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

@@ -2,6 +2,9 @@

import com.core.common.R;
import com.zy.asrs.domain.param.ToOutStaParam;
import com.zy.asrs.entity.RcsReporterTask;
import com.zy.asrs.entity.RcsReturn;
import com.zy.asrs.service.RcsService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
@@ -9,6 +12,8 @@
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
@@ -16,6 +21,8 @@
@Slf4j
@RestController
public class OpenController {
    @Autowired
    private RcsService rcsService;

    @RequestMapping("/open/toOutSta")
    public R toOutSta(@RequestBody ToOutStaParam param) {
@@ -47,4 +54,11 @@
        return R.ok().add(result);
    }

    // 反馈任务执行结果
    @PostMapping("/api/robot/reporter/task")
    public RcsReturn reporterTask(@RequestBody RcsReporterTask param){

        return rcsService.reporterTask(param);
    }

}

 src/main/java/com/zy/asrs/entity/BasDevp.java

@@ -94,9 +94,9 @@
    private String downing;

    /**
     * 需求1
     * 料架
     */
    @ApiModelProperty(value= "需求1")
    @ApiModelProperty(value= "料架")
    private String inreq1;

    /**

 src/main/java/com/zy/asrs/entity/LocMast.java

@@ -174,6 +174,9 @@
    @TableField("ctn_no")
    private String ctnNo;

    @ApiModelProperty(value= "拍照图片")
    private String pic;

    public String getIoTime$(){
        if (Cools.isEmpty(this.ioTime)){
            return "";

 src/main/java/com/zy/asrs/entity/RcsReporterTask.java

New file
@@ -0,0 +1,21 @@
package com.zy.asrs.entity;

import com.alibaba.fastjson.JSONObject;
import lombok.Data;

// 任务执行反馈
@Data
public class RcsReporterTask {

    // 任务号
    private String robotTaskCode;
    // 当前执行任务的机器人唯一标识。
    private String singleRobotCode;
    // 目标路径序列，0 起点序号，1 终点序号。
    private Integer currentSeq;
    // 详细信息
    private JSONObject extra;

    //华晓AGV任务状态及请求
    private String method;
}

 src/main/java/com/zy/asrs/entity/RcsReturn.java

New file
@@ -0,0 +1,20 @@
package com.zy.asrs.entity;

import com.alibaba.fastjson.JSONObject;
import lombok.Data;

// 海康返回
@Data
public class RcsReturn {

    // SUCCESS 成功
//    Err_TaskTypeNotSupport 任务类型不支持
//    Err_RobotGroupsNotMatch 机器人资源组编号与任务不匹配，无法调度
//    Err_RobotCodeNotMatch 机器人编号与任务不匹配，无法调度
//    Err_TargetRouteError 任务路径参数有误
    private String code;

    private String message;

    private JSONObject data;
}

 src/main/java/com/zy/asrs/entity/RcsTaskContinue.java

New file
@@ -0,0 +1,20 @@
package com.zy.asrs.entity;

import lombok.Data;

// 继续执行任务
@Data
public class RcsTaskContinue {

    // 任务链编号
    private String robotTaskCode;
    // 触发类型：
    //SITE 站点编号触发
    //CARRIER 载具编号触发
    //ROBOT 车号触发
    //TASK 任务链编号触发
    private String triggerType;
    // 与 triggerType 对应的触发编号
    private String triggerCode;

}

 src/main/java/com/zy/asrs/entity/Task.java

New file
@@ -0,0 +1,488 @@
package com.zy.asrs.entity;

import com.baomidou.mybatisplus.annotations.TableField;
import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.annotations.TableName;
import com.baomidou.mybatisplus.enums.IdType;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.SpringUtils;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.LocMastService;
import com.zy.system.entity.User;
import com.zy.system.service.UserService;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import lombok.experimental.Accessors;

import java.io.Serializable;
import java.text.SimpleDateFormat;
import java.util.Date;

@Data
@TableName("agv_task")
@Accessors(chain = true)
public class Task implements Serializable {

    private static final long serialVersionUID = 1L;

    @ApiModelProperty(value= "")
    @TableId(value = "id", type = IdType.AUTO)
    private Long id;

    /**
     * 任务类型： agv  , crn
     */
    @ApiModelProperty(value= "任务类型： agv  , crn")
    @TableField("task_type")
    private String taskType;

    /**
     * 工作号
     */
    @ApiModelProperty(value= "工作号")
    @TableField("wrk_no")
    private Integer wrkNo;

    @ApiModelProperty(value= "下发AGV任务计数")
    @TableField("ctn_type")
    private Integer ctnType=0;

    @ApiModelProperty(value= "")
    @TableField("inv_wh")
    private String invWh;

    @ApiModelProperty(value= "")
    private Date ymd;

    @ApiModelProperty(value= "")
    private String mk;

    @ApiModelProperty(value= "")
    @TableField("whs_type")
    private Integer whsType;

    /**
     * 工作状态
     */
    @ApiModelProperty(value= "工作状态")
    @TableField("wrk_sts")
    private Long wrkSts;

    /**
     * 入出库类型
     * 3.站到站
     * 4.站到区域
     * 5.区域到站
     */
    @ApiModelProperty(value= "入出库类型")
    @TableField("io_type")
    private Integer ioType;

    /**
     * 堆垛机
     */
    @ApiModelProperty(value= "堆垛机")
    @TableField("crn_no")
    private Integer crnNo;

    @ApiModelProperty(value= "")
    @TableField("sheet_no")
    private String sheetNo;

    /**
     * 优先级
     */
    @ApiModelProperty(value= "优先级")
    @TableField("io_pri")
    private Double ioPri;

    @ApiModelProperty(value= "")
    @TableField("wrk_date")
    private Date wrkDate;

    /**
     * 目标库位
     */
    @ApiModelProperty(value= "目标库位")
    @TableField("loc_no")
    private String locNo;

    /**
     * 目标站
     */
    @ApiModelProperty(value= "目标站")
    @TableField("sta_no")
    private String staNo;

    /**
     * 源站
     */
    @ApiModelProperty(value= "源站")
    @TableField("source_sta_no")
    private String sourceStaNo;

    /**
     * 源库位
     */
    @ApiModelProperty(value= "源库位")
    @TableField("source_loc_no")
    private String sourceLocNo;

    @ApiModelProperty(value= "")
    @TableField("loc_sts")
    private String locSts;

    @ApiModelProperty(value= "1.海康AGV  2.华晓AGV   默认是1.海康")
    @TableField("plt_type")
    private Integer pltType=1;

    @ApiModelProperty(value= "料架号")
    private String packed;

    /**
     * 拣料
     */
    @ApiModelProperty(value= "拣料")
    private String picking;

    @ApiModelProperty(value= "")
    @TableField("link_mis")
    private String linkMis;

    @ApiModelProperty(value= "")
    @TableField("online_yn")
    private String onlineYn;

    @ApiModelProperty(value= "是否任务报错")
    @TableField("upd_mk")
    private String updMk;

    /**
     * 退出
     */
    @ApiModelProperty(value= "退出")
    @TableField("exit_mk")
    private String exitMk;

    /**
     * 空板
     */
    @ApiModelProperty(value= "空板")
    @TableField("empty_mk")
    private String emptyMk;

    /**
     * 工作时间
     */
    @ApiModelProperty(value= "工作时间")
    @TableField("io_time")
    private Date ioTime;

    @ApiModelProperty(value= "")
    @TableField("ove_mk")
    private String oveMk;

    @ApiModelProperty(value= "")
    @TableField("mtn_type")
    private Double mtnType;

    @ApiModelProperty(value= "")
    @TableField("user_no")
    private String userNo;

    /**
     * 堆垛机启动时间
     */
    @ApiModelProperty(value= "堆垛机启动时间")
    @TableField("crn_str_time")
    private Date crnStrTime;

    /**
     * 堆垛机停止时间
     */
    @ApiModelProperty(value= "堆垛机停止时间")
    @TableField("crn_end_time")
    private Date crnEndTime;

    @ApiModelProperty(value= "")
    @TableField("plc_str_time")
    private Date plcStrTime;

    @ApiModelProperty(value= "")
    @TableField("crn_pos_time")
    private Date crnPosTime;

    @ApiModelProperty(value= "")
    @TableField("load_time")
    private Double loadTime;

    @ApiModelProperty(value= "")
    @TableField("exp_time")
    private Double expTime;

    @ApiModelProperty(value= "")
    @TableField("ref_wrkno")
    private Double refWrkno;

    /**
     * 拣料时间
     */
    @ApiModelProperty(value= "拣料时间")
    @TableField("ref_iotime")
    private Date refIotime;

    /**
     * 修改人员
     */
    @ApiModelProperty(value= "修改人员")
    @TableField("modi_user")
    private Long modiUser;

    /**
     * 修改时间
     */
    @ApiModelProperty(value= "修改时间")
    @TableField("modi_time")
    private Date modiTime;

    /**
     * 创建者
     */
    @ApiModelProperty(value= "创建者")
    @TableField("appe_user")
    private Long appeUser;

    /**
     * 添加时间
     */
    @ApiModelProperty(value= "添加时间")
    @TableField("appe_time")
    private Date appeTime;

    @ApiModelProperty(value= "")
    @TableField("pause_mk")
    private String pauseMk;

    @ApiModelProperty(value= "")
    @TableField("error_time")
    private Date errorTime;

