharge.setMemo("reset");
                    wrkCharge.setAppeTime(new Date());
                    if (!wrkChargeService.insert(wrkCharge)) {
                        log.error("保存{}号穿梭车复位任务失败!!!", steNo);
                        News.error("保存{}号穿梭车复位任务失败!!!", steNo);
                    } else {
                        break;
                    }
@@ -3046,7 +3047,7 @@
            for (String channelLocNo : channel) {
                Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
                if (null != otherSte) {
                    log.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
                    News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
                } else {
                    // 固定堆垛机
                    int crnNo = 1;
@@ -3074,7 +3075,7 @@
                        crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue());     // 目标库位层
                        if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
                            log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                            News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                        } else {
                            // 修改穿梭车运行中排列层
                            steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), false), channelLoc.getBay1(), channelLoc.getLev1());
@@ -3084,7 +3085,7 @@
                            wrkCharge.setCrnStrTime(now);
                            wrkCharge.setModiTime(now);
                            if (!wrkChargeService.updateById(wrkCharge)) {
                                log.error("修改复位任务状态 41.小车准备复位 => 42.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
                                News.error("修改复位任务状态 41.小车准备复位 => 42.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
                            }
                        }
                        break;
@@ -3105,7 +3106,7 @@
                steCommand.setBay(steProtocol.getBay());
                steCommand.setLev(steProtocol.getLev());
                if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                    News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                } else {
                    // 修改工作档状态 43.小车到达 ===> 44.小车走行
                    wrkCharge.setWrkSts(44L);
@@ -3113,7 +3114,7 @@
                    wrkCharge.setCrnEndTime(now);
                    wrkCharge.setModiTime(now);
                    if (!wrkChargeService.updateById(wrkCharge)) {
                        log.error("修改复位任务状态 43.小车到达 ===> 44.小车走行 失败！！，工作号={}", wrkCharge.getWrkNo());
                        News.error("修改复位任务状态 43.小车到达 ===> 44.小车走行 失败！！，工作号={}", wrkCharge.getWrkNo());
                    }
                }
            }
@@ -3126,7 +3127,7 @@

            Integer otherSte = existOtherSte(idleLoc.getLocNo(), wrkCharge.getSteNo());
            if (null != otherSte) {
                log.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), idleLoc.getLocNo(), otherSte);
                News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), idleLoc.getLocNo(), otherSte);
            } else {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
@@ -3146,7 +3147,7 @@
                    crnCommand.setDestinationPosY(idleLoc.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(idleLoc.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                        News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改穿梭车运行中排列层
                        steThread.modifyPos(Utils.getGroupRow(idleLoc.getLocNo(), true), idleLoc.getBay1(), idleLoc.getLev1());
@@ -3156,7 +3157,7 @@
                        wrkCharge.setCrnStrTime(now);
                        wrkCharge.setModiTime(now);
                        if (!wrkChargeService.updateById(wrkCharge)) {
                            log.error("修改工作档状态 45.小车待搬 => 46.放至待机位 失败！！，工作号={}", wrkCharge.getWrkNo());
                            News.error("修改工作档状态 45.小车待搬 => 46.放至待机位 失败！！，工作号={}", wrkCharge.getWrkNo());
                        }
                    }
                }
@@ -3213,7 +3214,7 @@
                }
            }
            if (null == loc) {
                log.error("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
                News.error("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
                throw new CoolException("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
            }

