zy-wcs.git - Gitblit

			@@ -6,8 +6,10 @@
			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.entity.param.AgvTaskAssignmentParam;
			import com.zy.asrs.entity.param.ArmOrderAssignmentParam;
			import com.zy.asrs.entity.param.ArmTaskAssignmentParam;
			import com.zy.asrs.entity.param.CombParam;
			@@ -19,6 +21,7 @@
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.VersionUtils;
			import com.zy.asrs.utils.core.ReturnT;
			import com.zy.common.constant.AgvConstant;
			import com.zy.common.constant.ArmConstant;
			import com.zy.common.model.LocTypeDto;
			import com.zy.common.model.MatDto;
			@@ -99,11 +102,17 @@
			@Autowired
			private WrkMastService wrkMastService;
			@Autowired
			private WrkMastStaService wrkMastStaService;
			@Autowired
			private BasRgvMapService basRgvMapService;
			@Autowired
			private BasArmService basArmService;
			@Autowired
			private BasAgvMastService basAgvMastService;
			@Autowired
			private BasArmMastService basArmMastService;
			@Autowired
			private ApiLogService apiLogService;

			@Value("${wms.url}")
			private String wmsUrl;
			@@ -113,8 +122,8 @@
			@Value("${inventory.number}")
			private Integer inventoryNumber;

			public Integer wrkNo = 10000;

			public Integer wrkNo = 10001;
			public static final List<Integer> LEFT_POSITION = Arrays.asList(1018,2018);
			/**
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			@@ -127,7 +136,6 @@
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			BarcodeThread barcodeThreadMat = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcodeMat());
			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());
			@@ -136,18 +144,17 @@
			} else {
			staProtocol = staProtocol.clone();
			}
			if(!staProtocol.isLoading()){
			continue;
			}

			if (barcodeThread == null) {
			continue;
			}

			if (barcodeThreadMat == null) {
			continue;
			}

			String barcode = barcodeThread.getBarcode();

			String barcodeMat = barcodeThreadMat.getBarcode();
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			@@ -182,7 +189,7 @@
			}
			// 退回
			if (back) {
			// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));

			if (!staProtocol.isLoading()){
			@@ -196,11 +203,14 @@
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
			}
			staProtocol.setWorkNo(wrkNo);
			News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			News.info("异常判断{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			staProtocol.setBarcode(barcode);
			staProtocol.setPakMk(false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			System.out.println(staProtocol);
			log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
			}

			@@ -209,8 +219,11 @@
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& staProtocol.isPakMk()) {
			if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "00000000".equals(barcode)) {
			&& staProtocol.isPakMk()
			&& staProtocol.getWorkNo() == 0
			) {
			if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			// News.error(JSON.toJSONString(staProtocol));
			News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			// led 异常显示
			if (ledThread != null) {
			@@ -218,9 +231,10 @@
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			staProtocol.setWorkNo(wrkNo);
			News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			News.info("条码判断{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			staProtocol.setBarcode(barcode);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
			@@ -246,6 +260,13 @@
			int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
			if (wrkNo1 != 0){
			News.error(barcode + "条码已存在状态为（ 2.设备上走）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
			StaProtocol staProtocolNew = new StaProtocol();
			staProtocolNew.setWorkNo(wrkMast.getWrkNo());
			staProtocolNew.setStaNo(RouteUtils.SouStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
			staProtocolNew.setSiteId(staProtocol.getSiteId());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			staProtocolNew.setBarcode(barcode);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolNew));
			if (ledThread != null) {
			News.error(methodName + ":扫码失败，请重试");
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走）的任务,工作号="+ wrkMast.getWrkNo()));
			@@ -255,6 +276,8 @@
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast.getSourceStaNo()));
			staProtocol.setBarcode(barcode);

			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.info("输送线下发(存在设备上走的工作档，直接下发！))："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			@@ -265,10 +288,9 @@
			if (!result) {
			News.error(methodName + ":更新plc站点信息失败");
			log.error("输送线下发(存在设备上走的工作档，直接下发！)==>更新plc站点信息失败");