    @ApiModelProperty(value= "")
    @TableField("error_memo")
    private String errorMemo;

    @ApiModelProperty(value= "")
    @TableField("ctn_kind")
    private Integer ctnKind;

    @ApiModelProperty(value= "")
    @TableField("manu_type")
    private String manuType;

    /**
     * 备注
     */
    @ApiModelProperty(value= "备注")
    private String memo;

    @ApiModelProperty(value= "")
    @TableField("sc_weight")
    private Double scWeight;

    @ApiModelProperty(value= "")
    @TableField("log_mk")
    private String logMk;

    @ApiModelProperty(value= "")
    @TableField("log_err_time")
    private Date logErrTime;

    @ApiModelProperty(value= "")
    @TableField("log_err_memo")
    private String logErrMemo;

    /**
     * 条码
     */
    @ApiModelProperty(value= "条码")
    private String barcode;

    // Y:销售订单出库任务
    @ApiModelProperty(value= "")
    @TableField("Pdc_type")
    private String PdcType;

    @ApiModelProperty(value= "")
    @TableField("ctn_no")
    private String ctnNo;

    /**
     * 满板
     */
    @ApiModelProperty(value= "满板")
    @TableField("full_plt")
    private String fullPlt;

    /**
     * 先入品 / 双重入库
     */
    @ApiModelProperty(value= "先入品")
    @TableField("pre_have")
    private String preHave;

    /**
     * 空操作 / 取货无箱
     */
    @ApiModelProperty(value= "空操作")
    @TableField("take_none")
    private String takeNone;

    /**
     * 外部任务编号
     */
    @ApiModelProperty(value= "外部任务编号")
    @TableField("task_no")
    private String taskNo;

    public Task() {}

    public String getYmd$(){
        if (Cools.isEmpty(this.ymd)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.ymd);
    }

    public String getCrnNo$(){
        BasCrnpService service = SpringUtils.getBean(BasCrnpService.class);
        BasCrnp basCrnp = service.selectById(this.crnNo);
        if (!Cools.isEmpty(basCrnp)){
            return String.valueOf(basCrnp.getCrnNo());
        }
        return null;
    }

    public String getWrkDate$(){
        if (Cools.isEmpty(this.wrkDate)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.wrkDate);
    }

    public String getLocNo$(){
        LocMastService service = SpringUtils.getBean(LocMastService.class);
        LocMast locMast = service.selectById(this.locNo);
        if (!Cools.isEmpty(locMast)){
            return String.valueOf(locMast.getLocNo());
        }
        return null;
    }

    public String getTaskType$(){
        if (Cools.isEmpty(this.taskType)){return  null;}
        if (taskType.equals("AGV")) {
            return "AGV任务";
        } else {
            return "堆垛机任务";
        }
    }

    public String getSourceLocNo$(){
        LocMastService service = SpringUtils.getBean(LocMastService.class);
        LocMast locMast = service.selectById(this.sourceLocNo);
        if (!Cools.isEmpty(locMast)){
            return String.valueOf(locMast.getLocNo());
        }
        return null;
    }

    public String getIoTime$(){
        if (Cools.isEmpty(this.ioTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.ioTime);
    }

    public String getCrnStrTime$(){
        if (Cools.isEmpty(this.crnStrTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.crnStrTime);
    }

    public String getCrnEndTime$(){
        if (Cools.isEmpty(this.crnEndTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.crnEndTime);
    }

    public String getPlcStrTime$(){
        if (Cools.isEmpty(this.plcStrTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.plcStrTime);
    }

    public String getCrnPosTime$(){
        if (Cools.isEmpty(this.crnPosTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.crnPosTime);
    }

    public String getRefIotime$(){
        if (Cools.isEmpty(this.refIotime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.refIotime);
    }

    public String getModiUser$(){
        UserService service = SpringUtils.getBean(UserService.class);
        User user = service.selectById(this.modiUser);
        if (!Cools.isEmpty(user)){
            return String.valueOf(user.getUsername());
        }
        return null;
    }

    public String getModiTime$(){
        if (Cools.isEmpty(this.modiTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.modiTime);
    }

    public String getAppeUser$(){
        UserService service = SpringUtils.getBean(UserService.class);
        User user = service.selectById(this.appeUser);
        if (!Cools.isEmpty(user)){
            return String.valueOf(user.getUsername());
        }
        return null;
    }

    public String getAppeTime$(){
        if (Cools.isEmpty(this.appeTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.appeTime);
    }

    public String getErrorTime$(){
        if (Cools.isEmpty(this.errorTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.errorTime);
    }


    public String getLogErrTime$(){
        if (Cools.isEmpty(this.logErrTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.logErrTime);
    }
}

 src/main/java/com/zy/asrs/entity/TransInOutStationAllow.java

New file
@@ -0,0 +1,29 @@
package com.zy.asrs.entity;

import lombok.Data;
import lombok.EqualsAndHashCode;

// 入站允许、离站允许
@EqualsAndHashCode(callSuper = true)
@Data
public class TransInOutStationAllow extends TransParent {
    //任务编号
    private String taskno;
    //任务名称
    private String taskname;
    //AGV编号
    private String AgvCode;
    //运输类型
    private String TransType;
    //生产线编号
    private String ProductLineId;
    //工位编号
    private String StationId;

    //任务类型

    private String taskType;

    // 是否允许，Y 允许；N，不允许
    private String status;
}

 src/main/java/com/zy/asrs/entity/TransParent.java

New file
@@ -0,0 +1,39 @@
package com.zy.asrs.entity;

import com.alibaba.fastjson.annotation.JSONField;
import com.fasterxml.jackson.annotation.JsonProperty;
import lombok.Data;

// 出入站请求继承父类：入站请求、入站允许、离站请求、离站允许、离站完成
@Data
public class TransParent {

    // 任务编号，wcs_task_header表中的task_no
    private String taskno;
    // 任务名称，wcs_task_header表中的task_name
    private String taskname;
    // AGV编码
    @JsonProperty("AgvCode")
    @JSONField(name = "AgvCode")
    private String AgvCode;
    // 运输类型
    @JsonProperty("TransType")
    @JSONField(name = "TransType")
    private String TransType;
    // 生产线编码
    @JsonProperty("ProductLineId")
    @JSONField(name = "ProductLineId")
    private String ProductLineId;
    // 工位编码
    @JsonProperty("StationId")
    @JSONField(name = "StationId")
    private String StationId;
    // 任务类型
    @JsonProperty("TaskType")
    @JSONField(name = "TaskType")
    private String TaskType;

    //请求类型
    private String method;

}

 src/main/java/com/zy/asrs/entity/WrkMast.java

@@ -48,6 +48,14 @@
    private Integer whsType;

    /**
     * 0：需要创建agv搬运空料架任务
     * 1：wms成功创建agv搬运空料架任务
     */
    @ApiModelProperty(value= "需要下发agv任务的状态")
    @TableField("ctn_type")
    private Integer ctnType;

    /**
     * 工作状态
     */
    @ApiModelProperty(value= "工作状态")
@@ -157,10 +165,6 @@
    @ApiModelProperty(value= "工作时间")
    @TableField("io_time")
    private Date ioTime;

    @ApiModelProperty(value= "")
    @TableField("ctn_type")
    private Integer ctnType;

    @ApiModelProperty(value= "")
    private String packed;
@@ -309,6 +313,10 @@
    @TableField("full_plt")
    private String fullPlt;

    @ApiModelProperty(value= "拍照图片")
    private String pic;


    public String getWrkSts$(){
        BasWrkStatusMapper mapper = SpringUtils.getBean(BasWrkStatusMapper.class);
        BasWrkStatus entity = mapper.selectById(this.wrkSts);

 src/main/java/com/zy/asrs/enums/RcsRetMethodEnum.java

New file
@@ -0,0 +1,45 @@
package com.zy.asrs.enums;

public enum RcsRetMethodEnum {

    TASK_START("start", "任务开始"),
    TASK_OUT_BIN("outbin", "走出储位"),

    APPLY_IN_STATION("applyInStation", "入站请求"),
    APPLY_OFF_STATION("applyOutStation", "离站请求"),
    ARRIVE_ON_STATION("arriveOnStation", "到站完成"),
    ARRIVE_OFF_STATION("arriveOffStation", "离站完成"),


    APPLY_PUT("applyPut", "放货申请"),
    TASK_END("end", "任务完成"),
    APPLY_PICK("applyPick", "取货申请"),
    PICK_COMPLETE("pickComplete", "rcs取货完成，已退出输送线");



    private String code;
    private String message;

