From 4fdf9914b7ef3732d8da79ccc788f615486b8007 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期二, 29 七月 2025 10:07:46 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java |  561 ++++++++++++++++++++++++++++++++++++++++++++++++++++---
 1 files changed, 522 insertions(+), 39 deletions(-)

diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 2e22ec6..686be44 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -6,6 +6,7 @@
 import com.baomidou.mybatisplus.mapper.Wrapper;
 import com.core.common.Cools;
 import com.core.common.DateUtils;
+import com.core.common.R;
 import com.core.exception.CoolException;
 import com.zy.asrs.entity.*;
 import com.zy.asrs.mapper.BasCrnErrorMapper;
@@ -462,6 +463,149 @@
                         wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
                         wrkMast.setSourceLocNo(""); // 婧愬簱浣嶆竻绌�
                         wrkMast.setModiTime(now);
+                        wrkMast.setUpdMk("");//鍏佽鍐嶆绉诲簱
+                        if (wrkMastMapper.updateById(wrkMast) == 0) {
+                            throw new CoolException("鏇存柊宸ヤ綔妗f暟鎹姸鎬佸け璐�");
+                        }
+                        // 鏇存柊鏄庣粏妗o_time (鍘嗗彶妗e叧鑱斾娇鐢級
+                        wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
+                        // 淇敼搴撲綅鐘舵�� Q.鎷f枡/鐩樼偣/骞舵澘鍐嶅叆搴�
+                        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
+                        locMast.setLocSts("Q");
+                        locMast.setModiTime(new Date());
+                        if (!locMastService.updateById(locMast)) {
+                            throw new CoolException("淇敼搴撲綅鐘舵�佸け璐�");
+                        }
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+                        continue;
+                    }
+
+                    LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
+                    // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+                    staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+                    staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+                    staProtocol.setPalletSize(locMast.getLocType2());
+                    devpThread.setPakMk(staProtocol.getSiteId(), false);
+                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+                    if (!result) {
+                        News.error(""+mark+" - 3"+" - 鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+                    }
+
+                }else {
+                    News.errorNoLog(""+mark+" - 6"+" - 绔欑偣淇℃伅涓嶇鍚堝叆搴撴潯浠讹紒锛侊紒"+" 鑷姩淇″彿锛�"+staProtocol.isLoading()+"銆佸彲鍏ヤ俊鍙凤細" + staProtocol.isInEnable()
+                            +"銆佺┖鏉夸俊鍙凤細"+ staProtocol.isEmptyMk());
+                }
+
+            }
+
+        }
+        News.infoNoLog(""+mark+" - 0"+" - 鎷f枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱  ===銆嬫墽琛屽畬鎴�");
+    }
+
+    /**
+     * 鎷f枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱-鏉$爜
+     */
+    public synchronized void stnToCrnStnPickBarcode(Integer mark) {
+        for (DevpSlave devp : slaveProperties.getDevp()) {
+            // 閬嶅巻鎷f枡鍏ュ簱鍙�
+            for (DevpSlave.Sta insta : devp.getInSta()) {
+                // 鑾峰彇鎷f枡鍏ュ簱绔欎俊鎭�
+                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+                StaProtocol staProtocol = devpThread.getStation().get(insta.getStaNo());
+                if (staProtocol == null) {
+                    continue;
+                } else {
+                    staProtocol = staProtocol.clone();
+                }
+
+                if (staProtocol.isAutoing()
+                        && staProtocol.isLoading()
+                        && staProtocol.isInEnable()
+                        && staProtocol.getWorkNo() > 0
+                        && staProtocol.isPakMk()) {
+                    News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛�");
+
+                    // 鑾峰彇鏉$爜鎵弿浠俊鎭�
+                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, insta.getBarcode());
+                    if (barcodeThread == null) {
+                        continue;
+                    }
+                    String barcode = barcodeThread.getBarcode();
+                    if(!Cools.isEmpty(barcode)) {
+                        News.info(""+mark+" - 1"+" - {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", insta.getBarcode(), barcode);
+                        if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+                            continue;
+                        }
+                    } else {
+                        continue;
+                    }