@@ -3239,7 +3240,7 @@
            wrkMast.setModiTime(new Date());
            int res = wrkMastMapper.insert(wrkMast);
            if (res == 0) {
                log.error("双深库位 --- 保存工作档失败！ 待移转浅库位：" + shallowLoc.getLocNo());
                News.error("双深库位 --- 保存工作档失败！ 待移转浅库位：" + shallowLoc.getLocNo());
                throw new CoolException("保存工作档失败");
            }
            // 工作档明细保存
@@ -3254,7 +3255,7 @@
                    wrkDetl.setAppeTime(new Date());
                    wrkDetl.setModiTime(new Date());
                    if (!wrkDetlService.insert(wrkDetl)) {
                        log.error("双深库位 --- 保存工作档明细失败！ 待移转浅库位：" + shallowLoc.getLocNo());
                        News.error("双深库位 --- 保存工作档明细失败！ 待移转浅库位：" + shallowLoc.getLocNo());
                        throw new CoolException("保存工作档明细失败");
                    }
                }
@@ -3264,11 +3265,11 @@
                shallowLoc.setLocSts("R"); // R.出库预约
                shallowLoc.setModiTime(new Date());
                if (!locMastService.updateById(shallowLoc)) {
                    log.error("双深库位 --- 更新源库位状态失败！ 待移转浅库位：" + shallowLoc.getLocNo());
                    News.error("双深库位 --- 更新源库位状态失败！ 待移转浅库位：" + shallowLoc.getLocNo());
                    throw new CoolException("更新源库位状态失败");
                }
            } else {
                log.error("双深库位 --- 源库位出库失败！ 待移转浅库位：" + shallowLoc.getLocNo());
                News.error("双深库位 --- 源库位出库失败！ 待移转浅库位：" + shallowLoc.getLocNo());
                throw new CoolException("源库位出库失败");
            }
            // 修改目标库位状态
@@ -3276,15 +3277,15 @@
                loc.setLocSts("S"); // S.入库预约
                loc.setModiTime(new Date());
                if (!locMastService.updateById(loc)) {
                    log.error("双深库位 --- 更新目标库位状态失败！ 待移转浅库位：" + shallowLoc.getLocNo());
                    News.error("双深库位 --- 更新目标库位状态失败！ 待移转浅库位：" + shallowLoc.getLocNo());
                    throw new CoolException("更新目标库位状态失败");
                }
            } else {
                log.error("双深库位 --- 移转失败！ 待移转浅库位：" + shallowLoc.getLocNo());
                News.error("双深库位 --- 移转失败！ 待移转浅库位：" + shallowLoc.getLocNo());
                throw new CoolException("移转失败");
            }
        } catch (Exception e) {
            log.error("双深库位阻塞，对浅库位进行移转失败", e);
            News.error("双深库位阻塞，对浅库位进行移转失败", e);
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
@@ -3317,7 +3318,7 @@

                SteThread steThread = queryIdleCar(crnProtocol);
                if (Cools.isEmpty(steThread)) {
                    log.warn("没有空闲的小车进行演示功能");
                    News.warn("没有空闲的小车进行演示功能");
                    continue;
                }
                int steNo = steThread.getSlave().getId();
@@ -3354,7 +3355,7 @@
                        crn2LastLoc = locNo;
                    }

                    log.info("{}号堆垛机对{}库位进行演示", crn.getId(), locNo);
                    News.info("{}号堆垛机对{}库位进行演示", crn.getId(), locNo);

                    String sourceLocNo = Utils.getLocNo(steProtocol.getRow(), steProtocol.getBay(), steProtocol.getLev());

@@ -3368,7 +3369,7 @@
                    wrkCharge.setLocNo(locNo);
                    wrkCharge.setMemo("demo");
                    if (!wrkChargeService.insert(wrkCharge)) {
                        log.error("生成演示任务失败，堆垛机号：{}，小车：{}，源库位：{}，目标库位：{}", crn.getId(), steNo, sourceLocNo, locNo);
                        News.error("生成演示任务失败，堆垛机号：{}，小车：{}，源库位：{}，目标库位：{}", crn.getId(), steNo, sourceLocNo, locNo);
                    }
                }
            }
@@ -3395,7 +3396,7 @@
                wrkCharge.setWrkSts(32L);
                wrkCharge.setModiTime(new Date());
                if (!wrkChargeService.updateById(wrkCharge)) {
                    log.error("修改演示任务{}工作档 31.生成演示ID ==>> 32.小车走行 失败!", wrkCharge.getWrkNo());
                    News.error("修改演示任务{}工作档 31.生成演示ID ==>> 32.小车走行 失败!", wrkCharge.getWrkNo());
                }
            // 33.小车待搬
            } else if (wrkCharge.getWrkSts() == 33L) {
@@ -3413,7 +3414,7 @@
                crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                    News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改穿梭车运行中排列层
                    steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
@@ -3423,7 +3424,7 @@
                    wrkCharge.setCrnStrTime(now);
                    wrkCharge.setModiTime(now);
                    if (!wrkChargeService.updateById(wrkCharge)) {
                        log.error("修改演示任务{}工作档 33.小车待搬 => 34.吊车搬运 失败!", wrkCharge.getWrkNo());
                        News.error("修改演示任务{}工作档 33.小车待搬 => 34.吊车搬运 失败!", wrkCharge.getWrkNo());
                    }
                }
                // 35.小车就绪
@@ -3431,7 +3432,7 @@

                int steNo = steProtocol.getSteNo().intValue();
                if (!basSteService.updatePakMk(steNo, "Y")) {
                    log.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);
                    News.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);
                    return;
                }