    RcsRetMethodEnum(String code, String message) {
        this.code = code;
        this.message = message;
    }

    public static RcsRetMethodEnum getEnum(String code) {
        for (RcsRetMethodEnum method : RcsRetMethodEnum.values()) {
            if (method.getCode().equals(code)) {
                return method;
            }
        }
        return null;
    }

    public String getCode() {
        return code;
    }

    public String getMessage() {
        return message;
    }
}

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

New file
@@ -0,0 +1,8 @@
package com.zy.asrs.mapper;

import com.baomidou.mybatisplus.mapper.BaseMapper;
import com.zy.asrs.entity.Task;

public interface TaskMapper extends BaseMapper<Task> {

}

 src/main/java/com/zy/asrs/service/RcsService.java

New file
@@ -0,0 +1,15 @@
package com.zy.asrs.service;

import com.zy.asrs.entity.RcsReporterTask;
import com.zy.asrs.entity.RcsReturn;

public interface RcsService {

    /**
     * 2.2.1任务执行回馈
     *
     * @param rcsReporterTask
     * @return
     */
    RcsReturn reporterTask(RcsReporterTask rcsReporterTask);
}

 src/main/java/com/zy/asrs/service/TaskService.java

New file
@@ -0,0 +1,9 @@
package com.zy.asrs.service;

import com.baomidou.mybatisplus.service.IService;
import com.zy.asrs.entity.Task;

import java.util.List;

public interface TaskService extends IService<Task> {
}

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

@@ -13,16 +13,14 @@
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.common.constant.RedisConstantType;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.SearchLocParam;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
import com.zy.common.utils.CollectionUtils;
import com.zy.common.utils.HttpHandler;
import com.zy.common.utils.News;
import com.zy.common.utils.RedisUtil;
import com.zy.common.utils.*;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
@@ -49,6 +47,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.text.SimpleDateFormat;
import java.util.*;
import java.util.stream.Collectors;

@@ -100,6 +99,9 @@
    @Value("${wms.url}")
    private String wmsUrl;

    @Autowired
    private HikUtils hikUtils;

    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
@@ -136,9 +138,7 @@
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && staProtocol.getWorkNo() == 9999
                        && staProtocol.isPakMk()
//                        && (staProtocol.getEmptyInType() != 1 && staProtocol.getEmptyInType() != 2)
                ) {
                        && staProtocol.isPakMk()) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");

                    String barcode = barcodeThread.getBarcode();
@@ -422,7 +422,7 @@
                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                            staProtocol.setPalletSize(locMast.getLocType2());
//                            staProtocol.setPalletSize(locMast.getLocType2());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
@@ -959,14 +959,12 @@
     * 入库  ===>>  堆垛机站到库位
     */
    public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
        News.warnNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发：执行入库");
        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
            boolean flag = false;
            // 获取堆垛机入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                News.infoNoLog("" + mark + " - 1" + " - 1" + " - 堆垛机入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
                continue;
            } else {
                staProtocol = staProtocol.clone();
@@ -974,7 +972,7 @@
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                News.error("" + mark + " - 1" + " - 2" + " - 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;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
@@ -982,33 +980,27 @@
                flag = true;
            }
            if (!flag) {
                News.errorNoLog("" + mark + " - 1" + " - 3" + " - 堆垛机入库站信息(以下需要全true):"
                        + "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
                        + "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isInEnable()
                        + "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
                continue;
            }
            // 获取工作状态为2（设备上走）的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            if (null == wrkMast) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
//                log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                continue;
            }
            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
            if (locMast == null) {
                News.error("" + mark + " - 1" + " - 5" + " - 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")) {
                News.error("" + mark + " - 1" + " - 6" + " - 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;
            }

            // 堆垛机控制过滤
            if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                News.infoNoLog(""+mark+" - 1"+" - 7"+" - 堆垛机控制过滤:堆垛机是否空闲={}，任务号={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo());
                continue;
            }

@@ -1017,89 +1009,92 @@
                continue;
            }

//            if (crnProtocol.getCrnNo() == 1) {
//                //判断堆垛机和当前任务是否处于一个巷道
//                if (Utils.getLaneByLocNo(wrkMast.getLocNo()) != crnProtocol.getCrnLane()) {
//                    //判断堆垛机所在巷道是否存在其他任务，如存在则优先执行
//                    List<WrkMast> currentWrkMasts = wrkMastService.selectLaneWrkMast(crnProtocol.getCrnLane(), false);
////                    if (!currentWrkMasts.isEmpty()) {
////                        continue;//当前堆垛机所在巷道存在任务
////                    }
//                }
//            }

            // 双深库位且浅库位有货，则需先对浅库位进行库位移转
            if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
                News.warnNoLog("" + mark + " - 1" + " - 8" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}", wrkMast.getWrkNo());
                String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
                LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                    News.warn("" + mark + " - 1" + " - 9" + " - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！库位={},库位状态={}", shallowLoc.getLocNo(), shallowLoc.getLocSts());
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    if (null == waitWrkMast) {
                        News.error("" + mark + " - 1" + " - 10" + " - {}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() != 14 && waitWrkMast.getIoType() > 100) {
                            waitWrkMast.setIoPri(15D);
                            waitWrkMast.setModiTime(new Date());
                            if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                News.error("" + mark + " - 1" + " - 11" + " - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                            }
                            continue;
                        waitWrkMast.setIoPri(15D);
                        waitWrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                            News.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                        }

                        if (waitWrkMast.getWrkSts() < 5 && waitWrkMast.getIoType() < 100) {
                            continue;//有任务禁止搬运，有可能浅库位状态还未变更完成
                        }
                        continue;
                    }

                } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                    News.warn("" + mark + " - 1" + " - 12" + " - // F、D  库位={},库位状态={}", shallowLoc.getLocNo(), shallowLoc.getLocSts());
                    // 此标记避免多次执行移库任务
                    if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                        if (moveLocForDeepLoc(slave, crnProtocol, shallowLoc, mark)) {
                            wrkMast.setUpdMk("Y");
                            wrkMast.setIoPri(14D);
                            wrkMastMapper.updateById(wrkMast);
                        }
//                        wrkMast.setUpdMk("Y");
//                        wrkMast.setIoPri(14D);
//                        wrkMastMapper.updateById(wrkMast);
//                        // 生成工作档,将浅库位移转到新的库位中
//                        moveLocForDeepLoc(slave, shallowLoc,mark);
                        wrkMast.setUpdMk("Y");
                        wrkMast.setIoPri(14D);
                        wrkMastMapper.updateById(wrkMast);
                        // 生成工作档,将浅库位移转到新的库位中
                        moveLocForDeepLoc(slave, shallowLoc);
                        // 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)
//                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
                    }
                    continue;
                } else if (shallowLoc.getLocSts().equals("Q")) {
                    News.warn("" + mark + " - 1" + " - 13" + " - // Q  库位={},库位状态={}", shallowLoc.getLocNo(), shallowLoc.getLocSts());
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                        News.infoNoLog("" + mark + " - 1" + " - 14" + " - // F、D  工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
                        continue;
                    }
                }
            }
            News.info("" + mark + " - 1" + " - 15" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
                    , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue()
                    , locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue());
            String ip = "";
            if (wrkMast.getStaNo()==401){
                ip = "172.26.4.231";
            }else if (wrkMast.getStaNo()==402){
                ip = "172.26.4.232";
            }else if (wrkMast.getStaNo()==307){
                ip = "172.26.1.231";
            }else if (wrkMast.getStaNo()==303){
                ip = "172.26.1.232";
            }else if (wrkMast.getStaNo()==304){
                ip = "172.26.1.233";
            }
            SimpleDateFormat sf = new SimpleDateFormat("yyyyMMddHHmmss");
            String newName = sf.format(new Date()) + "_" + locMast.getLocNo();
            String pic = wrkMast.getPic();
            List<String> list = null;
            if (Cools.isEmpty(pic)) {
                list = new ArrayList<>();
            } else {
                list = JSON.parseArray(pic, String.class);
            }
            list.add(newName);
            //入库前抓拍
            try {
                hikUtils.startPic(ip, newName + ".jpg");
            } catch (Exception e) {
                log.error("入库前抓拍");
            }


            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
//            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
            crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层\
            crnCommand.setBarcode(wrkMast.getBarcode());//托盘码
            log.error("768 堆垛机命令下发" + crnCommand);
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                News.error("" + mark + " - 1" + " - 16" + " - 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 {
                log.error("772 堆垛机命令下发成功" + crnCommand);
                News.info("772 堆垛机命令下发成功" + crnCommand);

//                long startTime = System.currentTimeMillis();
//                while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
@@ -1114,16 +1109,20 @@
//                }

                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                log.error("787 修改工作档状态2.设备上走 => 3.吊车入库中 " + wrkMast);
                News.info("787 修改工作档状态2.设备上走 => 3.吊车入库中 " + wrkMast);
                Date now = new Date();
                wrkMast.setWrkSts(3L);
                wrkMast.setPic(JSON.toJSONString(list));
                wrkMast.setCrnStrTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    News.error("" + mark + " - 1" + " - 17" + " - 修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                    News.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                }
                log.error("795 修改工作档状态成功2.设备上走 => 3.吊车入库中" + wrkMast);
                News.info("795 修改工作档状态成功2.设备上走 => 3.吊车入库中" + wrkMast);
            }
        }
        News.infoNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发 ： 入库执行完毕");
    }

    /**
@@ -1131,35 +1130,6 @@
     * 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
     */
    public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
        News.warnNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发：执行出库");

//        int devpTaskStackOver = 20;
//        Config config = configService.selectOne(new EntityWrapper<Config>()
//                .eq("code", "devpTaskStackOver"));
//        if (config != null) {
//            devpTaskStackOver = Integer.parseInt(config.getValue());
//        }
//        int devpCheckTaskStackOver = 2;
//        Config config2 = configService.selectOne(new EntityWrapper<Config>()
//                .eq("code", "devpCheckTaskStackOver"));
//        if (config2 != null) {
//            devpCheckTaskStackOver = Integer.parseInt(config2.getValue());
//        }
//
//        int outNumber = 13;
//        Config config3 = configService.selectOne(new EntityWrapper<Config>()
//                .eq("code", "fullBoardOutboundNumber"));
//        if (config3 != null) {
//            outNumber = Integer.parseInt(config3.getValue());
//        }
//
//
//        Integer devpWorkingCount = commonService.queryDevpWorkingCount();
//        if (devpWorkingCount > devpTaskStackOver) {
//            News.warn("" + mark + " - 2" + " - 0" + " - 输送线任务过载，当前输送线承载数量:{}", devpWorkingCount);
//            return;
//        }