+
+                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
+                    if (wrkMast == null) {
+                        // 鏃犳嫞鏂欐暟鎹�
+                        continue;
+                    }
+                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
+                            || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
+                        continue;
+                    }
+
+                    // 鎷c�佺洏銆佸苟 浣滀笟绔欒浆鎹�
+//                    int stnNo = 0;
+//                    if (wrkMast.getStaNo() == 109) {
+//                        stnNo = 127;
+//                    } else if (wrkMast.getStaNo() == 113) {
+//                        stnNo = 128;
+//                    } else {
+//                        log.error("{}鍙蜂换鍔℃暟鎹紓甯革紒", wrkMast.getWrkNo());
+//                    }
+                    // 鑾峰彇鐩爣绔�
+                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
+                            .eq("type_no", wrkMast.getIoType() - 50)
+                            .eq("stn_no", insta.getStaNo()) // 浣滀笟绔欑偣 = 鎷f枡鍑哄簱鐨勭洰鏍囩珯
+                            .eq("crn_no", wrkMast.getCrnNo()); // 鍫嗗灈鏈哄彿
+                    StaDesc staDesc = staDescService.selectOne(wrapper);
+                    if (Cools.isEmpty(staDesc)) {
+//                        News.error(""+mark+" - 2"+" - 鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
+//                        staProtocol.setWorkNo((short) 9989);
+//                        staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
+//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
+//                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+                        //LED
+                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, insta.getLed());
+                        // led 寮傚父鏄剧ず
+                        if (ledThread != null) {
+                            String errorMsg = "姝や负鎷f枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱.璇锋斁鍦�"+insta.getBackSta().shortValue()+"绔欑偣";
+                            MessageQueue.offer(SlaveType.Led, insta.getLed(), new Task(5, errorMsg));
+                        }
+                        continue;
+                    }
+
+                    try {
+                        // 淇濆瓨宸ヤ綔鏄庣粏妗e巻鍙叉。
+                        if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
+                            throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗e巻鍙叉。澶辫触");
+                        }
+                        // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
+                        if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
+                            throw new CoolException("淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗eけ璐�");
+                        }
+
+                        Date now = new Date();
+                        // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
+                        Integer staNo = staDesc.getCrnStn();
+                        // 鏇存柊宸ヤ綔妗f暟鎹姸鎬�
+                        wrkMast.setIoTime(now);
+                        wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
+                        wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
+                        wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 婧愮珯
+                        wrkMast.setStaNo(staNo); // 鐩爣绔�
+                        wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
+                        wrkMast.setSourceLocNo(""); // 婧愬簱浣嶆竻绌�
+                        wrkMast.setModiTime(now);
+                        wrkMast.setUpdMk("");//鍏佽鍐嶆绉诲簱
                         if (wrkMastMapper.updateById(wrkMast) == 0) {
                             throw new CoolException("鏇存柊宸ヤ綔妗f暟鎹姸鎬佸け璐�");
                         }
@@ -643,6 +787,10 @@
      */
     public synchronized void crnMove() {
         for (CrnSlave crn : slaveProperties.getCrn()) {
+            if (crn.getId() == 1) {
+                continue;
+            }
+
             // 鑾峰彇鍫嗗灈鏈轰俊鎭�
             CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
             CrnProtocol crnProtocol = crnThread.getCrnProtocol();
@@ -680,6 +828,78 @@
                 CrnSlave.CrnStn crnStn = crn.getCrnInStn().get(0);
 
                 News.info("鍫嗗灈鏈烘棤浠诲姟鑷姩鍥炲叆搴撳彛寰呮満==>>" + crnProtocol.getCrnNo() + "鍙峰爢鍨涙満");
+                // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+                CrnCommand crnCommand = new CrnCommand();
+                crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+                crnCommand.setTaskNo((short) 9999); // 宸ヤ綔鍙�
+                crnCommand.setAckFinish((short) 0);  // 浠诲姟瀹屾垚纭浣�
+                crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE); // 浠诲姟妯″紡:  鍫嗗灈鏈虹Щ鍔�
+                crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 婧愬簱浣嶆帓
+                crnCommand.setSourcePosY((short) 1);     // 婧愬簱浣嶅垪
+                crnCommand.setSourcePosZ((short) 1);     // 婧愬簱浣嶅眰
+                crnCommand.setDestinationPosX((short) 0);     // 鐩爣搴撲綅鎺�
+                crnCommand.setDestinationPosY((short) 0);     // 鐩爣搴撲綅鍒�
+                crnCommand.setDestinationPosZ((short) 0);     // 鐩爣搴撲綅灞�
+                if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
+                    News.error("鍫嗗灈鏈虹Щ鍔ㄥ懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
+                }
+                crnThread.setBackHpFlag(true);
+                redisUtil.set(RedisConstantType.CRN_MOVE_LOCK + crn.getId(), "lock", 60);
+                try {
+                    Thread.sleep(500);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+            }
+        }
+    }
+
+    /**
+     * 鍫嗗灈鏈烘湁鍏ュ簱浠诲姟鏃讹紝鍥炲叆搴撳彛寰呮満
+     */
+    public synchronized void crnMoveByInTask() {
+        for (CrnSlave crn : slaveProperties.getCrn()) {
+            if (crn.getId() == 1) {
+                continue;
+            }
+
+            // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+            if (crnProtocol == null) {
+                continue;
+            }
+            BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
+            if (basCrnp == null) {
+                log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
+                continue;
+            }
+
+            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
+                if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
+                    continue;
+                }
+
+                if (System.currentTimeMillis() - crnProtocol.getLastCommandTime() < 1000 * 60) {
+                    continue;
+                }
+
+                Object object = redisUtil.get(RedisConstantType.CRN_MOVE_LOCK);
+                if (object != null) {
+                    continue;
+                }
+
+                List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+                        .eq("crn_no", crn.getId())
+                        .eq("wrk_sts", 2)
+                );
+                if (wrkMasts.isEmpty()) {
+                    continue;
+                }
+
+                CrnSlave.CrnStn crnStn = crn.getCrnInStn().get(0);
+
+                News.info("鍫嗗灈鏈烘湁鍏ュ簱浠诲姟鏃讹紝鍥炲叆搴撳彛寰呮満==>>" + crnProtocol.getCrnNo() + "鍙峰爢鍨涙満");
                 // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
                 CrnCommand crnCommand = new CrnCommand();
                 crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
@@ -786,21 +1006,27 @@
                 LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                 // O.绌哄簱浣嶃�丵.鎷f枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
                 if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
-                    News.warnNoLog(""+mark+" - 1"+" - 9"+" - // O.绌哄簱浣嶃�丵.鎷f枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒搴撲綅鐘舵��={}",shallowLoc.getLocSts());
+                    News.warn(""+mark+" - 1"+" - 9"+" - // O.绌哄簱浣嶃�丵.鎷f枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒搴撲綅={},搴撲綅鐘舵��={}",shallowLoc.getLocNo(),shallowLoc.getLocSts());
                     WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                     if (null == waitWrkMast) {
                         News.error(""+mark+" - 1"+" - 10"+" - {}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗o紒", shallowLocNo);
                     } else {
-                        waitWrkMast.setIoPri(15D);
-                        waitWrkMast.setModiTime(new Date());
-                        if (wrkMastMapper.updateById(waitWrkMast) == 0) {
-                            News.error(""+mark+" - 1"+" - 11"+" - 璋冩暣宸ヤ綔妗d紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
+                        if (waitWrkMast.getWrkSts() != 14 && waitWrkMast.getIoType() > 100) {
+                            waitWrkMast.setIoPri(15D);
+                            waitWrkMast.setModiTime(new Date());
+                            if (wrkMastMapper.updateById(waitWrkMast) == 0) {
+                                News.error(""+mark+" - 1"+" - 11"+" - 璋冩暣宸ヤ綔妗d紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
+                            }
+                            continue;
                         }
-                        continue;