@@ -3454,13 +3455,13 @@
                steCommand.setLev(steProtocol.getLev());

                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                    News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                } else {
                    // 修改工作档状态 35.小车就绪 => 36.小车走行
                    wrkCharge.setWrkSts(36L);
                    wrkCharge.setModiTime(new Date());
                    if (!wrkChargeService.updateById(wrkCharge)) {
                        log.error("修改演示任务{}工作档 35.小车就绪 => 36.小车走行 失败!", wrkCharge.getWrkNo());
                        News.error("修改演示任务{}工作档 35.小车就绪 => 36.小车走行 失败!", wrkCharge.getWrkNo());
                    }
                }
            }

 src/main/java/com/zy/common/service/CommonService.java

@@ -13,6 +13,7 @@
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.Shelves;
import com.zy.common.model.StartupDto;
import com.zy.core.News;
import com.zy.core.properties.SlaveProperties;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -277,7 +278,7 @@
                .eq("crn_no", crnNo);
        StaDesc staDesc = staDescService.selectOne(wrapper);
        if (Cools.isEmpty(staDesc)) {
            log.error("type_no={},stn_no={},crn_no={}", staDescId, sourceStaNo, crnNo);
            News.error("type_no={},stn_no={},crn_no={}", staDescId, sourceStaNo, crnNo);
            throw new CoolException("入库路径不存在");
        }
        BasDevp staNo = basDevpService.selectById(staDesc.getCrnStn());
@@ -338,7 +339,7 @@
                locTypeDto.setLocType1((short) 2);
                return getLocNo(null, staDescId, sourceStaNo, matNos, locTypeDto, times);
            }
            log.error("系统没有空库位！！！ 尺寸规格： {}， 轮询次数：{}", JSON.toJSONString(locTypeDto), times);
            News.error("系统没有空库位！！！ 尺寸规格： {}， 轮询次数：{}", JSON.toJSONString(locTypeDto), times);
            throw new CoolException("没有空库位");
        }
        String locNo = locMast.getLocNo();

 src/main/java/com/zy/common/service/erp/ErpSqlServer.java

@@ -1,6 +1,7 @@
package com.zy.common.service.erp;

import com.core.common.Cools;
import com.zy.core.News;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -130,14 +131,14 @@
            {
                pstm = conn.prepareStatement(sql);
            } else {
                log.error("更新ERP中间表失败===>>数据库连接conn为空");
                log.error("更新ERP中间表失败===>>" + sql);
                News.error("更新ERP中间表失败===>>数据库连接conn为空");
                News.error("更新ERP中间表失败===>>" + sql);
            }
            return pstm.executeUpdate();
        } catch (Exception e) {
            e.printStackTrace();
            log.error("更新ERP中间表失败===>>" + sql);
            log.error("更新ERP中间表失败===>>" + e);
            News.error("更新ERP中间表失败===>>" + sql);
            News.error("更新ERP中间表失败===>>" + e);
            return 0;
        } finally {
            release();
@@ -173,7 +174,7 @@
            Class.forName(erpDbProperties.getDriver_class_name()).newInstance();
            conn = DriverManager.getConnection(erpDbProperties.getUr(), erpDbProperties.getUsername(), erpDbProperties.getPassword());
        } catch (Exception e) {
            log.error("获取ERP数据库连接失败");
            News.error("获取ERP数据库连接失败");
            e.printStackTrace();
            throw new RuntimeException("获取ERP数据库连接失败");
        }
@@ -183,7 +184,7 @@
//                Class.forName(erpDbProperties.getDriver_class_name()).newInstance();
//                this.conn = DriverManager.getConnection(erpDbProperties.getUr(), erpDbProperties.getUsername(), erpDbProperties.getPassword());
//            } catch (Exception e) {
//                log.error("获取ERP数据库连接失败");
//                News.error("获取ERP数据库连接失败");
//                e.printStackTrace();
//                throw new RuntimeException("获取ERP数据库连接失败");
//            }