        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
            // 获取工作状态为11（生成出库ID）的出库工作档
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
@@ -1170,106 +1140,68 @@
                }
                // 工作档状态判断
                if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
                    News.error("" + mark + " - 2" + " - 1" + " - 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")) {
                    News.error("" + mark + " - 2" + " - 2" + " - 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;
                }
                // 获取堆垛机出库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
                if (staProtocol == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
                    break;
//                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

//                if (wrkMast.getStaNo() == 1003 || wrkMast.getStaNo() == 1007 || wrkMast.getStaNo() == 1004) {
//                    //检测是否有入库任务
//                    List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
//                            .in("io_type", 1, 53, 57)
//                            .notIn("wrk_sts", 3, 4, 5)
//                            .in("source_sta_no", 1002, 1007)
//                    );
//                    if (!inWrkMasts.isEmpty()) {
//                        News.error("" + mark + " - 2" + " - 检测存在入库任务，等待入库任务执行完成再出库，工作号={}" + wrkMast.getWrkNo());
//                        continue;
//                    }
//                }

                //zhangc
//                if (wrkMast.getIoType() == 103 || wrkMast.getIoType() == 107) {
//                    if (wrkMast.getStaNo() == 1058) {
//                        List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
//                                .in("wrk_sts", 12, 14)
//                                .eq("sta_no", 1058)
//                        );
//                        if (!Cools.isEmpty(inWrkMasts) && inWrkMasts.size() >= devpCheckTaskStackOver) {
//                            News.error("" + mark + " - 2" + " - 检测存在1058站点，存在两笔工作中的任务，工作号={}" + wrkMast.getWrkNo());
//                            continue;
//                        }
//                    } else if (wrkMast.getStaNo() == 1062) {
//                        List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
//                                .in("wrk_sts", 12, 14)
//                                .eq("sta_no", 1062)
//                        );
//                        if (!Cools.isEmpty(inWrkMasts) && inWrkMasts.size() >= devpCheckTaskStackOver) {
//                            News.error("" + mark + " - 2" + " - 检测存在1062站点，存在两笔工作中的任务，工作号={}" + wrkMast.getWrkNo());
//                            continue;
//                        }
//                    }
//                }else if (wrkMast.getIoType() == 101) {
//                    List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
//                            .in("wrk_sts", 12, 14)
//                    );
//                    if (!Cools.isEmpty(inWrkMasts) && inWrkMasts.size() >= outNumber) {
//                        News.error("" + mark + " - 4" + " - 检测到全板出库的任务已经到达上线，工作号={}" + wrkMast.getWrkNo());
//                        continue;
//                    }
//                }

//            // 入出库模式判断
//            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
//                if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
//                    News.infoNoLog(""+mark+" - 2"+" - 4"+" - 入出库模式（此处出库方法，出库模式继续=="+devpThread.ioModeOf2F);
//                    continue;
//                }

                // 查询站点详细信息
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    News.error("" + mark + " - 2" + " - 5" + " - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    News.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    break;
//                    continue;
                }
                //查询在库信息
                LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                        .eq("loc_sts", "R")
                        .eq("loc_no", wrkMast.getSourceLocNo()));
                if (Cools.isEmpty(locMast)) {
                    News.error("出库 ===>> 库位中没有这笔资料", wrkMast.getSourceLocNo());
                    continue;
                }
                //堆垛机接驳站点没有空料架
                if(!staProtocol.isEmptyOutType()&&(Cools.isEmpty(wrkMast.getCtnType())||wrkMast.getCtnType()==0)){
                    //请求wms下发agv搬运空料架到堆垛机接驳站点任务
                    try {
                        HashMap<String,Object> hashMap=new HashMap<>();
                        hashMap.put("wrkNo",wrkMast.getWrkNo());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/createAGVMoveTask")
                                .setJson(JSON.toJSONString(wrkMast))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            wrkMast.setCtnType(1);//已生成AGV搬运空料架任务
                            wrkMastService.updateById(wrkMast);
                        } else {
                            continue;
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }
                }

                // 判断堆垛机出库站状态
                if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {

                    //根据参数判断是否校验可出信号
//                    String crnOutVerifyOut = "Y";
//                    Config crnOutVerifyOutEnableConfig = configService.selectOne(new EntityWrapper<Config>()
//                            .eq("code", "crnOutVerifyOutEnable"));
//                    if (crnOutVerifyOutEnableConfig != null) {
//                        crnOutVerifyOut = crnOutVerifyOutEnableConfig.getValue();
//                    }
//
//                    if (crnOutVerifyOut.equals("Y")) {
//                        if (!staProtocol.isOutEnable()) {
//                            continue;
//                        }
//
//                        if (staProtocol.getWorkNo() > 0) {
//                            continue;
//                        }
//                    }


                if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                        && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable() && staProtocol.isEmptyOutType()) {
                    // 命令下发区 --------------------------------------------------------------------------

                    // 堆垛机控制过滤
@@ -1278,35 +1210,12 @@
                        break;
                    }

//                    if (crnProtocol.getCrnNo() == 1) {
//                        String turnCrnExecuteCurrentChannel = "Y";
//                        Config turnCrnExecuteCurrentChannelConfig = configService.selectOne(new EntityWrapper<Config>()
//                                .eq("code", "turnCrnExecuteCurrentChannel")
//                        );
//                        if (turnCrnExecuteCurrentChannelConfig != null) {
//                            turnCrnExecuteCurrentChannel = turnCrnExecuteCurrentChannelConfig.getValue();
//                        }
//
//                        if (turnCrnExecuteCurrentChannel.equals("Y")) {
//                            //判断堆垛机和当前任务是否处于一个巷道
//                            if (Utils.getLaneByLocNo(wrkMast.getSourceLocNo()) != crnProtocol.getCrnLane()) {
//                                //判断堆垛机所在巷道是否存在其他任务，如存在则优先执行
//                                List<WrkMast> currentWrkMasts = wrkMastService.selectLaneWrkMast(crnProtocol.getCrnLane(), false);
//                                if (!currentWrkMasts.isEmpty()) {
//                                    continue;//当前堆垛机所在巷道存在任务
//                                }
//                            }
//                        }
//                    }

                    // 双深库位且浅库位有货，则需先对浅库位进行库位移转
                    if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
                        News.warnNoLog("" + mark + " - 2" + " - 6" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}", wrkMast.getWrkNo());
                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
                        LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                        // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                        if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                            News.warnNoLog("" + mark + " - 2" + " - 7" + " - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！库位={},库位状态={}", shallowLoc.getLocNo(), shallowLoc.getLocSts());
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            if (null == waitWrkMast) {
                                News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
@@ -1315,7 +1224,7 @@
                                    waitWrkMast.setIoPri(15D);
                                    waitWrkMast.setModiTime(new Date());
                                    if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                        News.error("" + mark + " - 2" + " - 8" + " - 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;
                                } else {
@@ -1323,31 +1232,20 @@
                                }
                            }
                        } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                            News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F、D  库位={},库位状态={}", shallowLoc.getLocNo(), shallowLoc.getLocSts());
//                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            //2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            // 此标记避免多次执行移库任务
//                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
//                                || Cools.isEmpty(waitWrkMast)) {
                            if (Cools.isEmpty(waitWrkMast)) {
                                if (moveLocForDeepLoc(slave, crnProtocol, shallowLoc, mark)) {
                                    wrkMast.setUpdMk("Y");
//                                    wrkMast.setIoPri(14D);
                                    wrkMastMapper.updateById(wrkMast);
                                }
//                                wrkMast.setUpdMk("Y");
//                                wrkMastMapper.updateById(wrkMast);
//                                // 生成工作档,将浅库位移转到新的库位中
//                                moveLocForDeepLoc(slave, shallowLoc,mark);
                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
                                    || Cools.isEmpty(waitWrkMast)) {
                                wrkMast.setUpdMk("Y");
                                wrkMastMapper.updateById(wrkMast);
                                // 生成工作档,将浅库位移转到新的库位中
                                moveLocForDeepLoc(slave, shallowLoc);
                            }
                            News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                            News.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
                            continue;
                        } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
                            News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q、S  库位={},库位状态={}", shallowLoc.getLocNo(), shallowLoc.getLocSts());
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                                News.infoNoLog("" + mark + " - 2" + " - 11" + " - // F、D  工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
                                continue;
                            }
                        }
@@ -1359,15 +1257,11 @@
//                        return;
                    }

                    News.warnNoLog("" + mark + " - 2" + " - 12" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
                            , sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue()
                            , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue());

                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
//                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                    crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
@@ -1375,8 +1269,9 @@
                    crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                    crnCommand.setBarcode(wrkMast.getBarcode());
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", 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 => 12.吊车出库中
                        Date now = new Date();
@@ -1384,14 +1279,14 @@
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                            News.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                        break;
                    }
                }

            }
        }
        News.infoNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发 ： 出库执行完毕");
    }