+
+                        if(waitWrkMast.getWrkSts() < 5 && waitWrkMast.getIoType() < 100) {
+                            continue;//鏈変换鍔$姝㈡惉杩愶紝鏈夊彲鑳芥祬搴撲綅鐘舵�佽繕鏈彉鏇村畬鎴�
+                        }
                     }
 
                 } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
-                    News.warnNoLog(""+mark+" - 1"+" - 12"+" - // F銆丏  搴撲綅鐘舵��={}",shallowLoc.getLocSts());
+                    News.warn(""+mark+" - 1"+" - 12"+" - // F銆丏  搴撲綅={},搴撲綅鐘舵��={}",shallowLoc.getLocNo(),shallowLoc.getLocSts());
                     // 姝ゆ爣璁伴伩鍏嶅娆℃墽琛岀Щ搴撲换鍔�
                     if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                         if (moveLocForDeepLoc(slave, shallowLoc,mark)){
@@ -818,7 +1044,7 @@
                     }
                     continue;
                 } else if (shallowLoc.getLocSts().equals("Q")) {
-                    News.warnNoLog(""+mark+" - 1"+" - 13"+" - // Q  搴撲綅鐘舵��={}",shallowLoc.getLocSts());
+                    News.warn(""+mark+" - 1"+" - 13"+" - // Q  搴撲綅={},搴撲綅鐘舵��={}",shallowLoc.getLocNo(),shallowLoc.getLocSts());
                     WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                     if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                         News.infoNoLog(""+mark+" - 1"+" - 14"+" - // F銆丏  宸ヤ綔鐘舵��(鍒ゆ柇鏉′欢涓�==4)={}",waitWrkMast.getWrkSts());
@@ -826,7 +1052,7 @@
                     }
                 }
             }
-            News.warnNoLog(""+mark+" - 1"+" - 15"+" - 鍛戒护涓嬪彂 : 宸ヤ綔鍙�={},婧愭帓={},婧愬垪={},婧愬眰={},鐩爣鎺�={},鐩爣鍒�={},鐩爣灞�={}",wrkMast.getWrkNo().shortValue()
+            News.info(""+mark+" - 1"+" - 15"+" - 鍛戒护涓嬪彂 : 宸ヤ綔鍙�={},婧愭帓={},婧愬垪={},婧愬眰={},鐩爣鎺�={},鐩爣鍒�={},鐩爣灞�={}",wrkMast.getWrkNo().shortValue()
                     ,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue()
                     ,locMast.getRow1().shortValue(),locMast.getBay1().shortValue(),locMast.getLev1().shortValue());
 
@@ -877,6 +1103,20 @@
      */
     public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
         News.warnNoLog(""+mark+" - 2"+" - 0"+" - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂锛氭墽琛屽嚭搴�");
+
+        int devpTaskStackOver = 20;
+        Config config = configService.selectOne(new EntityWrapper<Config>()
+                .eq("code", "devpTaskStackOver"));
+        if(config != null) {
+            devpTaskStackOver = Integer.parseInt(config.getValue());
+        }
+
+        Integer devpWorkingCount = commonService.queryDevpWorkingCount();
+        if (devpWorkingCount > devpTaskStackOver) {
+            News.warn("" + mark + " - 2" + " - 0" + " - 杈撻�佺嚎浠诲姟杩囪浇锛屽綋鍓嶈緭閫佺嚎鎵胯浇鏁伴噺:{}", devpWorkingCount);
+            return;
+        }
+
         for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
             // 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑鍑哄簱宸ヤ綔妗�
 //            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
@@ -962,7 +1202,7 @@
 
                     if (crnProtocol.getCrnNo() == 1) {
                         //鍒ゆ柇鍫嗗灈鏈哄拰褰撳墠浠诲姟鏄惁澶勪簬涓�涓贩閬�
-                        if (Utils.getLaneByLocNo(wrkMast.getLocNo()) != crnProtocol.getCrnLane()) {
+                        if (Utils.getLaneByLocNo(wrkMast.getSourceLocNo()) != crnProtocol.getCrnLane()) {
                             //鍒ゆ柇鍫嗗灈鏈烘墍鍦ㄥ贩閬撴槸鍚﹀瓨鍦ㄥ叾浠栦换鍔★紝濡傚瓨鍦ㄥ垯浼樺厛鎵ц
                             List<WrkMast> currentWrkMasts = wrkMastService.selectLaneWrkMast(crnProtocol.getCrnLane(), false);
                             if (!currentWrkMasts.isEmpty()) {
@@ -978,7 +1218,7 @@
                         LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                         // O.绌哄簱浣嶃�丵.鎷f枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
                         if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
-                            News.warnNoLog(""+mark+" - 2"+" - 7"+" - // O.绌哄簱浣嶃�丵.鎷f枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒搴撲綅鐘舵��={}",shallowLoc.getLocSts());
+                            News.warnNoLog(""+mark+" - 2"+" - 7"+" - // O.绌哄簱浣嶃�丵.鎷f枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒搴撲綅={},搴撲綅鐘舵��={}",shallowLoc.getLocNo(),shallowLoc.getLocSts());
                             WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                             if (null == waitWrkMast) {
                                 News.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗o紒", shallowLocNo);
@@ -995,7 +1235,7 @@
                                 }
                             }
                         } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
