From c0c9c95e268faccc66c64661300b876502ac59f4 Mon Sep 17 00:00:00 2001
From: mrzhssss <pro6@qq.com>
Date: 星期日, 29 一月 2023 11:15:33 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java |  468 ++++++++++++++++++++++++++++++++++++---------------------
 1 files changed, 293 insertions(+), 175 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 5516330..fc84fbf 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -21,6 +21,7 @@
 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.core.CrnThread;
 import com.zy.core.DevpThread;
 import com.zy.core.cache.MessageQueue;
@@ -41,7 +42,6 @@
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 import org.springframework.transaction.interceptor.TransactionAspectSupport;
@@ -87,6 +87,8 @@
     private BasErrLogService basErrLogService;
     @Autowired
     private BasCrnErrorMapper basCrnErrorMapper;
+    @Autowired
+    private WrkMastService wrkMastService;
 
     @Value("${wms.url}")
     private String wmsUrl;
@@ -95,27 +97,14 @@
      * 缁勬墭
      * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 2
      */
-    public void generateStoreWrkFile() {
+    public synchronized void generateStoreWrkFile() {
         // 鏍规嵁杈撻�佺嚎plc閬嶅巻
         for (DevpSlave devp : slaveProperties.getDevp()) {
             // 閬嶅巻鍏ュ簱鍙�
             for (DevpSlave.Sta inSta : devp.getInSta()) {
                 // 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)) {
-                    log.info("{}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;
-                }
-
-                // 鑾峰彇鍏ュ簱绔欎俊鎭�
+                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                 StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                 if (staProtocol == null) {
@@ -124,20 +113,49 @@
                     staProtocol = staProtocol.clone();
                 }
 
-                // 鍏ュ嚭搴撴ā寮忓垽鏂�
-//                if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
-                if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
+                if (barcodeThread == null) {
+                    continue;
+                }
+                String barcode = barcodeThread.getBarcode();
+                //9998閫�鍥烇紝9996绌烘澘
+                if (!Cools.isEmpty(barcode) && (staProtocol.getWorkNo() != 9998 || staProtocol.getWorkNo() != 9996)) {
+                    log.info("{}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)) {
+                        staProtocol.setWorkNo((short) 9998);
+                        staProtocol.setStaNo((short) 14);
+                        devpThread.setPakMk(staProtocol.getSiteId(), false);
+                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+                        // 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, inSta.getLed(), new Task(3, errorMsg));
+                        }
+                        continue;
+                    }
+                } else {
                     continue;
                 }
 
+                // 鑾峰彇鍏ュ簱绔欎俊鎭�
+//                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+
+
+                // 鍏ュ嚭搴撴ā寮忓垽鏂�
+//                if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
+//                if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
+//                    continue;
+//                }
+
                 // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
-                if (staProtocol.isAutoing() && staProtocol.isLoading()
+                if (staProtocol.isAutoing()
+                        && staProtocol.isLoading()
                         && staProtocol.isInEnable()
-                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
+                        && !staProtocol.isEmptyMk()
+                        && (staProtocol.getWorkNo() == 9999 || staProtocol.getWorkNo() == 9997 || staProtocol.getWorkNo() == 9995)
                         && staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {
 
 //                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
-//                        log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
+//                        News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
 //                        //鏉＄爜涓虹┖鎴栬�呬笉绗﹀悎锛岄��搴撳埌172绔欑偣
 //                        staProtocol.setWorkNo((short)9999);
 //                        staProtocol.setStaNo((short)172);
@@ -152,15 +170,16 @@
                     // 鍒ゆ柇閲嶅宸ヤ綔妗�
                     WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                     if (wrkMast != null) {
-                        log.error("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
+                        News.error("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
                         continue;
                     }
-//                    // 鑾峰彇鍏ュ簱閫氱煡妗�
-//                    List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
-//                    if (waitPakins.isEmpty()) {
-//                        log.error("鏃犳鍏ュ簱鏉＄爜鏁版嵁銆傛潯鐮佸彿={}", barcode);
-//                        continue;
-//                    }
+
+                    WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
+                            .eq("barcode", barcode)
+                            .eq("io_type", 103));
+                    if (!Cools.isEmpty(checkPick)) {
+                        continue;
+                    }
 
                     try {
 
@@ -189,8 +208,21 @@
                             if (!result) {
                                 throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
                             }
+                            String successMsg = "鍏ュ簱宸ヤ綔妗�--宸ヤ綔鍙�:" + dto.getWorkNo() + " 鐩爣搴撲綅:" + dto.getLocNo();
+                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, successMsg));
                         } else {
-                            log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
+                            staProtocol.setWorkNo((short) 9998);
+                            staProtocol.setStaNo((short) 14);
+                            devpThread.setPakMk(staProtocol.getSiteId(), false);
+                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+                            if (ledThread != null) {
+                                String errorMsg = jsonObject.getString("msg");
+                                if (!Cools.isEmpty(errorMsg)) {
+                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+                                }
+                            }
+                            News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
+
                         }
 