//    /**
@@ -1896,9 +1791,9 @@
                if (staProtocol.isAutoing()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999)
                        && (staProtocol.getWorkNo() ==0)
                        && staProtocol.isPakMk()
                        && staProtocol.getEmptyInType() == 1
//                        && staProtocol.getEmptyInType() == 1
                ) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行：空栈板初始化入库,叉车入库站放货");

@@ -1921,6 +1816,11 @@
                            String errorMsg = "扫码失败，请重试";
                            MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
                        }
                        continue;
                    }
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", barcode));
                    WaitPakin waitPakin = waitPakinMapper.selectOne(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).getEntity());
                    if (waitPakin != null || wrkMast != null) {
                        continue;
                    }

@@ -2469,21 +2369,15 @@
     * 因双深库位阻塞，对浅库位进行移转（立即执行版)
     * tip：同步
     */
    private synchronized boolean moveLocForDeepLoc(CrnSlave crn, CrnProtocol crnProtocol, LocMast shallowLoc, Integer mark) {
    private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
        try {
            News.warnNoLog("" + mark + "moveLocForDeepLoc" + " - 0" + " - 开始执行:因双深库位阻塞，对浅库位进行移转（立即执行版)");
            List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
            LocMast loc = null;
            for (Integer row : rows) {
                if (Utils.isDeepLoc(slaveProperties, row)) {
                    loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
                    if (loc != null) {
                        if (crn.getId() == 1) {
                            if (Utils.getLaneByLocNo(loc.getLocNo()) != crnProtocol.getCrnLane()) {
                                continue;
                            }
                        }

                    if (loc != null) {
                        if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
                            String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
                            LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
@@ -2503,12 +2397,6 @@
                        loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

                        if (null != loc) {//对应深库位非在库状态,不能移库
                            if (crn.getId() == 1) {
                                if (Utils.getLaneByLocNo(loc.getLocNo()) != crnProtocol.getCrnLane()) {
                                    continue;
                                }
                            }

                            String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
                            LocMast deepLoc1 = locMastService.selectById(deepLoc);
                            if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) {
@@ -2524,107 +2412,76 @@
            }

            if (null == loc) {
                News.error("" + mark + "moveLocForDeepLoc" + " - 1" + " - 双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
                return false;
                log.error("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
                return;
//                throw new CoolException("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
            } else {
                String deepLoc2 = Utils.getDeepLoc2(slaveProperties, loc.getLocNo());
                if (deepLoc2 != null) {
                    LocMast locnew = locMastService.selectById(deepLoc2);
                    if (locnew != null && locnew.getLocSts().equals("O")) {
                        loc = locnew;
                    }
                }


                try {
                    // 获取工作号
                    int workNo = commonService.getWorkNo(0);
                    // 保存工作档
                    WrkMast wrkMast = new WrkMast();
                    wrkMast.setWrkNo(workNo);
                    wrkMast.setIoTime(new Date());
                    wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
                    wrkMast.setIoType(11); // 入出库状态： 11.库格移载
                    wrkMast.setIoPri(13D);
                    wrkMast.setCrnNo(crn.getId());
                    wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
                    wrkMast.setLocNo(loc.getLocNo()); // 目标库位
//                    wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
                    wrkMast.setFullPlt(shallowLoc.getLocSts().equals("D") ? "N" : "Y"); // 满板
                    wrkMast.setPicking("N"); // 拣料
                    wrkMast.setExitMk("N"); // 退出
                    wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
                    wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
                    wrkMast.setLinkMis("N");
                    wrkMast.setAppeTime(new Date());
                    wrkMast.setModiTime(new Date());
                    int res = wrkMastMapper.insert(wrkMast);
                    if (res == 0) {
                        News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 2" + " - 保存工作档失败");
//                        throw new CoolException("保存工作档失败");
                        return true;
                    }
                    // 工作档明细保存
                    if (shallowLoc.getLocSts().equals("F")) {
                        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));

                        for (LocDetl locDetl : locDetls) {
                            WrkDetl wrkDetl = new WrkDetl();
                            wrkDetl.sync(locDetl);
                            wrkDetl.setWrkNo(workNo);
                            wrkDetl.setIoTime(new Date());
                            wrkDetl.setAnfme(locDetl.getAnfme());
//                            VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
                            wrkDetl.setAppeTime(new Date());
                            wrkDetl.setModiTime(new Date());
                            if (!wrkDetlService.insert(wrkDetl)) {
                                News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 3" + " - 保存工作档明细失败");
//                                throw new CoolException("保存工作档明细失败");
                                return true;
                            }
                        }
                    }
                    // 修改源库位状态
                    if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
                        shallowLoc.setLocSts("R"); // R.出库预约
                        shallowLoc.setModiTime(new Date());
                        if (!locMastService.updateById(shallowLoc)) {
                            News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 4" + " - 更新源库位状态失败");
//                            throw new CoolException("更新源库位状态失败");
                            return true;
                        }
                    } else {
                        News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 5" + " - 源库位出库失败");
//                        throw new CoolException("源库位出库失败");
                        return true;
                    }
                    // 修改目标库位状态
                    if (loc.getLocSts().equals("O")) {
                        loc.setLocSts("S"); // S.入库预约
                        loc.setModiTime(new Date());
                        if (!locMastService.updateById(loc)) {
                            News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 6" + " - 更新目标库位状态失败");
//                            throw new CoolException("更新目标库位状态失败");
                            return true;
                        }
                    } else {
                        News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 7" + " - 移转失败");
//                        throw new CoolException("移转失败");
                        return true;
                    }
                } catch (Exception e) {
                    News.error("" + mark + "moveLocForDeepLoc" + " - 8" + " - 双深库位阻塞，对浅库位进行移转失败", e);
                }
            }


            // 获取工作号
            int workNo = commonService.getWorkNo(0);
            // 保存工作档
            WrkMast wrkMast = new WrkMast();
            wrkMast.setWrkNo(workNo);
            wrkMast.setIoTime(new Date());
            wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
            wrkMast.setIoType(11); // 入出库状态： 11.库格移载
            wrkMast.setIoPri(13D);
            wrkMast.setCrnNo(crn.getId());
            wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
            wrkMast.setLocNo(loc.getLocNo()); // 目标库位
            wrkMast.setFullPlt(shallowLoc.getLocSts().equals("F") ? "Y" : "N"); // 满板
            wrkMast.setPicking("N"); // 拣料
            wrkMast.setExitMk("N"); // 退出
            wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
            wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
            wrkMast.setLinkMis("N");
            wrkMast.setAppeTime(new Date());
            wrkMast.setModiTime(new Date());
            int res = wrkMastMapper.insert(wrkMast);
            if (res == 0) {
                throw new CoolException("保存工作档失败");
            }
            // 工作档明细保存
            if (shallowLoc.getLocSts().equals("F")) {
                List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
                for (LocDetl locDetl : locDetls) {
                    WrkDetl wrkDetl = new WrkDetl();
                    wrkDetl.setWrkNo(workNo);
                    wrkDetl.setIoTime(new Date());
                    wrkDetl.setAnfme(locDetl.getAnfme());
                    VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
                    wrkDetl.setAppeTime(new Date());
                    wrkDetl.setModiTime(new Date());
                    if (!wrkDetlService.insert(wrkDetl)) {
                        throw new CoolException("保存工作档明细失败");
                    }
                }
            }
            // 修改源库位状态
            if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
                shallowLoc.setLocSts("R"); // R.出库预约
                shallowLoc.setModiTime(new Date());
                if (!locMastService.updateById(shallowLoc)) {
                    throw new CoolException("更新源库位状态失败");
                }
            } else {
                throw new CoolException("源库位出库失败");
            }
            // 修改目标库位状态
            if (loc.getLocSts().equals("O")) {
                loc.setLocSts("S"); // S.入库预约
                loc.setModiTime(new Date());
                if (!locMastService.updateById(loc)) {
                    throw new CoolException("更新目标库位状态失败");
                }
            } else {
                throw new CoolException("移转失败");
            }
        } catch (Exception e) {
            News.error("" + mark + "moveLocForDeepLoc" + " - 8" + " - 双深库位阻塞，对浅库位进行移转失败", e);
//            e.printStackTrace();
//            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
            log.error("双深库位阻塞，对浅库位进行移转失败", e);
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
        return true;
    }

    /**
@@ -2677,7 +2534,7 @@
                    wrkMast.setCrnNo(crn.getId());
                    wrkMast.setSourceLocNo(sourceLocNo); // 源库位
                    wrkMast.setLocNo(locNo); // 目标库位
                    wrkMast.setFullPlt("N"); // 满板：Y
                    wrkMast.setFullPlt(sourceLoc.getLocSts().equals("F")?"Y":"N"); // 满板：Y
                    wrkMast.setPicking("N"); // 拣料
                    wrkMast.setExitMk("N"); // 退出
                    wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板

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

New file
@@ -0,0 +1,317 @@
package com.zy.asrs.service.impl;

import com.alibaba.excel.util.StringUtils;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.R;
import com.zy.asrs.entity.*;
import com.zy.asrs.enums.RcsRetMethodEnum;
import com.zy.asrs.service.RcsService;
import com.zy.asrs.service.TaskService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;

import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.PrintWriter;
import java.net.ConnectException;
import java.net.SocketTimeoutException;
import java.net.URL;
import java.net.URLConnection;
import java.nio.charset.StandardCharsets;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Objects;
import java.util.regex.Matcher;
import java.util.regex.Pattern;