-                            News.warnNoLog(""+mark+" - 2"+" - 9"+" - // F銆丏  搴撲綅鐘舵��={}",shallowLoc.getLocSts());
+                            News.warnNoLog(""+mark+" - 2"+" - 9"+" - // F銆丏  搴撲綅={},搴撲綅鐘舵��={}",shallowLoc.getLocNo(),shallowLoc.getLocSts());
 //                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                             //2022-08-16 modify,涓嶆牴鎹畊pdmk鏍囪绉诲簱浠诲姟(瀹规槗琚彇娑堝鑷村牭濉�)锛屾煡璇㈠伐浣滄。鏄惁瀛樺湪浠诲姟
                             WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
@@ -1016,7 +1256,7 @@
                             News.error("{}浠诲姟鍑哄簱澶辫触锛屾祬搴撲綅鍫靛锛佹祬搴撲綅鍙�:{}", wrkMast.getWrkNo(), shallowLocNo);
                             continue;
                         } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
-                            News.warnNoLog(""+mark+" - 2"+" - 10"+" - // Q銆丼  搴撲綅鐘舵��={}",shallowLoc.getLocSts());
+                            News.warnNoLog(""+mark+" - 2"+" - 10"+" - // Q銆丼  搴撲綅={},搴撲綅鐘舵��={}",shallowLoc.getLocNo(),shallowLoc.getLocSts());
                             WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                             if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                                 News.infoNoLog(""+mark+" - 2"+" - 11"+" - // F銆丏  宸ヤ綔鐘舵��(鍒ゆ柇鏉′欢涓�==4)={}",waitWrkMast.getWrkSts());
@@ -1537,13 +1777,43 @@
                     continue;
                 }
 
+                // 鑾峰彇鏉$爜鎵弿浠俊鎭�
+                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
+                if (barcodeThread == null) {
+                    continue;
+                }
+
                 // 绔欑偣鏉′欢鍒ゆ柇
                 if (staProtocol.isAutoing()
                         && staProtocol.isInEnable()
                         && staProtocol.isEmptyMk()
                         && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999)
-                        && staProtocol.isPakMk()) {
+                        && staProtocol.isPakMk()
+                        && staProtocol.getEmptyInType() == 1
+                ) {
                     News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛岋細绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�");
+
+                    String barcode = barcodeThread.getBarcode();
+                    if(!Cools.isEmpty(barcode)) {
+                        News.info(""+mark+" - 1"+" - {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", emptyInSta.getBarcode(), barcode);
+                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
+                            News.info(""+mark+" - 2"+" - 鎵爜澶辫触1 ===>> {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{},绔欑偣:{}", emptyInSta.getBarcode(), barcode, emptyInSta.getStaNo());
+                            // led 寮傚父鏄剧ず
+                            if (ledThread != null) {
+                                String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+                                MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
+                            }
+                            continue;
+                        }
+                    } else {
+                        News.info(""+mark+" - 3"+" - 鎵爜澶辫触2 ===>> {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{},绔欑偣:{}", emptyInSta.getBarcode(), barcode, emptyInSta.getStaNo());
+                        // led 寮傚父鏄剧ず
+                        if (ledThread != null) {
+                            String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+                            MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
+                        }
+                        continue;
+                    }
 
                     try {
                         LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -1552,6 +1822,7 @@
                         param.setIoType(10);
                         param.setSourceStaNo(emptyInSta.getStaNo());
                         param.setLocType1(locTypeDto.getLocType1());
+                        param.setBarcode(barcode);
                         String response = new HttpHandler.Builder()
                                 .setUri(wmsUrl)
                                 .setPath("/rpc/pakin/loc/v1")
@@ -1571,31 +1842,7 @@
                                 News.errorNoLog(""+mark+" - 1"+" - 鏇存柊plc绔欑偣淇℃伅澶辫触");
                                 throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
                             }
-
-                            if (ledThread != null) {
-                                // 鍛戒护闆嗗悎
-                                List<LedCommand> commands = new ArrayList<>();
-                                // 缁勮鍛戒护