 
@@ -268,7 +300,7 @@
      * wms鍏ュ簱
      * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 1 ==>> 2
      */
-    public void generateStoreWrkFile0() {
+    public synchronized void generateStoreWrkFile0() {
         // 鏍规嵁杈撻�佺嚎plc閬嶅巻
         for (DevpSlave devp : slaveProperties.getDevp()) {
             // 閬嶅巻鍏ュ簱鍙�
@@ -309,10 +341,10 @@
                         wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
                         wrkMast.setModiTime(new Date());
                         if (wrkMastMapper.updateById(wrkMast) == 0) {
-                            log.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
+                            News.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
                         }
                     } else {
-                        log.error("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());
+                        News.error("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());
                     }
 
                 }
@@ -331,19 +363,8 @@
             // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
             for (DevpSlave.Sta pickSta : devp.getPickSta()) {
 //                // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
-//                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
-//                if (barcodeThread == null) {
-//                    continue;
-//                }
-//                String barcode = barcodeThread.getBarcode();
-//                if(!Cools.isEmpty(barcode)) {
-//                    log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
-//                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
-//                        continue;
-//                    }
-//                } else {
-//                    continue;
-//                }
+                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
+                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
 
                 // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
                 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
@@ -353,13 +374,42 @@
                 } else {
                     staProtocol = staProtocol.clone();
                 }
+                if (barcodeThread == null) {
+                    continue;
+                }
+                String barcode = barcodeThread.getBarcode();
+
+                if (!Cools.isEmpty(barcode) && (staProtocol.getWorkNo() != 9998 || staProtocol.getWorkNo() != 9996)) {
+                    log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
+                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+                        staProtocol.setWorkNo((short) 9998);
+                        staProtocol.setStaNo((short) 14);
+                        devpThread.setPakMk(staProtocol.getSiteId(), false);
+                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+                        // 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, pickSta.getLed(), new Task(3, errorMsg));
+                        }
+                        continue;
+                    }
+                } else {
+                    continue;
+                }
+
 
 //                // 鍏ュ嚭搴撴ā寮忓垽鏂�
 //                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
 
-                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
-//                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
-                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
+                if (staProtocol.isAutoing()
+                        && staProtocol.isLoading()
+                        && staProtocol.isInEnable()
+                        && !staProtocol.isEmptyMk()
+                        && (staProtocol.getWorkNo() == 9999 || staProtocol.getWorkNo() == 9997 || staProtocol.getWorkNo() == 9995)
+                        && staProtocol.isPakMk()) {
+
+                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
+//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                     if (wrkMast == null) {
                         // 鏃犳嫞鏂欐暟鎹�
                         continue;
@@ -376,16 +426,17 @@
 //                    } else if (wrkMast.getStaNo() == 113) {
 //                        stnNo = 128;
 //                    } else {
-//                        log.error("{}鍙蜂换鍔℃暟鎹紓甯革紒", wrkMast.getWrkNo());
+//                        News.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", pickSta.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
+                            //閫熻吘鐗规湁鎹℃枡锛� 11绔欐槸鍑哄簱绔欙紝 鐒跺悗鎵嬪姩璧板埌15绔欒繘琛屽啀鍏ュ簱
+                            .eq("stn_no", 15) // 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)) {
-                        log.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
+                        News.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
                         continue;
                     }
 
@@ -406,7 +457,7 @@
                         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.setSourceStaNo(staDesc.getStnNo()); // 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�
@@ -435,7 +486,7 @@
                     devpThread.setPakMk(staProtocol.getSiteId(), false);
                     boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                     if (!result) {
-                        log.error("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());
+                        News.error("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());
                     }
 
                 }
@@ -448,8 +499,7 @@
     /**
      * 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
      */
-    @Async
-    public void crnStnToOutStn() {
+    public synchronized void crnStnToOutStn() {
         for (CrnSlave crnSlave : slaveProperties.getCrn()) {
             // 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
             for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
@@ -499,7 +549,7 @@
                             // 澶嶄綅鍫嗗灈鏈�
                             crnThread.setResetFlag(true);
                         } else {
-                            log.error("鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkNo());
+                            News.error("鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkNo());
                         }
 