@Slf4j
@Service
public class RcsServiceImpl implements RcsService {
    // 海康RCS地址
    @Value("${hik.url}")
    private String HIK_URL;

    @Autowired
    private TaskService taskService;


    /**
     * 2.2.1任务执行回馈
     * 厂家：海量、华晓
     *
     * @param rcsReporterTask
     * @return
     */
    @Override
    public RcsReturn reporterTask(RcsReporterTask rcsReporterTask) {

        RcsReturn rcsReturn = new RcsReturn();

        String robotTaskCode = rcsReporterTask.getRobotTaskCode();
        String singleRobotCode = rcsReporterTask.getSingleRobotCode();
        String[] split = robotTaskCode.split("-");
        robotTaskCode = split[0];
        JSONObject values = rcsReporterTask.getExtra().getJSONObject("values");
        // start : 任务开始；outbin : 走出储位；end : 任务完成
        String method = values.getString("method");
        String carrierType = values.getString("carrierType");
        String slotCategory = values.getString("slotCategory");
        String slotCode = values.getString("slotCode");
        EntityWrapper<Task> wrapper = new EntityWrapper<>();
        wrapper.eq("task_no", robotTaskCode);
        Task task = taskService.selectOne(wrapper);
        if(!Cools.isEmpty(task)){
            try {
                // q3,q8=1
                if ("1".equals(carrierType)) {    //AGV

                    switch (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method))) {
                        //放货申请
                        case APPLY_PUT: {
                            Integer sourceStaNo = Integer.valueOf(task.getStaNo());
                            SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
                            //wcs反馈rcs继续执行
                            if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType()) {
                                RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                                rcsTaskContinue.setRobotTaskCode(task.getTaskNo());
                                rcsTaskContinue.setTriggerType("TASK");
                                rcsTaskContinue.setTriggerCode(task.getTaskNo());

                                String url =HIK_URL + "api/robot/controller/task/extend/continue";
                                String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
                                if (!StringUtils.isEmpty(response) && response.contains("code")){
                                    RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
                                    if("200".equals(rcsReturn1.getCode())) {
                                        //出发PLC站点的扫码器扫码
                                        boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(3, staProtocol));
                                        log.info("AGV放货完成，给站点写9991工作号,下发任务:{},站点:{},agv任务号:{}",result,task.getStaNo(),task.getTaskNo());
                                        if (result) {
                                            // 返回RCS
                                            rcsReturn.setCode("SUCCESS");
                                            rcsReturn.setMessage("");
                                            JSONObject data = new JSONObject();
                                            data.put("robotTaskCode", robotTaskCode);
                                            rcsReturn.setData(data);
                                        }else {
                                            // 返回RCS
                                            rcsReturn.setCode("Err_Internal");
                                            rcsReturn.setMessage("");
                                            JSONObject data = new JSONObject();
                                            data.put("robotTaskCode", robotTaskCode);
                                            rcsReturn.setData(data);
                                        }
                                    }
                                }
                            }
                        }
                        break;

                        //放货完成 --》agv已经离开
                        case TASK_END: {
                            Integer sourceStaNo = Integer.valueOf(task.getStaNo());
                            SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
                            //放货完成 --》agv已经离开 --》给PLC站点写9991工作号
                            if (staProtocol != null && staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() ==0) {
                                staProtocol.setWorkNo((short) 9991);
                                staProtocol.setStaNo(Short.valueOf(task.getStaNo()));
                                boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
                                log.info("AGV放货完成，给站点写9991工作号,下发任务:{},站点:{},agv任务号:{}",result,task.getStaNo(),task.getTaskNo());
                                if(result){
                                    // 更新任务状态等内部逻辑
                                    task.setWrkSts(304L);   // 301 任务下发、302 任务执行、303 任务中断、304 任务结束
                                    task.setModiTime(new Date());
                                    taskService.updateById(task);
                                    // 返回RCS
                                    rcsReturn.setCode("SUCCESS");
                                    rcsReturn.setMessage("");
                                    JSONObject data = new JSONObject();
                                    data.put("robotTaskCode", robotTaskCode);
                                    rcsReturn.setData(data);
                                }else {
                                    // 返回RCS
                                    rcsReturn.setCode("Err_Internal");
                                    rcsReturn.setMessage("");
                                    JSONObject data = new JSONObject();
                                    data.put("robotTaskCode", robotTaskCode);
                                    rcsReturn.setData(data);
                                }
                            }
                        }
                        break;
                        //rcs请求wms取货申请
                        case APPLY_PICK: {
                            Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
                            SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
                            //判断站点是否有料架和托盘
                            if (staProtocol != null && staProtocol.isLoading()
                                    && staProtocol.isEmptyOutType()
                                    && staProtocol.getWorkNo() >0 && staProtocol.getWorkNo() <9990) {
                                RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
                                rcsTaskContinue.setRobotTaskCode(task.getTaskNo());
                                rcsTaskContinue.setTriggerType("TASK");
                                rcsTaskContinue.setTriggerCode(task.getTaskNo());

                                String url =HIK_URL + "api/robot/controller/task/extend/continue";
                                String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
                                if (!StringUtils.isEmpty(response) && response.contains("code")){
                                    RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
                                    if("200".equals(rcsReturn1.getCode())) {
                                        // 返回RCS
                                        rcsReturn.setCode("SUCCESS");
                                        rcsReturn.setMessage("");
                                        JSONObject data = new JSONObject();
                                        data.put("robotTaskCode", robotTaskCode);
                                        rcsReturn.setData(data);
                                    }else {
                                        // 返回RCS
                                        rcsReturn.setCode("Err_Internal");
                                        rcsReturn.setMessage("");
                                        JSONObject data = new JSONObject();
                                        data.put("robotTaskCode", robotTaskCode);
                                        rcsReturn.setData(data);
                                    }
                                }
                            }
                        }
                        break;
                        //rcs取货完成，已退出输送线
                        case PICK_COMPLETE: {
                            Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
                            SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
                            //放货完成 --》agv已经离开 --》给PLC站点写9991工作号
                            if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType() && staProtocol.getWorkNo() >0 && staProtocol.getWorkNo() <9990) {
                                staProtocol.setWorkNo((short) 0);
                                staProtocol.setStaNo((short) 0);
                                boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
                                log.info("AGV取货完成，给站点写0工作号,下发任务:{},站点:{},agv任务号:{}",result,task.getStaNo(),task.getTaskNo());
                                if(result){
                                    // 返回RCS
                                    rcsReturn.setCode("SUCCESS");
                                    rcsReturn.setMessage("");
                                    JSONObject data = new JSONObject();
                                    data.put("robotTaskCode", robotTaskCode);
                                    rcsReturn.setData(data);
                                }else {
                                    // 返回RCS
                                    rcsReturn.setCode("Err_Internal");
                                    rcsReturn.setMessage("");
                                    JSONObject data = new JSONObject();
                                    data.put("robotTaskCode", robotTaskCode);
                                    rcsReturn.setData(data);
                                }

                            }
                        }
                        break;

                        default: {
                        }
                        break;
                    }
                }

            } catch (Exception e) {
                log.error("RCS反馈任务进度处理异常 - {}", rcsReporterTask, e);
                rcsReturn.setCode("Err_Internal");
                rcsReturn.setMessage("内部处理异常");
                JSONObject data = new JSONObject();
                data.put("robotTaskCode", robotTaskCode);
                rcsReturn.setData(data);
            }
        }
        return rcsReturn;
    }

    /**
     * 向指定 URL 发送POST方法的请求
     *
     * @param url 发送请求的 URL
     * @param param 请求参数，请求参数应该是 name1=value1&name2=value2 的形式。
     * @return 所代表远程资源的响应结果
     */
    public static String sendPost(String url, String param) {
        PrintWriter out = null;
        BufferedReader in = null;
        StringBuilder result = new StringBuilder();
        try
        {
            log.info("sendPost - {} - {}", url, param);
            URL realUrl = new URL(url);
            URLConnection conn = realUrl.openConnection();
            conn.setRequestProperty("Content-Type", "application/json");
            conn.setRequestProperty("Content-Length", "<calculated when request is sent>");
            conn.setRequestProperty("Host", "<calculated when request is sent>");
            conn.setRequestProperty("Accept", "*/*");
            conn.setRequestProperty("Accept-Encoding", "gzip, deflate, br");
            conn.setRequestProperty("Connection", "keep-alive");

            conn.setRequestProperty("X-lr-request-id", String.valueOf(new Date().getTime()));
            conn.setRequestProperty("X-lr-version", "4.3");

            conn.setConnectTimeout(5000);
            conn.setReadTimeout(5000);
            conn.setDoOutput(true);
            conn.setDoInput(true);
            out = new PrintWriter(conn.getOutputStream());
            out.print(param);
            out.flush();
            in = new BufferedReader(new InputStreamReader(conn.getInputStream(), StandardCharsets.UTF_8));
            String line;
            while ((line = in.readLine()) != null)
            {
                result.append(line);
            }
            log.info("recv - {}", result);
        }
        catch (ConnectException e)
        {
            log.error("调用HttpUtils.sendPost ConnectException, url=" + url + ",param=" + param, e);
        }
        catch (SocketTimeoutException e)
        {
            log.error("调用HttpUtils.sendPost SocketTimeoutException, url=" + url + ",param=" + param, e);
        }
        catch (IOException e)
        {
            log.error("调用HttpUtils.sendPost IOException, url=" + url + ",param=" + param, e);
        }
        catch (Exception e)
        {
            log.error("调用HttpsUtil.sendPost Exception, url=" + url + ",param=" + param, e);
        }
        finally
        {
            try
            {
                if (out != null)
                {
                    out.close();
                }
                if (in != null)
                {
                    in.close();
                }
            }
            catch (IOException ex)
            {
                log.error("调用in.close Exception, url=" + url + ",param=" + param, ex);
            }
        }
        return result.toString();
    }
}