-                                LedCommand ledCommand = new LedCommand();
-                                ledCommand.setWorkNo(dto.getWorkNo());
-                                ledCommand.setIoType(1);
-                                ledCommand.setTitle("鍏ㄦ澘鍏ュ簱");
-                                ledCommand.setLocNo(dto.getLocNo());
-                                ledCommand.setStaNo(dto.getStaNo());
-                                commands.add(ledCommand);
-                                MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, commands));
-//                                ledThread.errorReset();
-                            }
                         } else {
-                            staProtocol.setWorkNo((short)9992);
-                            staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
-                            devpThread.setPakMk(staProtocol.getSiteId(), false);
-                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-                            if (!result) {
-                                News.errorNoLog(""+mark+" - 2"+" - 鏇存柊plc绔欑偣淇℃伅澶辫触");
-                                throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
-                            }
-
                             if (ledThread != null) {
                                 String errorMsg = jsonObject.getString("msg");
                                 if (!Cools.isEmpty(errorMsg)) {
@@ -1606,9 +1853,115 @@
                         }
                     } catch (Exception e) {
                         e.printStackTrace();
-                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+                    }
+                } else {
+                    News.errorNoLog(""+mark+" - 4"+" - 绔欑偣淇℃伅涓嶇鍚堝叆搴撴潯浠讹紒锛侊紒"+" 鑷姩淇″彿锛�"+staProtocol.isAutoing()+"銆佸彲鍏ヤ俊鍙凤細" + staProtocol.isInEnable()
+                            +"銆佺┖鏉夸俊鍙凤細"+ staProtocol.isEmptyMk()+"銆佸伐浣滃彿锛�" + staProtocol.getWorkNo()
+                            +"銆侀攣瀹氭爣璁�"+ staProtocol.isPakMk());
+                }
+            }
+        }
+        News.infoNoLog(""+mark+" - 0"+" - 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐ф墽琛屽畬鎴�");
+    }
+
+    /**
+     * 绌烘墭鐩樺叆搴�-浜х嚎
+     */
+    public synchronized void storeEmptyPltLine(Integer mark) {
+        for (DevpSlave devp : slaveProperties.getDevp()) {
+            // 閬嶅巻绌烘澘鍏ュ簱鍙�
+            for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
+                // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
+                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+                StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
+                if (staProtocol == null) {
+                    continue;
+                } else {
+                    staProtocol = staProtocol.clone();
+                }
+
+                LedThread ledThread = null;
+                if (!Cools.isEmpty(emptyInSta.getLed()))  {
+                    ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
+                }
+
+                if (!staProtocol.isLoading()){
+                    continue;
+                }
+
+                // 鑾峰彇鏉$爜鎵弿浠俊鎭�
+                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
+                if (barcodeThread == null) {
+                    continue;
+                }
+
+                // 绔欑偣鏉′欢鍒ゆ柇
+                if (staProtocol.isAutoing()
+                        && staProtocol.isInEnable()
+                        && staProtocol.isEmptyMk()
+                        && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999)
+                        && staProtocol.isPakMk()
+                        && staProtocol.getEmptyInType() == 2
+                ) {
+                    News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛岋細绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�");
+
+                    String barcode = barcodeThread.getBarcode();
+                    if(!Cools.isEmpty(barcode)) {
+                        News.info(""+mark+" - 1"+" - {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", emptyInSta.getBarcode(), barcode);
+                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
+                            News.info(""+mark+" - 2"+" - 鎵爜澶辫触1 ===>> {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{},绔欑偣:{}", emptyInSta.getBarcode(), barcode, emptyInSta.getStaNo());
+                            // led 寮傚父鏄剧ず
+                            if (ledThread != null) {
+                                String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+                                MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