			// throw new CoolException("更新plc站点信息失败");
			continue;
			}
			continue;

			}
			WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
			@@ -309,40 +331,14 @@

			throw new CoolException("更新plc站点信息失败");
			}
			}
			// else if (jsonObject.getInteger("code").equals(700)) {
			// SearchLocParam param2 = new SearchLocParam();
			// param2.setBarcode(barcode);
			// param2.setBarcodeMat(barcodeMat);
			// param2.setSourceStaNo(inSta.getStaNo());
			// param2.setLocType1(locTypeDto.getLocType1());
			// String response2 = new HttpHandler.Builder()
			// .setUri(wmsUrl)
			// .setPath("/rpc/pakin/yk/loc/v33")
			// .setJson(JSON.toJSONString(param2))
			// .build()
			// .doPost();
			// JSONObject jsonObject2 = JSON.parseObject(response2);
			// if (jsonObject2.getInteger("code").equals(200)) {
			// log.info("自动组托成功！！");
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "自动组托成功"));
			// } else {
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "自动组托失败！！！barcodeMat==>"+barcodeMat));
			// News.error(methodName + "==>组托失败:请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/yk/loc/v33", JSON.toJSONString(param), response2);
			// }
			// try{
			// Thread.sleep(500);
			// } catch (Exception e){
			//
			// }
			// }
			else {
			} else {
			News.error(JSON.toJSONString(staProtocol));
			staProtocol.setWorkNo(wrkNo);
			wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//
			News.info("任务下发判断{}入库回退：{}，错误编号{},任务号：{}", inSta.getStaNo(), errMsg,jsonObject.getInteger("code"),wrkNo);
			wrkNo++;
			// if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			@@ -499,10 +495,10 @@
			if (Cools.isEmpty(staDesc)) {
			News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			staProtocol.setWorkNo(wrkNo++);
			staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
			staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()));
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发4："+9989+","+(pickSta.getStaNo().shortValue()-(short)1));
			log.error("输送线下发4："+9996+","+(pickSta.getStaNo().shortValue()-(short)1));
			//LED
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			// led 异常显示
			@@ -526,6 +522,14 @@
			Date now = new Date();
			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			if(wrkMast.getSourceStaNo() > 2000){
			switch (wrkMast.getCrnNo()){
			case 1: staNo = 2004;break;
			case 2: staNo = 2010;break;
			case 4: staNo = 2022;break;
			case 5: staNo = 2028;break;
			}
			}
			// 更新工作档数据状态
			wrkMast.setIoTime(now);
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			@@ -555,7 +559,7 @@

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo((short) 161);
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发5："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			@@ -755,6 +759,101 @@
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			WrkMast wrkMast9997 = wrkMastMapper.selectPakOutStep9997(staProtocol.getSiteId());
			WrkMast wrkMast9996 = wrkMastMapper.selectPakOutStep9996(staProtocol.getSiteId());

			if(crnSlave.getId() == 3 && wrkMast9997 != null){
			WrkMast wrkMast107 = wrkMastMapper.selectPakOutStep107(wrkMast9997.getBarcode());
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn,3);
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			continue;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo()== 9997
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
			log.info("堆垛机出库完成 - 开始执行");

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

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

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

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！"
			+" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO
			+"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast9997.getWrkNo().shortValue()
			+"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
			+"、货叉位置："+crnProtocol.forkPosType+"==HOME：0 // 货叉原位：" + CrnForkPosType.HOME);
			}
			}
			if(crnSlave.getId() == 3 && wrkMast9996 != null){
			WrkMast wrkMast107 = wrkMastMapper.selectPakOutStep107(wrkMast9996.getBarcode());
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, 3);
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			continue;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo() == 9996
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
			log.info("堆垛机出库完成 - 开始执行");