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

New file
@@ -0,0 +1,23 @@
package com.zy.asrs.service.impl;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.Task;
import com.zy.asrs.entity.WaitPakin;
import com.zy.asrs.mapper.TaskMapper;
import com.zy.asrs.service.TaskService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import java.util.Date;
import java.util.List;
import java.util.concurrent.TimeUnit;

@Service("taskService")
public class TaskServiceImpl extends ServiceImpl<TaskMapper, Task> implements TaskService {

}

 src/main/java/com/zy/asrs/utils/VersionUtils.java

@@ -1,6 +1,8 @@
package com.zy.asrs.utils;

import com.zy.asrs.entity.LocDetl;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkDetl;
import com.zy.common.model.LocTypeDto;

/**
@@ -26,5 +28,17 @@
        return true;
    }

    public static void setWrkDetl(WrkDetl wrkDetl, LocDetl locDetl) {
        wrkDetl.setMatnr(locDetl.getMatnr()); // 产品编号
        wrkDetl.setMaktx(locDetl.getMaktx()); // 产品描述
        wrkDetl.setSpecs(locDetl.getSpecs()); // 规格
        wrkDetl.setUnit(locDetl.getUnit()); // 单位
//        wrkDetl.setSize(locDetl.getSize()); // 尺寸
        wrkDetl.setColor(locDetl.getColor()); // 颜色
        wrkDetl.setWeight(locDetl.getWeight()); // 单重
        wrkDetl.setZpallet(locDetl.getZpallet()); // 托盘条码
        wrkDetl.setAnfme(locDetl.getAnfme());//数量
    }


}

 src/main/java/com/zy/common/utils/HikUtils.java

New file
@@ -0,0 +1,39 @@
package com.zy.common.utils;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;

import java.util.HashMap;

@Component
public class HikUtils {

    @Value("${zyHikUrl}")
    private String hikUrl;

    public void startPic(String ip, String filename) {
        try {
            HashMap<String, Object> data = new HashMap<>();
            data.put("ip", ip);
            data.put("filename", filename);

            String response = new HttpHandler.Builder()
                    .setUri(hikUrl)
                    .setPath("/startPic")
                    .setJson(JSON.toJSONString(data))
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            if (jsonObject.getInteger("code").equals(200)) {
                News.error("请求接口成功！！！url：{}；request：{}；response：{}", hikUrl + "/startPic", JSON.toJSONString(data), response);
            } else {
                News.error("请求接口失败！！！url：{}；request：{}；response：{}", hikUrl + "/startPic", JSON.toJSONString(data), response);
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

}

 src/main/java/com/zy/core/model/command/CrnCommand.java

@@ -38,6 +38,11 @@
     */
    private Short taskMode = 0;

    private String barcode= "";

    //火警: 1是火警
    private short fireStaut = 0;

    @JSONField(serialize = false)
    private CrnTaskModeType taskModeType;


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

@@ -29,6 +29,11 @@
     */
    public Short eStop;

    private String barcode= "";

    //火警: 1是火警
    private short fireStaut = 0;

    /**
     * 异常码
     */

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

@@ -79,6 +79,9 @@
    //空托入库类型
    private Short emptyInType;

    //空料架
    private boolean emptyOutType;

    public BasDevp toSqlModel(){
        BasDevp basDevp = new BasDevp();
        basDevp.setDevNo(siteId);
@@ -91,6 +94,7 @@
        basDevp.setLocType2((short) 0);  // 宽窄类型{0:未知,1:窄库位,2:宽库位}
        basDevp.setLocType3((short) 0);  // 轻重类型{0:未知,1:轻库位,2:重库位}
        basDevp.setLocType1(high != low && low ? (short) 1 : (short) 2);
        basDevp.setInreq1(emptyOutType?"Y":"N");
        return basDevp;
    }


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

@@ -44,6 +44,11 @@
    private short heartBeatVal = 1;

    /**
     * 条码数量
     */
    private int barcodeSize = 2;

    /**
     * 日志采集时间
     */
    private Long deviceDataLogTime = System.currentTimeMillis();
@@ -53,7 +58,7 @@
    }};

    public static final ArrayList<Integer> staNos2 = new ArrayList<Integer>() {{
//        add(2000);add(2001);add(2002);add(1001);add(1002);add(1003);add(1004);add(1005);add(1006);add(1007);

    }};


@@ -61,11 +66,11 @@

    public static final ArrayList<Integer> barcode1 = new ArrayList<Integer>() {{
        add(1);
        add(2);
//        add(2);
    }};

    public static final ArrayList<Integer> barcode2 = new ArrayList<Integer>() {{
//        add(3);
        add(2);
//        add(4);
    }};

@@ -125,6 +130,9 @@
                    // 写数据 ID+目标站
                    case 2:
                        write((StaProtocol)task.getData());
                        break;
                    case 3:
                        write1((StaProtocol)task.getData());
                        break;
                    default:
                        break;
@@ -197,7 +205,7 @@
//        updateIoMode();
        ArrayList<Integer> staNos = getStaNo();
        int staNoSize = staNos.size();
        OperateResultExOne<byte[]> result = siemensS7Net.Read("DB101.0", (short) (staNoSize * 18));
        OperateResultExOne<byte[]> result = siemensS7Net.Read("DB101.0", (short) (staNoSize*8));
        if (result.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
                Integer siteId = staNos.get(i); // 站点编号
@@ -207,40 +215,20 @@
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setSiteId(siteId);
                staProtocol.setWorkNo((short) siemensS7Net.getByteTransform().TransInt32(result.Content, (i * 18)));     // 工作号
                staProtocol.setStaNo((short) siemensS7Net.getByteTransform().TransInt32(result.Content, (i * 18) + 4));   // 目标站
                staProtocol.setWorkNo((short)siemensS7Net.getByteTransform().TransInt32(result.Content, i*8));     // 工作号

                short locHeight = siemensS7Net.getByteTransform().TransInt16(result.Content, (i * 18) + 8);//库位高度
                if (locHeight == 2) {//high
                    staProtocol.setHigh(true);
                    staProtocol.setLow(false);
                }else {//low
                    staProtocol.setHigh(false);
                    staProtocol.setLow(true);
                }
                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*8 + 4));   // 目标站

                staProtocol.setError(siemensS7Net.getByteTransform().TransInt16(result.Content, (i * 18) + 10));   // 报警

                boolean[] status = siemensS7Net.getByteTransform().TransBool(result.Content, (i * 18) + 12, 1);
                staProtocol.setAutoing(status[0]);  // 自动
                staProtocol.setLoading(status[1]);  // 有物
                staProtocol.setInEnable(status[2]); // 可入
                staProtocol.setOutEnable(status[3]);// 可出
                staProtocol.setEmptyMk(status[4]);  // 空板信号
                staProtocol.setFullPlt(status[5]);  // 满托盘

                boolean[] statusError = siemensS7Net.getByteTransform().TransBool(result.Content, (i * 18) + 13, 1);
                staProtocol.setFrontError(statusError[0]);  // 前超报警
                staProtocol.setBackError(statusError[1]);  // 后超报警
                staProtocol.setHighError(statusError[2]); // 超高报警
                staProtocol.setLeftError(statusError[3]);// 左高报警
                staProtocol.setRightError(statusError[4]);  // 右高报警
                staProtocol.setWeightError(statusError[5]);  // 超重报警
                staProtocol.setBarcodeError(statusError[6]);  // 扫码报警

                short emptyInType = siemensS7Net.getByteTransform().TransInt16(result.Content, (i * 18) + 14);//预留1-空托入库类型，1:立库方向 2:产线方向
                staProtocol.setEmptyInType(emptyInType);
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result.Content, i*8 + 6, 2);
                staProtocol.setAutoing(status[0]);      // 自动
                staProtocol.setLoading(status[1]);      // 有物
                staProtocol.setInEnable(status[2]);     // 可入
                staProtocol.setOutEnable(status[3]);    // 可出
                staProtocol.setEmptyMk(status[4]);      // 空板信号
                staProtocol.setFullPlt(status[5]);      // 满托盘
                staProtocol.setHigh(status[6]);         // 高库位
                staProtocol.setLow(status[7]);          // 低库位
                staProtocol.setEmptyOutType(status[8]); //空料架

                if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
                    staProtocol.setPakMk(true);
@@ -248,40 +236,57 @@
            }
        }