+                            }
+                            continue;
+                        }
+                    } else {
+                        News.info(""+mark+" - 3"+" - 鎵爜澶辫触2 ===>> {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{},绔欑偣:{}", emptyInSta.getBarcode(), barcode, emptyInSta.getStaNo());
+                        // led 寮傚父鏄剧ず
+                        if (ledThread != null) {
+                            String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+                            MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
+                        }
+                        continue;
                     }
 
+                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
+                            .eq("barcode", barcode)
+                    );
+                    if(wrkMast != null) {
+                        continue;
+                    }
+
+                    int workNo = commonService.getWorkNo(3);
+                    // 鐢熸垚宸ヤ綔妗�
+                    WrkMast wrkMast1 = new WrkMast();
+                    wrkMast1.setWrkNo(workNo);
+                    wrkMast1.setIoTime(new Date());
+                    wrkMast1.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細璁惧涓婅蛋
+                    wrkMast1.setIoType(3); // 鍏ュ嚭搴撶姸鎬侊細3.绔欏埌绔�
+                    wrkMast1.setIoPri(13D); // 浼樺厛绾�
+                    wrkMast1.setSourceStaNo(emptyInSta.getStaNo());
+                    wrkMast1.setStaNo(1007);
+                    wrkMast1.setBarcode(barcode);
+                    // 鎿嶄綔浜哄憳鏁版嵁
+                    wrkMast1.setAppeTime(new Date());
+                    wrkMast1.setModiTime(new Date());
+                    boolean res = wrkMastService.insert(wrkMast1);
+                    if (!res) {
+                        throw new CoolException("淇濆瓨宸ヤ綔妗eけ璐�");
+                    }
+
+                    // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+                    staProtocol.setWorkNo((short) workNo);
+                    staProtocol.setStaNo((short) 2003);
+                    devpThread.setPakMk(staProtocol.getSiteId(), false);
+                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+                    if (!result) {
+                        News.errorNoLog(""+mark+" - 1"+" - 鏇存柊plc绔欑偣淇℃伅澶辫触");
+                        throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+                    }
                 } else {
                     News.errorNoLog(""+mark+" - 4"+" - 绔欑偣淇℃伅涓嶇鍚堝叆搴撴潯浠讹紒锛侊紒"+" 鑷姩淇″彿锛�"+staProtocol.isAutoing()+"銆佸彲鍏ヤ俊鍙凤細" + staProtocol.isInEnable()
                             +"銆佺┖鏉夸俊鍙凤細"+ staProtocol.isEmptyMk()+"銆佸伐浣滃彿锛�" + staProtocol.getWorkNo()
@@ -2206,13 +2559,16 @@
         ArrayList<Integer> list = new ArrayList<Integer>(){{add(2003);add(2002);}};
         for (Integer staNo : list) {
             Integer devpId = null;
+            Integer rgvStaNoDevpId = null;
             Integer rgvStaNo = null;
             if (staNo == 2003) {
                 devpId = 1;
                 rgvStaNo = 2002;
+                rgvStaNoDevpId = 2;
             }else {
                 devpId = 2;
                 rgvStaNo = 2003;
+                rgvStaNoDevpId = 1;
             }
 
             SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devpId);
@@ -2242,6 +2598,43 @@
                     continue;
                 }
 
+                SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvStaNoDevpId);
+                if (devpThread2 == null) {
+                    continue;
+                }
+                StaProtocol staProtocolRgvStaNo = devpThread2.getStation().get(rgvStaNo);
+                if (staProtocolRgvStaNo == null) {
+                    continue;
+                }
+
+                if (!staProtocolRgvStaNo.isAutoing()) {
+                    continue;
+                }
+
+                if (staProtocolRgvStaNo.isLoading()) {
+                    continue;
+                }
+
+                // 鑾峰彇RGV淇℃伅
+                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, 1);
+                if (rgvThread == null) {
+                    continue;
+                }
+
+                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+                if (rgvProtocol == null) {
+                    continue;
+                }
+
+                if (rgvProtocol.statusType1 != RgvStatusType.IDLE && rgvProtocol.getTaskNo1() != 0) {
+                    continue;
+                }
+
+                Object object = redisUtil.get(RedisConstantType.RGV_MOVE_LOCK + wrkMast.getWrkNo());
+                if (object != null) {