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

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

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

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！"
			+" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO
			+"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast9996.getWrkNo().shortValue()
			+"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
			+"、货叉位置："+crnProtocol.forkPosType+"==HOME：0 // 货叉原位：" + CrnForkPosType.HOME);
			}
			}
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
			if (wrkMast == null) {
			@@ -827,7 +926,7 @@
			} else {
			staProtocolIn = staProtocolIn.clone();
			}
			int[] outStaNos = {1015, 2016};
			int[] outStaNos = {1015, 2016}; //衔接入库点
			for (int outStaNo : outStaNos) {
			StaProtocol staProtocolOut = devpThread.getStation().get(outStaNo);// 盘点出库衔接站点（可能是 1015，也可能是 2016）
			if (staProtocolOut == null) {
			@@ -836,14 +935,17 @@
			staProtocolOut = staProtocolOut.clone();
			}

			if (staProtocolOut.getWorkNo() != null && staProtocolOut.getStaNo() == 4006) {
			WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
			WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
			if(wrkMastOut == null ){
			continue;
			}
			if (staProtocolOut.getWorkNo() != null && wrkMastOut.getStaNo() == 4006) {
			WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9997);
			if (wrkMastOut == null) {
			continue;
			}
			if (wrkMast != null) {
			News.info("已存在斜街任务，等待任务完成");
			// News.info("已存在斜街任务，等待任务完成");
			continue;
			}
			try {
			@@ -876,7 +978,13 @@
			}
			}
			}
			if(staProtocolIn.getWorkNo() != null &&staProtocolIn.getStaNo() != 4001){
			if(staProtocolIn.getWorkNo() != null && staProtocolIn.getStaNo() != 4001){
			WrkMast wrkMastCrn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo());
			if(wrkMastCrn!=null){
			if(wrkMastCrn.getCrnNo() == 3 ){
			continue;
			}
			}
			WrkMast wrkMastIn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo());
			WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9996);
			if(wrkMastIn == null){
			@@ -973,7 +1081,7 @@
			//mark - 3 - ....
			this.locToLoc(crn, crnProtocol,mark);
			//预调度
			this.crnRebackHp(crnProtocol, crnThread);
			// this.crnRebackHp(crnProtocol, crnThread);

			}
			// News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
			@@ -1048,68 +1156,76 @@
			} else {
			staProtocol = staProtocol.clone();
			}
			if (slave.getId() == 3) {
			SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
			if (staProtocol2 == null) {
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
			break;
			} else {
			staProtocol2 = staProtocol2.clone();
			}
			WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9996);
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9996); // 工作号
			// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX((short) 5); // 源库位排
			crnCommand.setSourcePosY((short) 1); // 源库位列
			crnCommand.setSourcePosZ((short) 4); // 源库位层
			crnCommand.setDestinationPosX((short) 6); // 目标库位排
			crnCommand.setDestinationPosY((short) 1); // 目标库位列
			crnCommand.setDestinationPosZ((short) 1); // 目标库位层
			// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.getCrnNo(), new Task(2, crnCommand))) {
			News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9999.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast9999.setWrkSts(3L);
			wrkMast9999.setCrnStrTime(now);
			wrkMast9999.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast9999) == 0) {
			News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast9999.getWrkNo());
			}
			break;
			}
			}
			}
			// WrkMast wrkMast9996 = wrkMastMapper.selectByWrkNo9996(9996);
			//
			// if (slave.getId() == 3 && wrkMast9996 != null) {
			// SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp,2);
			// StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
			// if (staProtocol2 == null) {
			// News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
			// break;
			// } else {
			// staProtocol2 = staProtocol2.clone();
			// }
			// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			// if (staDetl == null) {
			// News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			// break;
			//// continue;
			// }
			// if( staProtocol2.isAutoing() && staProtocol2.isLoading() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
			// // 堆垛机控制过滤
			// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			//// continue;
			// break;
			// }
			// // 已经存在吊车执行任务时，则过滤
			// if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			// break;
			//// return;
			// }
			// // 1.堆垛机开始移动
			// CrnCommand crnCommand = new CrnCommand();
			// crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			// crnCommand.setTaskNo((short) 9996); // 工作号
			//// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			// crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			// crnCommand.setSourcePosX((short) 9); // 源库位排
			// crnCommand.setSourcePosY((short) 52); // 源库位列
			// crnCommand.setSourcePosZ((short) 3); // 源库位层
			// if(wrkMast9996.getStaNo()>2000){
			// crnCommand.setDestinationPosX((short) 9); // 目标库位排
			// crnCommand.setDestinationPosY((short) 52); // 目标库位列
			// crnCommand.setDestinationPosZ((short) 2); // 目标库位层
			// }else{
			// crnCommand.setDestinationPosX((short) 11); // 目标库位排
			// crnCommand.setDestinationPosY((short) 52); // 目标库位列
			// crnCommand.setDestinationPosZ((short) 1); // 目标库位层
			// }
			//
			//// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			// if (!MessageQueue.offer(SlaveType.Crn, wrkMast9996.getCrnNo(), new Task(2, crnCommand))) {
			// News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9996.getCrnNo(), JSON.toJSON(crnCommand));
			// } else {
			// // 修改工作档状态 11.生成出库ID => 12.吊车出库中
			// Date now = new Date();
			// wrkMast9996.setWrkSts(3L);
			// wrkMast9996.setCrnStrTime(now);
			// wrkMast9996.setModiTime(now);
			// if (wrkMastMapper.updateById(wrkMast9996) == 0) {
			// News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast9996.getWrkNo());
			// }
			// break;
			// }
			// }
			// }
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error(""+mark+" - 1"+" - 2"+" - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			@@ -1247,8 +1363,12 @@
			// 获取工作状态为11（生成出库ID）的出库工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
			if (slave.getId() == 3) {
			SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			WrkMast wrkMast9997 = wrkMastMapper.selectByWrkNo9997(9997);
			WrkMast wrkMast9996 = wrkMastMapper.selectByWrkNo9997(9996);