        //条码扫描器
        Thread.sleep(200);
        ArrayList<Integer> barcodeList = getBarcode();
        int barcodeSize = barcodeList.size();
        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB103.0", (short) (barcodeSize * 8));
        if (result2.IsSuccess) {
            for (int i = 0; i < barcodeSize; i++) {
                String barcode = siemensS7Net.getByteTransform().TransString(result2.Content, i * 8, 8, "UTF-8");
                Integer barcodeId = barcodeList.get(i);
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId);
                if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)){
                    barcodeThread.setBarcode(barcode);
                }
        //外形检测
        Integer[] arr={401,402};
        OperateResultExOne<byte[]> resultErr1 = siemensS7Net.Read("DB101.700.0", (short) (arr.length*6));
        for (int i = 0; i < arr.length; i++) {
            StaProtocol staProtocol1 = station.get(arr[i]);
            if(resultErr1.IsSuccess){
                boolean[] status1 = siemensS7Net.getByteTransform().TransBool(resultErr1.Content, i*6, 1);
                staProtocol1.setFrontError(status1[0]);
                staProtocol1.setBackError(status1[1]);
                staProtocol1.setHighError(status1[2]);
                staProtocol1.setLeftError(status1[3]);
                staProtocol1.setRightError(status1[4]);
                staProtocol1.setWeightError(status1[5]);
                staProtocol1.setBarcodeError(status1[6]);
            }

        }

        if (System.currentTimeMillis() - deviceDataLogTime > 1000 * 1) {
            //采集时间超过5s，保存一次数据记录
            //保存数据记录
            DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
            DeviceDataLog deviceDataLog = new DeviceDataLog();
            deviceDataLog.setOriginData(Base64.getEncoder().encodeToString(result.Content));
            deviceDataLog.setWcsData(JSON.toJSONString(station));
            deviceDataLog.setType("devp");
            deviceDataLog.setDeviceNo(slave.getId());
            deviceDataLog.setCreateTime(new Date());
            deviceDataLogService.insert(deviceDataLog);

            //更新采集时间
            deviceDataLogTime = System.currentTimeMillis();

        Thread.sleep(200);
        if(slave.getId()==1) {
            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.600.0", (short) (barcodeSize * 8));
            if (result2.IsSuccess) {
                for (int i = 0; i < barcodeSize; i++) {
                    String barcode = siemensS7Net.getByteTransform().TransString(result2.Content, i * 8, 8, "UTF-8");
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i + 1);
                    if (!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
                        barcodeThread.setBarcode(barcode);
                    }
                }

            }
        }
        if (result.IsSuccess) {
            if (System.currentTimeMillis() - deviceDataLogTime > 1000 * 1) {
                //采集时间超过5s，保存一次数据记录
                //保存数据记录
                DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
                DeviceDataLog deviceDataLog = new DeviceDataLog();
                deviceDataLog.setOriginData(Base64.getEncoder().encodeToString(result.Content));
                deviceDataLog.setWcsData(JSON.toJSONString(station));
                deviceDataLog.setType("devp");
                deviceDataLog.setDeviceNo(slave.getId());
                deviceDataLog.setCreateTime(new Date());
                deviceDataLogService.insert(deviceDataLog);

        if (result.IsSuccess && result2.IsSuccess) {
                //更新采集时间
                deviceDataLogTime = System.currentTimeMillis();
            }
        }
        if (result.IsSuccess) {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

            // 根据实时信息更新数据库
@@ -317,57 +322,47 @@
        }
        ArrayList<Integer> staNos = getStaNo();
        int index = staNos.indexOf(staProtocol.getSiteId());
        int[] array = new int[3];
        array[0] = staProtocol.getWorkNo().intValue();
        array[1] = staProtocol.getStaNo().intValue();
        array[2] = staProtocol.getPalletSize().intValue();
        short[] array = new short[2];
        OperateResult writeResult1 = siemensS7Net.Write("DB100." + index*6,  staProtocol.getWorkNo().intValue());    // 工作号
        OperateResult writeResult2 = siemensS7Net.Write("DB100." + (index*6+4), staProtocol.getStaNo());    // 目标站

        OperateResult write = siemensS7Net.Write("DB102." + index * 16, array);
//        OperateResult write = siemensS7Net.Write("DB100.0" + index*4, staProtocol.getWorkNo());    // 工作号
//        Thread.sleep(500);
//        OperateResult write1 = siemensS7Net.Write("DB100.2" + index*4+2, staProtocol.getStaNo());    // 目标站

//        OperateResult write = null;
//        OperateResult write1 = null;
//        //任务下发次数
//        int writeCount = 0;
//        do {
//            write = siemensS7Net.Write("DB100." + index*2, staProtocol.getWorkNo());    // 工作号
//            Thread.sleep(500);
//            write1 = siemensS7Net.Write("DB101." + index*2, staProtocol.getStaNo());    // 目标站
//            if(write.IsSuccess || write1.IsSuccess){
//                Thread.sleep(200);
//                OperateResultExOne<byte[]> readResult = siemensS7Net.Read("DB100." + index*2, (short) 2);
//                OperateResultExOne<byte[]> readResult1 = siemensS7Net.Read("DB101." + index*2, (short) 2);
//                if(readResult.IsSuccess && readResult1.IsSuccess){
//                    short workNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 0);
//                    short staNo = siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 0);
//                    if(staProtocol.getWorkNo().equals(workNo) && staProtocol.getStaNo().equals(staNo)){
//                        //任务命令写入成功
//                        log.info("写入输送线命令后返回成功，并且回读成功。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
//                        break;
//                    } else {//返回结果是成功了，但是真实值不相同
//                        writeCount++;
//                        log.error("写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
//                    }
//                } else {
//                    writeCount++;
//                    log.error("写入输送线命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
//                }
//            }
//            else {
//                writeCount++;
//                log.error("写入输送线命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
//            }
//        }while (writeCount<5);

        if (!write.IsSuccess) {
        if (!writeResult1.IsSuccess&&!writeResult2.IsSuccess) {
            staProtocol = station.get(staProtocol.getSiteId());
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
                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)));
            News.error("SiemensDevp"+" - 4"+" - 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));
            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));
        } 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)));
            News.info("SiemensDevp"+" - 5"+" - 输送线命令下发 [id:{}] >>>>> 命令下发： {}",  slave.getId(), JSON.toJSON(staProtocol));
            log.info("输送线命令下发 [id:{}] >>>>> 命令下发： {}",  slave.getId(), JSON.toJSON(staProtocol));
        }
    }

    /**
     * 扫码器触发
     */
    private void write1(StaProtocol staProtocol) throws InterruptedException {
        if (null == staProtocol) {
            return;
        }
        ArrayList<Integer> staNos = getStaNo();
        int index = staNos.indexOf(staProtocol.getSiteId());
        if(staProtocol.getSiteId() == 307){
            index = 0;
        }
        OperateResult writeResult1 = siemensS7Net.Write("DB100.500" + index,  1);    // 扫码器触发
        if (!writeResult1.IsSuccess) {

            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));
        } 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));
        }
    }


 src/main/resources/application.yml

@@ -1,5 +1,5 @@
server:
  port: 9093
  port: 9094
  servlet:
    context-path: /@pom.build.finalName@

@@ -8,11 +8,13 @@
    name: @pom.build.finalName@
  datasource:
    driver-class-name: com.microsoft.sqlserver.jdbc.SQLServerDriver
    url: jdbc:sqlserver://127.0.0.1:1433;databasename=jxtlfasrs-yclk
    url: jdbc:sqlserver://127.0.0.1:1433;databasename=jnejc-hkwms
    username: sa
    password: sa@123
  mvc:
    static-path-pattern: /**

zyHikUrl: 10.10.10.200:9091/hik
#  redis:
#    host: localhost
#    port: 6379
@@ -34,7 +36,12 @@
  enable: false

wms:
  url: 127.0.0.1:8080/wms
  url: 127.0.0.1:8084/hkwms

#海康对接
hik:
  switch: false
  url: http://172.26.11.98:80/rcs/rtas/

# 下位机配置
wcs-slave:
@@ -55,7 +62,7 @@
  # 堆垛机1
  crn[0]:
    id: 1
    ip: 172.26.4.132
    ip: 172.26.4.131
    port: 102
    rack: 0
    slot: 0
@@ -93,7 +100,7 @@
  # 输送线1
  devp[0]:
    id: 1
    ip: 172.17.60.100
    ip: 172.26.4.141
    port: 102
    rack: 0
    slot: 0
@@ -183,14 +190,14 @@
   # LED1
  led[0]:
    id: 1
    ip: 127.0.0.1
    ip: 172.26.4.211
    port: 5005
    devpPlcId: ${wcs-slave.devp[0].id}
    staArr: 401
  # LED2
  led[1]:
    id: 2
    ip: 172.17.60.183
    ip: 172.26.4.212
    port: 5005
    devpPlcId: ${wcs-slave.devp[0].id}
    staArr: 402

 src/main/resources/mapper/LocMastMapper.xml

@@ -34,6 +34,7 @@
        <result column="mk" property="mk" />
        <result column="barcode" property="barcode" />
        <result column="ctn_no" property="ctnNo" />
        <result column="pic" property="pic" />

    </resultMap>


 src/main/resources/mapper/TaskMapper.xml

New file
@@ -0,0 +1,11 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="com.zy.asrs.mapper.TaskMapper">

    <!-- 通用查询映射结果 -->
    <resultMap id="BaseResultMap" type="com.zy.asrs.entity.Task">
        <id column="id" property="id" />
        <result column="task_type" property="taskType" />

    </resultMap>
</mapper>

 src/main/resources/mapper/WrkMastMapper.xml

@@ -59,6 +59,7 @@
<!--        <result column="Pdc_type" property="PdcType" />-->
        <result column="ctn_no" property="ctnNo" />
        <result column="full_plt" property="fullPlt" />
        <result column="pic" property="pic" />

    </resultMap>