                     }
@@ -522,7 +572,7 @@
             }
             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());
+                News.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
                 continue;
             }
 
@@ -532,8 +582,11 @@
 //            }
 
             // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
-            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
-                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
+            if (crnProtocol.getStatusType() == CrnStatusType.IDLE
+                    && crnProtocol.getTaskNo() == 0
+                    && crnProtocol.getModeType() == CrnModeType.AUTO
+                    && crnProtocol.getLoaded() == 0
+                    && crnProtocol.getForkPos() == 0) {
                 // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
                 if (crnProtocol.getLastIo().equals("I")) {
                     if (basCrnp.getInEnable().equals("Y")) {
@@ -575,7 +628,7 @@
 //            }
 //            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());
+//                News.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) {
@@ -597,7 +650,7 @@
             if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
                 return;
             }
-            log.info("鍫嗗灈鏈哄彫鍥炲師鐐�==>>" + crnProtocol.getCrnNo() + "鍙峰爢鍨涙満鏈夊叆搴撲换鍔�,鍙洖鍘熺偣");
+            News.info("鍫嗗灈鏈哄彫鍥炲師鐐�==>>" + crnProtocol.getCrnNo() + "鍙峰爢鍨涙満鏈夊叆搴撲换鍔�,鍙洖鍘熺偣");
             // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
             CrnCommand crnCommand = new CrnCommand();
             crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
@@ -611,7 +664,7 @@
             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))) {
-                log.error("鍫嗗灈鏈哄洖鍘熺偣鍛戒护涓嬪彂澶辫触锛屽爢鍨涙満鍙�={}锛屼换鍔℃暟鎹�={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
+                News.error("鍫嗗灈鏈哄洖鍘熺偣鍛戒护涓嬪彂澶辫触锛屽爢鍨涙満鍙�={}锛屼换鍔℃暟鎹�={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
             }
             crnThread.setBackHpFlag(true);
         }
@@ -621,7 +674,7 @@
     /**
      * 鍏ュ簱  ===>>  鍫嗗灈鏈虹珯鍒板簱浣�
      */
-    public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
+    public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
         for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
             boolean flag = false;
             // 鑾峰彇鍫嗗灈鏈哄叆搴撶珯淇℃伅
@@ -635,7 +688,7 @@
             // 鏌ヨ绔欑偣璇︾粏淇℃伅
             BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
             if (staDetl == null) {
-                log.error("鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
+                News.error("鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
                 continue;
             }
             if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
@@ -648,17 +701,17 @@
             // 鑾峰彇宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級鐨勫叆搴撳伐浣滄。
             WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
             if (null == wrkMast) {
-//                log.error("鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts=2, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+//                News.error("鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts=2, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
                 continue;
             }
             // 鑾峰彇搴撲綅淇℃伅
             LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
             if (locMast == null) {
-                log.error("鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
+                News.error("鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
                 continue;
             }
             if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
-                log.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
+                News.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
                 continue;
             }
 
@@ -680,12 +733,12 @@
                 if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                     WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                     if (null == waitWrkMast) {
-                        log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
+                        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);
                     } else {
                         waitWrkMast.setIoPri(15D);
                         waitWrkMast.setModiTime(new Date());
                         if (wrkMastMapper.updateById(waitWrkMast) == 0) {
-                            log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
+                            News.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
                         }
                         continue;
                     }
@@ -723,7 +776,7 @@
             crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 鐩爣搴撲綅鍒�
             crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 鐩爣搴撲綅灞�
             if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
-                log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+                News.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
             } else {
 