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

@@ -33,7 +33,7 @@
    @PostConstruct
    @Async
    public void init() throws InterruptedException {
        log.info("核心控制层开始初始化...............................................");
        News.info("核心控制层开始初始化...............................................");
        Thread.sleep(2000);
        // 初始化消息队列
        initMq();
@@ -41,7 +41,7 @@
        initThread();
        // 开始主流程进程
        mainProcess.start();
        log.info("核心控制层已启动...............................................");
        News.info("核心控制层已启动...............................................");
    }

    private void initMq(){
@@ -77,42 +77,42 @@

    private void initThread(){
        // 初始化堆垛机线程
        log.info("初始化堆垛机线程...................................................");
        News.info("初始化堆垛机线程...................................................");
        for (CrnSlave crn : slaveProperties.getCrn()) {
            CrnThread crnThread = new SiemensCrnThread(crn);
            new Thread((Runnable) crnThread).start();
            SlaveConnection.put(SlaveType.Crn, crn.getId(), crnThread);
        }
        // 初始化穿梭车线程
        log.info("初始化穿梭车线程...................................................");
        News.info("初始化穿梭车线程...................................................");
        for (SteSlave ste : slaveProperties.getSte()) {
            SteThread steThread = new SteThread(ste);
            new Thread(steThread).start();
            SlaveConnection.put(SlaveType.Ste, ste.getId(), steThread);
        }
        // 初始化输送线线程
        log.info("初始化输送线线程...................................................");
        News.info("初始化输送线线程...................................................");
        for (DevpSlave devp : slaveProperties.getDevp()) {
            DevpThread devpThread = new SiemensDevpThread(devp);
            new Thread((Runnable) devpThread).start();
            SlaveConnection.put(SlaveType.Devp, devp.getId(), devpThread);
        }
        // 初始化条码扫描仪线程
        log.info("初始化条码扫描仪线程...................................................");
        News.info("初始化条码扫描仪线程...................................................");
        for (Slave barcode : slaveProperties.getBarcode()) {
            BarcodeThread barcodeThread = new BarcodeThread(barcode);
            new Thread(barcodeThread).start();
            SlaveConnection.put(SlaveType.Barcode, barcode.getId(), barcodeThread);
        }
        // 初始化LED线程
        log.info("初始化LED线程...................................................");
        News.info("初始化LED线程...................................................");
        for (LedSlave led : slaveProperties.getLed()) {
            LedThread ledThread = new LedThread(led);
            new Thread(ledThread).start();
            SlaveConnection.put(SlaveType.Led, led.getId(), ledThread);
        }
        // 初始化磅秤线程
//        log.info("初始化磅秤线程...................................................");
//        News.info("初始化磅秤线程...................................................");
//        for (Slave scale : slaveProperties.getScale()) {
//            ScaleThread barcodeThread = new ScaleThread(scale);
//            new Thread(barcodeThread).start();

 src/main/java/com/zy/core/model/protocol/SteProtocol.java

@@ -4,6 +4,7 @@
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasSte;
import com.zy.asrs.service.BasSteService;
import com.zy.core.News;
import com.zy.core.enums.SteHisTaskStatusType;
import com.zy.core.enums.SteLocaType;
import com.zy.core.enums.SteStatusType;
@@ -277,7 +278,7 @@
                String chargeLine = SpringUtils.getBean(BasSteService.class).selectById(this.steNo).getChargeLine();
                return charge > Float.parseFloat(chargeLine);
            } catch (Exception e) {
                log.error("fail", e);
                News.error("fail", e);
                return false;
            }
        }

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

@@ -3,6 +3,7 @@
import com.alibaba.fastjson.JSONObject;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.zy.core.News;
import com.zy.core.Slave;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.OutputQueue;
@@ -34,7 +35,7 @@
        this.barcode.delete(0, this.barcode.length());
        this.barcode.append(barcode);
        if(!Cools.isEmpty(barcode)) {
            log.info("{}号条码器，检索数据：{}", slave.getId(), this.barcode);
            News.info("{}号条码器，检索数据：{}", slave.getId(), this.barcode);
            JSONObject jsonObject = new JSONObject();
            jsonObject.put("time", DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmss_F));
            jsonObject.put("barcode", barcode);