+                    continue;
+                }
+
                 RgvCommand command = new RgvCommand();
                 command.setRgvNo(1); // RGV缂栧彿
                 command.setAckFinish1((short) 0);  // 浠诲姟瀹屾垚纭浣�
@@ -2259,6 +2652,7 @@
                 wrkMast.setWrkSts(201L);//201.RGV鎼繍涓�
                 wrkMast.setModiTime(new Date());
                 wrkMastService.updateById(wrkMast);
+                redisUtil.set(RedisConstantType.RGV_MOVE_LOCK + wrkMast.getWrkNo(), "lock", 60 * 60);
             }
         }
     }
@@ -2284,6 +2678,15 @@
                 WrkMast wrkMast = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
                 if (wrkMast == null) {
                     News.error(""+mark+" - 1"+" - RGV澶勪簬绛夊緟纭涓斾换鍔″畬鎴愮姸鎬侊紝浣嗘湭鎵惧埌宸ヤ綔妗c�俁GV鍙�={}锛屽伐浣滃彿={}", rgvSlave.getId(), rgvProtocol.getTaskNo1());
+                    continue;
+                }
+
+                if (wrkMast.getWrkSts() != 201) {
+                    continue;
+                }
+
+                if (wrkMast.getIoType() == 3) {
+                    //绔欏埌绔欒蛋鍙﹀涓�涓柟娉�
                     continue;
                 }
 
@@ -2336,6 +2739,86 @@
         News.infoNoLog(""+mark+" - 0"+" - 瀵瑰伐浣滄。鐨勫畬鎴愭搷浣滄墽琛屽畬鎴�");
     }
 
+    // RGV  ===>> 鎵ц瀵筊GV宸ヤ綔妗g殑瀹屾垚鎿嶄綔 绔欏埌绔�
+    public synchronized void rgvFinished2(Integer mark) {
+        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+            // 鑾峰彇RGV淇℃伅
+            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+            if (rgvThread == null) {
+                continue;
+            }
+
+            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+            if (rgvProtocol == null) {
+                continue;
+            }
+
+            //  鐘舵�侊細绛夊緟纭 骞朵笖  浠诲姟瀹屾垚浣� = 1
+            if (rgvProtocol.statusType1 == RgvStatusType.WAITING && rgvProtocol.getTaskNo1() != 0) {
+                News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛屽RGV宸ヤ綔妗g殑瀹屾垚鎿嶄綔");
+                // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
+                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
+                if (wrkMast == null) {
+                    News.error(""+mark+" - 1"+" - RGV澶勪簬绛夊緟纭涓斾换鍔″畬鎴愮姸鎬侊紝浣嗘湭鎵惧埌宸ヤ綔妗c�俁GV鍙�={}锛屽伐浣滃彿={}", rgvSlave.getId(), rgvProtocol.getTaskNo1());
+                    continue;
+                }
+
+                if (wrkMast.getWrkSts() != 201) {
+                    continue;
+                }
+
+                if (wrkMast.getIoType() != 3) {
+                    //涓嶆槸绔欏埌绔�
+                    continue;
+                }
+
+                Integer devpId = 2;
+                Integer devpStaNo = 2002;
+
+                // 鑾峰彇鍏ュ簱绔欎俊鎭�
+                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devpId);
+                StaProtocol staProtocol = devpThread.getStation().get(devpStaNo);
+                if (staProtocol == null) {
+                    continue;
+                } else {
+                    staProtocol = staProtocol.clone();
+                }
+
+                if (staProtocol.isAutoing()
+                        && staProtocol.isLoading()
+                        && staProtocol.getWorkNo() == 0
+                ) {
+
+                    short locType2 = 1;
+                    String barcode = wrkMast.getBarcode();
+                    if (barcode.startsWith("11")) {
+                        locType2 = 1;
+                    } else if (barcode.startsWith("13")) {
+                        locType2 = 2;
+                    } else if (barcode.startsWith("16")) {
+                        locType2 = 3;
+                    } else {
+                        continue;
+                    }
+
+                    staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+                    staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+                    staProtocol.setPalletSize(locType2);
+                    devpThread.setPakMk(staProtocol.getSiteId(), false);
+                    boolean result = MessageQueue.offer(SlaveType.Devp, devpId, new Task(2, staProtocol));
+                    if (!result) {
+                        throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+                    }
+                    rgvThread.setResetFlag1(true);
+
+                    wrkMastService.delete(new EntityWrapper<WrkMast>()
+                            .eq("wrk_no", wrkMast.getWrkNo()));
+                }
+            }
+        }
+        News.infoNoLog(""+mark+" - 0"+" - 瀵瑰伐浣滄。鐨勫畬鎴愭搷浣滄墽琛屽畬鎴�");
+    }
+
 //    /**
 //     * 鍏ュ嚭搴撴ā寮忓垏鎹㈠嚱鏁�
 //     */

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