 //                long startTime = System.currentTimeMillis();
@@ -744,7 +797,7 @@
                 wrkMast.setCrnStrTime(now);
                 wrkMast.setModiTime(now);
                 if (wrkMastMapper.updateById(wrkMast) == 0) {
-                    log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+                    News.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
                 }
             }
         }
@@ -754,7 +807,7 @@
      * 鍑哄簱  ===>>  搴撲綅鍒板爢鍨涙満绔�
      * 2022-06-09 TQS淇敼锛屾煡璇㈠伐浣滄。LIST锛岄亶鍘嗕笅鍙戯紝闃叉绗竴涓换鍔″牭濉炲嚭搴�
      */
-    public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
+    public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
         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());
@@ -765,13 +818,13 @@
                 }
                 // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
                 if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
-                    log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
+                    News.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                     continue;
                 }
                 // 鑾峰彇婧愬簱浣嶄俊鎭�
                 LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
                 if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
-                    log.error("鍑哄簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), sourceSta.getLocSts());
+                    News.error("鍑哄簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                     continue;
                 }
                 // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
@@ -793,7 +846,7 @@
                 // 鏌ヨ绔欑偣璇︾粏淇℃伅
                 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                 if (staDetl == null) {
-                    log.error("鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
+                    News.error("鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
                     break;
 //                    continue;
                 }
@@ -816,13 +869,13 @@
                         if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                             WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                             if (null == waitWrkMast) {
-                                log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
+                                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);
                             } else {
                                 if (waitWrkMast.getWrkSts() == 11) {
                                     waitWrkMast.setIoPri(15D);
                                     waitWrkMast.setModiTime(new Date());
                                     if (wrkMastMapper.updateById(waitWrkMast) == 0) {
-                                        log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
+                                        News.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
                                     }
                                     continue;
                                 } else {
@@ -842,10 +895,10 @@
                                 // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
                                 moveLocForDeepLoc(slave, shallowLoc);
                             }
-                            log.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);
+                            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")) {
-                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
+                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                             if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                                 continue;
                             }
@@ -871,7 +924,7 @@
                     crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 鐩爣搴撲綅鍒�
                     crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 鐩爣搴撲綅灞�
                     if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
-                        log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+                        News.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                     } else {
                         // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
                         Date now = new Date();
@@ -879,7 +932,7 @@
                         wrkMast.setCrnStrTime(now);
                         wrkMast.setModiTime(now);
                         if (wrkMastMapper.updateById(wrkMast) == 0) {
-                            log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+                            News.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
                         }
                         break;
                     }
@@ -891,7 +944,7 @@
 //    /**
 //     * 鍑哄簱  ===>>  搴撲綅鍒板爢鍨涙満绔�
 //     */
-//    public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
+//    public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
 //        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());
@@ -900,13 +953,13 @@
 //            }
 //            // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
 //            if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){
-//                log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
+//                News.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
 //                continue;
 //            }
 //            // 鑾峰彇婧愬簱浣嶄俊鎭�
 //            LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
 //            if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
-//                log.error("鍑哄簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), sourceSta.getLocSts());
+//                News.error("鍑哄簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), sourceSta.getLocSts());
 //                continue;
 //            }
 //            // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
@@ -925,7 +978,7 @@
 //            // 鏌ヨ绔欑偣璇︾粏淇℃伅