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

@@ -1,6 +1,7 @@
package com.zy.core.thread;

import com.core.common.Cools;
import com.zy.core.News;
import com.zy.core.Slave;
import com.zy.core.ThreadHandler;
import lombok.Data;
@@ -63,10 +64,10 @@
            socket.connect(socketAddress, 1000); //某些服务器ping延迟高时要增加,否则会报错connect timeout
            dataOutputStream = new DataOutputStream(socket.getOutputStream());
            dataInputStream = new DataInputStream(socket.getInputStream());
//            log.info("条码扫描仪连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            News.info("条码扫描仪连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        } catch (Exception e) {
            socket = null;
            log.error("磅秤扫描仪连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.error("磅秤扫描仪连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
        return true;
@@ -89,7 +90,7 @@
        }
        socket = null;
        } catch (IOException e) {
            log.error("SocketClient close Exception:" + e.getMessage());
            News.error("SocketClient close Exception:" + e.getMessage());
        }
    }


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

@@ -12,9 +12,12 @@
import com.zy.asrs.service.BasCrnOptService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.core.CrnThread;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.*;
import com.zy.core.enums.CrnStatusType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
@@ -127,10 +130,10 @@
        if(connect.IsSuccess){
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            News.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            News.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            initCrn();
        }
//        siemensNet.ConnectClose();
@@ -189,19 +192,19 @@
                    BasCrnp basCrnp = new BasCrnp();
                    basCrnp.setCrnNo(slave.getId());
                    if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
                        log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                        News.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                    }
                } catch (Exception ignore){}

            } else {
                initCrn();
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
//                log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
//                News.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
        } catch (Exception e) {
//            e.printStackTrace();
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            News.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initCrn();
        }
    }
@@ -220,7 +223,7 @@
     */
    private boolean write(CrnCommand command) throws InterruptedException {
        if (null == command) {
            log.error("堆垛机写入命令为空");
            News.error("堆垛机写入命令为空");
            return false;
        }
//        convertRow(command);
@@ -272,12 +275,12 @@
        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
//            this.readStatus();
            log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

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

@@ -11,6 +11,7 @@
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.service.BasDevpService;
import com.zy.core.DevpThread;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
@@ -99,10 +100,10 @@
        if(connect.IsSuccess){
            result = true;
            OutputQueue.DEVP.offer(MessageFormat.format( "【{0}】输送线plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.info("输送线plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.info("输送线plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format( "【{0}】输送线plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]  [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("输送线plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.error("输送线plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
        siemensS7Net.ConnectClose();
        return result;
@@ -217,12 +218,12 @@
                }
            } catch (Exception e) {
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】更新数据库数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
                log.error("更新数据库数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                News.error("更新数据库数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }

        } else {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】读取输送线plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
//            log.error("读取输送线plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
//            News.error("读取输送线plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        }
    }

@@ -244,10 +245,10 @@
                staProtocol.setPakMk(true);
            }
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线站点数据失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
            log.error("写入输送线站点数据失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
            News.error("写入输送线站点数据失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
            log.info("输送线命令下发 [id:{}] >>>>> 命令下发： {}",  slave.getId(), JSON.toJSON(staProtocol));
            News.info("输送线命令下发 [id:{}] >>>>> 命令下发： {}",  slave.getId(), JSON.toJSON(staProtocol));
        }
    }

@@ -262,7 +263,7 @@
        }
        OperateResult write = siemensS7Net.Write("DB100.50", heartBeatVal);
        if (!write.IsSuccess) {
            log.error("输送线plc编号={} 心跳失败", slave.getId());
            News.error("输送线plc编号={} 心跳失败", slave.getId());
        }
    }

@@ -285,10 +286,10 @@
    public boolean charge(int index, boolean open) {
        OperateResult write = siemensS7Net.Write("DB102.50." + (index + 3), open);
        if (!write.IsSuccess) {
            log.error("输送线plc编号={} {}号充电桩{}控制失败", slave.getId(), index + 1, open?"打开":"关闭");
            News.error("输送线plc编号={} {}号充电桩{}控制失败", slave.getId(), index + 1, open?"打开":"关闭");
            return false;
        } else {
            log.error("输送线plc编号={} {}号充电桩{}控制成功", slave.getId(), index + 1, open?"打开":"关闭");
            News.error("输送线plc编号={} {}号充电桩{}控制成功", slave.getId(), index + 1, open?"打开":"关闭");
        }
        return true;
    }