 //            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
 //            if (staDetl == null) {
-//                log.error("鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
+//                News.error("鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
 //                continue;
 //            }
 //            // 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
@@ -946,13 +999,13 @@
 //                    if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
 //                        WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
 //                        if (null == waitWrkMast) {
-//                            log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
+//                            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);
 //                        } else {
 //                            if(waitWrkMast.getWrkSts() == 11) {
 //                                waitWrkMast.setIoPri(15D);
 //                                waitWrkMast.setModiTime(new Date());
 //                                if (wrkMastMapper.updateById(waitWrkMast) == 0) {
-//                                    log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
+//                                    News.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
 //                                }
 //                                continue;
 //                            } else {
@@ -967,7 +1020,7 @@
 //                            // 鐢熸垚宸ヤ綔妗ｃ�佹敼鍙樻祬搴撲綅鐨勬簮搴�/鐩爣搴� 搴撲綅鐘舵�併�佷笅鍙戝爢鍨涙満鍛戒护锛堢珛椹墽琛�)
 //                            moveLocForDeepLoc(slave, shallowLoc);
 //                        }
-//                        log.error("{}浠诲姟鍑哄簱澶辫触锛屾祬搴撲綅鍫靛锛�", wrkMast.getWrkNo());
+//                        News.error("{}浠诲姟鍑哄簱澶辫触锛屾祬搴撲綅鍫靛锛�", wrkMast.getWrkNo());
 //                        continue;
 //                    }
 //                }
@@ -990,7 +1043,7 @@
 //                crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 鐩爣搴撲綅鍒�
 //                crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 鐩爣搴撲綅灞�
 //                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
-//                    log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+//                    News.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
 //                } else {
 //                    // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
 //                    Date now = new Date();
@@ -998,7 +1051,7 @@
 //                    wrkMast.setCrnStrTime(now);
 //                    wrkMast.setModiTime(now);
 //                    if (wrkMastMapper.updateById(wrkMast) == 0) {
-//                        log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+//                        News.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
 //                    }
 //                }
 //            }
@@ -1008,7 +1061,7 @@
     /**
      * 搴撲綅绉昏浆
      */
-    public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
+    public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
         // 鑾峰彇宸ヤ綔妗ｄ俊鎭�
         WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
         if (null == wrkMast) {
@@ -1017,7 +1070,7 @@
         // 鑾峰彇婧愬簱浣嶄俊鎭�
         LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
         if (null == sourceSta) {
-            log.error("宸ヤ綔妗ｅ簱浣嶇Щ杞け璐ワ紝鍘熷洜锛氭绱㈡簮搴撲綅澶辫触锛佸伐浣滃彿={}锛屾簮搴撲綅={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
+            News.error("宸ヤ綔妗ｅ簱浣嶇Щ杞け璐ワ紝鍘熷洜锛氭绱㈡簮搴撲綅澶辫触锛佸伐浣滃彿={}锛屾簮搴撲綅={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
             return;
         }
         // 婧愬簱浣�  搴撲綅鐘舵�佸垽鏂�
@@ -1027,7 +1080,7 @@
         // 鑾峰彇鐩爣搴撲綅淇℃伅
         LocMast sta = locMastService.selectById(wrkMast.getLocNo());
         if (null == sta) {
-            log.error("宸ヤ綔妗ｅ簱浣嶇Щ杞け璐ワ紝鍘熷洜锛氭绱㈢洰鏍囧簱浣嶅け璐ワ紒宸ヤ綔鍙�={}锛屾簮搴撲綅={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
+            News.error("宸ヤ綔妗ｅ簱浣嶇Щ杞け璐ワ紝鍘熷洜锛氭绱㈢洰鏍囧簱浣嶅け璐ワ紒宸ヤ綔鍙�={}锛屾簮搴撲綅={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
             return;
         }
         // 鑾峰彇鍫嗗灈鏈轰俊鎭� 骞� 鍒ゆ柇鏄惁鍙叆鍑�
@@ -1039,6 +1092,50 @@
         // 鍫嗗灈鏈烘帶鍒惰繃婊�
         if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
             return;
+        }
+
+        // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
+        if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
+            String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
+            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")) {
+                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);
+                } else {
+                    if (waitWrkMast.getWrkSts() == 11) {
+                        waitWrkMast.setIoPri(15D);
+                        waitWrkMast.setModiTime(new Date());
+                        if (wrkMastMapper.updateById(waitWrkMast) == 0) {
+                            News.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
+                        }
+                        return;
+                    } else {
+
+                    }
+                }
+            } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
+//                            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);
+                // 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())
+//                                || Cools.isEmpty(waitWrkMast)) {
+                if (Cools.isEmpty(waitWrkMast)) {
+                    wrkMast.setUpdMk("Y");
+                    wrkMastMapper.updateById(wrkMast);
+                    // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
+                    moveLocForDeepLoc(slave, shallowLoc);
+                }
+                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);
+                return;
+            } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
+                WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
+                if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
+                    return;
+                }
+            }
         }
 
         // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
@@ -1059,7 +1156,7 @@
         crnCommand.setDestinationPosY(sta.getBay1().shortValue());     // 鐩爣搴撲綅鍒�
         crnCommand.setDestinationPosZ(sta.getLev1().shortValue());     // 鐩爣搴撲綅灞�
         if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
-            log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+            News.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
         } else {
             // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
             Date now = new Date();
@@ -1067,7 +1164,7 @@
             wrkMast.setCrnStrTime(now);
             wrkMast.setModiTime(now);
             if (wrkMastMapper.updateById(wrkMast) == 0) {
-                log.error("銆愬簱浣嶇Щ杞�� 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+                News.error("銆愬簱浣嶇Щ杞�� 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
             }
         }
 
@@ -1076,8 +1173,7 @@
     /**
      * 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
      */
-    @Async
-    public void storeFinished() {
+    public synchronized void storeFinished() {
         for (CrnSlave crn : slaveProperties.getCrn()) {
             // 鑾峰彇鍫嗗灈鏈轰俊鎭�
             CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -1094,7 +1190,7 @@
                     // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
                     WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                     if (wrkMast == null) {
-                        log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
+                        News.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
                         continue;
                     }
                     // 鍏ュ簱 + 搴撲綅杞Щ  ==> 4.鍏ュ簱瀹屾垚
@@ -1120,8 +1216,7 @@
     /**
      * 鍫嗗灈鏈哄紓甯镐俊鎭褰�
      */
-    @Async
-    public void recCrnErr() {
+    public synchronized void recCrnErr() {
         Date now = new Date();
         for (CrnSlave crn : slaveProperties.getCrn()) {
             // 鑾峰彇鍫嗗灈鏈轰俊鎭�
@@ -1168,7 +1263,7 @@
                                     "浠诲姟涓紓甯�"    // 澶囨敞
                             );
                             if (!basErrLogService.insert(basErrLog)) {
-                                log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
+                                News.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                             }
                         }
                     } else {
@@ -1178,7 +1273,7 @@
                             latest.setUpdateTime(now);
                             latest.setStatus(2);
                             if (!basErrLogService.updateById(latest)) {
-                                log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
+                                News.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                             }
                         }
                     }
@@ -1215,7 +1310,7 @@
                                     "鏃犱换鍔″紓甯�"    // 澶囨敞
                             );
                             if (!basErrLogService.insert(basErrLog)) {
-                                log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
+                                News.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
                             }
                         }
                         // 鏃犲紓甯�
@@ -1226,7 +1321,7 @@
                             latest.setUpdateTime(now);
                             latest.setStatus(2);
                             if (!basErrLogService.updateById(latest)) {
-                                log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
+                                News.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
                             }
                         }
                     }
@@ -1242,8 +1337,7 @@
     /**
      * 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
      */
-    @Async
-    public void storeEmptyPlt() {
+    public synchronized void storeEmptyPlt() {
         for (DevpSlave devp : slaveProperties.getDevp()) {
             // 閬嶅巻绌烘澘鍏ュ簱鍙�
             for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
@@ -1256,15 +1350,13 @@
                     staProtocol = staProtocol.clone();
                 }
 
-//                // 鍏ュ嚭搴撴ā寮忓垽鏂�
-//                if ( emptyInSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
-                if (emptyInSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
-                    continue;
-                }
-
                 // 绔欑偣鏉′欢鍒ゆ柇
-                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
-                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999) && staProtocol.isPakMk()) {
+                if (staProtocol.isAutoing()
+                        && staProtocol.isLoading()
+                        && staProtocol.isInEnable()
+                        && staProtocol.isEmptyMk()
+                        && (staProtocol.getWorkNo() == 9996)
+                        && staProtocol.isPakMk()) {
 
                     try {
                         LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -1292,7 +1384,7 @@
                                 throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
                             }
                         } else {
-                            log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
+                            News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                         }
                     } catch (Exception e) {
                         e.printStackTrace();
@@ -1363,8 +1455,7 @@
     /**
      * 鍑哄簱  ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
      */
-    @Async
-    public void ledExecute() {
+    public synchronized void ledExecute() {
         for (LedSlave led : slaveProperties.getLed()) {
             // 鑾峰彇杈撻�佺嚎plc绾跨▼
             DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
@@ -1416,7 +1507,7 @@
                         ledCommand.setEmptyMk(true);
                         break;
                     default:
-                        log.error("浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
+                        News.error("浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                         break;
                 }
                 ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
@@ -1433,26 +1524,19 @@
             // 鑾峰彇LED绾跨▼
             LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
             // 鐩稿悓宸ヤ綔鍙烽泦鍚堝垯杩囨护
-            if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
-                continue;
-            }
+//            if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
+//                continue;
+//            }
             // 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
             if (!commands.isEmpty()) {
-                if (led.getId() == 7) {
-                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
-                        log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
-                        continue;
-                    } else {
-                        ledThread.setLedMk(false);
-                    }
+                String errMsg = "";
+                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
+                    News.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+                    continue;
                 } else {
-                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
-                        log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
-                        continue;
-                    } else {
-                        ledThread.setLedMk(false);
-                    }
+                    ledThread.setLedMk(false);
                 }
+
 
             }
 
@@ -1480,8 +1564,7 @@
     /**
      * 鍏朵粬  ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
      */
-    @Async
-    public void ledReset() {
+    public synchronized void ledReset() {
 //        for (LedSlave led : slaveProperties.getLed()) {
 //            // 鑾峰彇杈撻�佺嚎plc绾跨▼
 //            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
@@ -1505,7 +1588,7 @@
 //            // led鏄剧ず榛樿鍐呭
 //            if (reset) {
 //                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
-//                    log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+//                    News.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
 //                }
 //            }
 //        }
@@ -1525,26 +1608,26 @@
                     break;
                 }
             }
-            // 鑾峰彇led绾跨▼
-            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
-            // led鏄剧ず榛樿鍐呭
-            if (reset && !ledThread.isLedMk()) {
-                if (led.getId() == 7) {
-                    ledThread.setLedMk(true);
-                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
-                        log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
-                    } else {
-
-                    }
-                } else {
-                    ledThread.setLedMk(true);
-                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
-                        log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
-                    } else {
-
-                    }
-                }
-            }
+//            // 鑾峰彇led绾跨▼
+//            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
+//            // led鏄剧ず榛樿鍐呭
+//            if (reset && !ledThread.isLedMk()) {
+//                if (led.getId() == 7) {
+//                    ledThread.setLedMk(true);
+//                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
+//                        News.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+//                    } else {
+//
+//                    }
+//                } else {
+//                    ledThread.setLedMk(true);
+//                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
+//                        News.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+//                    } else {
+//
+//                    }
+//                }
+//            }
         }
     }
 
@@ -1628,7 +1711,7 @@
      * 鍥犲弻娣卞簱浣嶉樆濉烇紝瀵规祬搴撲綅杩涜绉昏浆锛堢珛鍗虫墽琛岀増)
      * tip锛氬悓姝�
      */
-    private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
+    private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
         try {
             List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
             LocMast loc = null;
@@ -1671,7 +1754,7 @@
             }
 
             if (null == loc) {
-                log.error("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
+                News.error("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
                 throw new CoolException("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
             }
 
@@ -1736,7 +1819,7 @@
                 throw new CoolException("绉昏浆澶辫触");
             }
         } catch (Exception e) {
-            log.error("鍙屾繁搴撲綅闃诲锛屽娴呭簱浣嶈繘琛岀Щ杞け璐�", e);
+            News.error("鍙屾繁搴撲綅闃诲锛屽娴呭簱浣嶈繘琛岀Щ杞け璐�", e);
             e.printStackTrace();
             TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
         }
@@ -1837,7 +1920,7 @@
                 }
             }
         } catch (Exception e) {
-            log.error("鍫嗗灈鏈烘紨绀�  ===>> 搴撲綅绉昏浆澶辫触", e);
+            News.error("鍫嗗灈鏈烘紨绀�  ===>> 搴撲綅绉昏浆澶辫触", e);
             e.printStackTrace();
             TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
         }
@@ -1864,27 +1947,27 @@
                 }
                 // 鍏ュ簱
                 if (wrkMast.getWrkSts() == 1 || wrkMast.getWrkSts() == 2) {
-                    log.warn("鍫嗗灈鏈洪潪绌洪棽鎯呭喌涓嬶紝寮�濮嬩慨鏀瑰伐浣滄。鐘舵�併�俒id:{},鏃堕棿锛歿}] >>>>> 鍫嗗灈鏈哄綋鍓嶇姸鎬佷负锛歿}銆備换鍔″彿:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
+                    News.warn("鍫嗗灈鏈洪潪绌洪棽鎯呭喌涓嬶紝寮�濮嬩慨鏀瑰伐浣滄。鐘舵�併�俒id:{},鏃堕棿锛歿}] >>>>> 鍫嗗灈鏈哄綋鍓嶇姸鎬佷负锛歿}銆備换鍔″彿:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
                     // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
                     wrkMast.setWrkSts(3L);
                     wrkMast.setCrnStrTime(now);
                     wrkMast.setModiTime(now);
                     if (wrkMastMapper.updateById(wrkMast) == 0) {
-                        log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+                        News.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
                     }
-                    log.warn("淇敼宸ヤ綔妗ｇ姸鎬佹垚鍔熴�俒鏃堕棿锛歿}] >>>>> 浠诲姟鍙�:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
+                    News.warn("淇敼宸ヤ綔妗ｇ姸鎬佹垚鍔熴�俒鏃堕棿锛歿}] >>>>> 浠诲姟鍙�:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
                 }
                 // 鍑哄簱銆佺Щ搴�
                 if (wrkMast.getWrkSts() == 11) {
-                    log.warn("鍫嗗灈鏈洪潪绌洪棽鎯呭喌涓嬶紝寮�濮嬩慨鏀瑰伐浣滄。鐘舵�併�俒id:{},鏃堕棿锛歿}] >>>>> 鍫嗗灈鏈哄綋鍓嶇姸鎬佷负锛歿}銆備换鍔″彿:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
+                    News.warn("鍫嗗灈鏈洪潪绌洪棽鎯呭喌涓嬶紝寮�濮嬩慨鏀瑰伐浣滄。鐘舵�併�俒id:{},鏃堕棿锛歿}] >>>>> 鍫嗗灈鏈哄綋鍓嶇姸鎬佷负锛歿}銆備换鍔″彿:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
                     // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
                     wrkMast.setWrkSts(12L);
                     wrkMast.setCrnStrTime(now);
                     wrkMast.setModiTime(now);
                     if (wrkMastMapper.updateById(wrkMast) == 0) {
-                        log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+                        News.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
                     }
-                    log.warn("淇敼宸ヤ綔妗ｇ姸鎬佹垚鍔熴�俒鏃堕棿锛歿}] >>>>> 浠诲姟鍙�:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
+                    News.warn("淇敼宸ヤ綔妗ｇ姸鎬佹垚鍔熴�俒鏃堕棿锛歿}] >>>>> 浠诲姟鍙�:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
                 }
 