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

@@ -13,6 +13,7 @@
import com.zy.asrs.entity.BasSteOpt;
import com.zy.asrs.service.BasSteOptService;
import com.zy.asrs.service.BasSteService;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -106,10 +107,10 @@
        if(connect.IsSuccess){
            result = true;
            OutputQueue.STE.offer(MessageFormat.format( "【{0}】穿梭车plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.info("穿梭车plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.info("穿梭车plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.STE.offer(MessageFormat.format("【{0}】穿梭车plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("穿梭车plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.error("穿梭车plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initSte();
        }
//        melsecMcNet.ConnectClose();
@@ -202,7 +203,7 @@
                    BasSte basSte = new BasSte();
                    basSte.setSteNo(slave.getId());
                    if (!service.updateById(steProtocol.toSqlModel(basSte))){
                        log.error("穿梭车plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                        News.error("穿梭车plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                    }

                }
@@ -213,7 +214,7 @@
        } catch (Exception e) {
//            e.printStackTrace();
            OutputQueue.STE.offer(MessageFormat.format("【{0}】读取穿梭车plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            log.error("读取穿梭车plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            News.error("读取穿梭车plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initSte();
        }

@@ -224,7 +225,7 @@
     */
    private boolean write(SteCommand command){
        if (null == command) {
            log.error("穿梭车写入命令为空");
            News.error("穿梭车写入命令为空");
            return false;
        }
        command.setSteNo(slave.getId());
@@ -313,12 +314,12 @@
                }
            }

            log.info("穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            News.info("穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.STE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.STE.offer(MessageFormat.format("【{0}】写入穿梭车plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入穿梭车plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.error("写入穿梭车plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }
@@ -326,7 +327,7 @@
    public void modifyPos(Integer row, Integer bay, Integer lev) {
        BasSteService service = SpringUtils.getBean(BasSteService.class);
        if (!service.updatePos(this.slave.getId(), row, bay, lev)) {
            log.error("更新{}号穿梭车定位失败 ===>> 排：【{}】, 列：【{}】，层：【{}】", this.slave.getId(), row, bay, lev);
            News.error("更新{}号穿梭车定位失败 ===>> 排：【{}】, 列：【{}】，层：【{}】", this.slave.getId(), row, bay, lev);
        }
    }

@@ -342,7 +343,7 @@
                if (service.updatePakMk(this.slave.getId(), "N")) {
                    return true;
                } else {
                    log.error("{}号穿梭车修改数据库定位失败！！！", slave.getId());
                    News.error("{}号穿梭车修改数据库定位失败！！！", slave.getId());
                }
            }
        }
@@ -353,12 +354,12 @@
        short[] arr = new short[] {row.shortValue(), bay.shortValue(), lev.shortValue()};
        OperateResult result = siemensS7Net.Write("V1002", arr);
        if (!result.IsSuccess) {
            log.error("更新{}号穿梭车定位失败 ===>> 排：【{}】, 列：【{}】，层：【{}】", this.slave.getId(), row, bay, lev);
            News.error("更新{}号穿梭车定位失败 ===>> 排：【{}】, 列：【{}】，层：【{}】", this.slave.getId(), row, bay, lev);
            return false;
        }
        BasSteService service = SpringUtils.getBean(BasSteService.class);
        if (!service.updatePos(this.slave.getId(), row, bay, lev)) {
            log.error("更新{}号穿梭车定位失败 ===>> 排：【{}】, 列：【{}】，层：【{}】", this.slave.getId(), row, bay, lev);
            News.error("更新{}号穿梭车定位失败 ===>> 排：【{}】, 列：【{}】，层：【{}】", this.slave.getId(), row, bay, lev);
            return false;
        }
        return true;
@@ -380,14 +381,14 @@
        }
        OperateResult write = siemensS7Net.Write("D10", heartBeatVal);
        if (!write.IsSuccess) {
            log.error("输送线plc编号={} 心跳失败", slave.getId());
            News.error("输送线plc编号={} 心跳失败", slave.getId());
        }
    }

//    public void modifyPos(int wrkNo, int row, int bay, int lev) {
//        BasSteService service = SpringUtils.getBean(BasSteService.class);
//        if (!service.updatePos(wrkNo,this.slave.getId(), row, bay, lev)) {
//            log.error("更新{}号穿梭车定位失败 ===>> 排：【{}】, 列：【{}】，层：【{}】", this.slave.getId(), row, bay, lev);
//            News.error("更新{}号穿梭车定位失败 ===>> 排：【{}】, 列：【{}】，层：【{}】", this.slave.getId(), row, bay, lev);
//        }
//    }