 
@@ -1896,7 +1979,7 @@
     /**
      * 鍏ュ嚭搴撴ā寮忓垏鎹㈠嚱鏁�
      */
-    public void ioConvert() {
+    public synchronized void ioConvert() {
         try {
             // 鏍规嵁杈撻�佺嚎plc閬嶅巻
             for (DevpSlave devp : slaveProperties.getDevp()) {
@@ -1956,13 +2039,13 @@
 
     }
 
-    public void outOfDevp() {
+    public synchronized void outOfDevp() {
         List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
         for (WrkMast wrkMast : wrkMasts) {
             if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
                 wrkMast.setCtnNo("Y");
                 if (wrkMastMapper.updateById(wrkMast) == 0) {
-                    log.error("淇敼{}宸ヤ綔妗ｅけ璐ワ紝ctn_no", wrkMast.getWrkNo());
+                    News.error("淇敼{}宸ヤ綔妗ｅけ璐ワ紝ctn_no", wrkMast.getWrkNo());
                 }
             }
 
@@ -1970,7 +2053,7 @@
     }
 
 
-    public void autoEmptyOut() {
+    public synchronized void autoEmptyOut() {
         DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
         Integer autoOutSite = 12;
         //濡傛灉绔欑偣鍙嚭绂佺敤锛屽垯涓嶇敓鎴愮┖鐩樺嚭搴撲换鍔�
@@ -1989,11 +2072,27 @@
             if (null != pakoutEmpty) {
                 return;
             }
-            //鏈紑WMS鍒嗘敮锛岃姹俉MS鐢熸垚绌烘澘鍑哄簱鏈啓
+            try {
+                String response = new HttpHandler.Builder()
+                        .setUri(wmsUrl)
+                        .setPath("/rpc/auto/emptyOut/v1")
+                        .build()
+                        .doPost();
+                JSONObject jsonObject = JSON.parseObject(response);
+                if (jsonObject.getInteger("code").equals(200)) {
+                    JSONObject data = (JSONObject) jsonObject.get("data");
+                    News.info((String) data.get("msg"));
+                } else {
+                    News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/auto/emptyOut/v1", "", response);
+                }
+            } catch (Exception e) {
+                e.printStackTrace();
+                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+            }
         }
     }
 
-    public void autoEmptyIn() {
+    public synchronized void autoEmptyIn() {
         DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
         Integer autoInSite = 12;
         StaProtocol staProtocol = devpThread.getStation().get(autoInSite);
@@ -2008,7 +2107,26 @@
                 && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990) //宸ヤ綔鍙蜂负0鎴栬�呭伐浣滃彿鏄�9991~9999锛堣緭閫佹満鐣欑敤锛�
         ) {
 
-            //鏈紑WMS鍒嗘敮锛岃姹俉MS鐢熸垚绌烘澘鍏ュ簱鏈啓
+            try {
+                LocTypeDto locTypeDto = new LocTypeDto((short) 1, (short) 1, (short) 1);
+
+
+                String response = new HttpHandler.Builder()
+                        .setUri(wmsUrl)
+                        .setPath("/rpc/auto/emptyIn/v1")
+                        .setJson(JSON.toJSONString(locTypeDto))
+                        .build()
+                        .doPost();
+                JSONObject jsonObject = JSON.parseObject(response);
+                if (jsonObject.getInteger("code").equals(200)) {
+                    News.info((String) jsonObject.get("msg"));
+                } else {
+                    News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
+                }
+            } catch (Exception e) {
+                e.printStackTrace();
+                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+            }
         }
     }
 }

--
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