			if (slave.getId() == 3 && wrkMast9997 != null) {
			SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol2 = devpThread1.getStation().get(1015);
			if (staProtocol2 == null) {
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
			@@ -1256,14 +1376,21 @@
			} else {
			staProtocol2 = staProtocol2.clone();
			}
			WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9997);
			SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol3 = devpThread2.getStation().get(2016);
			if (staProtocol3 == null) {
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
			break;
			} else {
			staProtocol3 = staProtocol3.clone();
			}
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
			if(staProtocol2.isLoading() && staProtocol2.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			@@ -1280,23 +1407,121 @@
			crnCommand.setTaskNo((short) 9997); // 工作号
			// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX((short) 5); // 源库位排
			crnCommand.setSourcePosY((short) 1); // 源库位列
			crnCommand.setSourcePosX((short) 9); // 源库位排
			crnCommand.setSourcePosY((short) 52); // 源库位列
			crnCommand.setSourcePosZ((short) 1); // 源库位层
			crnCommand.setDestinationPosX((short) 6); // 目标库位排
			crnCommand.setDestinationPosY((short) 1); // 目标库位列
			crnCommand.setDestinationPosZ((short) 4); // 目标库位层
			crnCommand.setDestinationPosX((short) 11); // 目标库位排
			crnCommand.setDestinationPosY((short) 52); // 目标库位列
			crnCommand.setDestinationPosZ((short) 3); // 目标库位层
			// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.getCrnNo(), new Task(2, crnCommand))) {
			News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9999.getCrnNo(), JSON.toJSON(crnCommand));
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast9997.getCrnNo(), new Task(2, crnCommand))) {
			News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9997.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast9999.setWrkSts(12L);
			wrkMast9999.setCrnStrTime(now);
			wrkMast9999.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast9999) == 0) {
			News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast9999.getWrkNo());
			wrkMast9997.setWrkSts(12L);
			wrkMast9997.setCrnStrTime(now);
			wrkMast9997.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast9997) == 0) {
			News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast9997.getWrkNo());
			}
			break;
			}
			}
			if(staProtocol3.isLoading() && staProtocol3.isAutoing()){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9997); // 工作号
			// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX((short) 11); // 源库位排
			crnCommand.setSourcePosY((short) 52); // 源库位列
			crnCommand.setSourcePosZ((short) 2); // 源库位层
			crnCommand.setDestinationPosX((short) 11); // 目标库位排
			crnCommand.setDestinationPosY((short) 52); // 目标库位列
			crnCommand.setDestinationPosZ((short) 3); // 目标库位层
			// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast9997.getCrnNo(), new Task(2, crnCommand))) {
			News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9997.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast9997.setWrkSts(12L);
			wrkMast9997.setCrnStrTime(now);
			wrkMast9997.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast9997) == 0) {
			News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast9997.getWrkNo());
			}
			break;
			}
			}
			}
			if (slave.getId() == 3 && wrkMast9996 != null) {
			SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol4001 = devpThread2.getStation().get(4001);
			if (staProtocol4001 == null) {
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol4001);
			break;
			} else {
			staProtocol4001 = staProtocol4001.clone();
			}
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			if(staProtocol4001.isLoading() && staProtocol4001.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9996); // 工作号
			// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX((short) 9); // 源库位排
			crnCommand.setSourcePosY((short) 52); // 源库位列
			crnCommand.setSourcePosZ((short) 3); // 源库位层
			if(wrkMast9996.getStaNo()>2000){
			crnCommand.setDestinationPosX((short) 9); // 目标库位排
			crnCommand.setDestinationPosY((short) 52); // 目标库位列
			crnCommand.setDestinationPosZ((short) 2); // 目标库位层
			}else{
			crnCommand.setDestinationPosX((short) 11); // 目标库位排
			crnCommand.setDestinationPosY((short) 52); // 目标库位列
			crnCommand.setDestinationPosZ((short) 1); // 目标库位层
			}
			// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast9996.getCrnNo(), new Task(2, crnCommand))) {
			News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9996.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast9996.setWrkSts(12L);
			wrkMast9996.setCrnStrTime(now);
			wrkMast9996.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast9996) == 0) {
			News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast9996.getWrkNo());
			}
			break;
			}
			@@ -1349,10 +1574,10 @@
			// continue;
			}
			// 判断堆垛机出库站状态
			// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {

			if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") && !staProtocol.isLoading()
			) {
			// if (slave.getId() == 1 \|\| slave.getId() == 2){
			// if (staProtocol.isLoading() \|\| staProtocol.getWorkNo() != 0 \|\| !staProtocol.isOutEnable()){
			@@ -2566,7 +2791,7 @@
			for (Integer site:list){
			Integer emptyCount = wrkMastMapper.countPakOutEmpty(site);
			StaProtocol staProtocol = null;
			if(emptyCount >= 2 && site == 1108){
			if(emptyCount >= 1 && site == 1108){
			continue;
			}else if(emptyCount == 1 && site == 2031){
			continue;
			@@ -2583,7 +2808,7 @@
			}
			if (staProtocol.isAutoing() //自动
			&& !staProtocol.isLoading() //无物
			&& staProtocol.isOutEnable() //可出信号
			// && staProtocol.isOutEnable() //可出信号
			&& staProtocol.getWorkNo() == 0
			) {
			Short loctype1 = 1;
			@@ -2613,11 +2838,12 @@
			}

			public synchronized void autoEmptyIn() {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			List<Integer> list = new ArrayList<>();
			list.add(1038);
			for (Integer site:list){
			StaProtocol staProtocol = devpThread.getStation().get(site);
			StaProtocol staProtocol1 = devpThread.getStation().get(1040);
			if (staProtocol == null) {
			return;
			} else {
			@@ -2627,9 +2853,11 @@
			&& staProtocol.isLoading() //有物
			&& staProtocol.isInEnable() //可入信号
			&& staProtocol.isPakMk()
			&& (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990) //工作号为0或者工作号是9991~9999（输送机留用）
			&& staProtocol1.isFull() //叠满信号
			&& (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990 ) //工作号为0或者工作号是9991~9999（输送机留用）
			) {

			System.out.println(staProtocol);
			try {
			Short loctype1 = 1;
			LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
			@@ -2790,46 +3018,107 @@
			// }
			// }


			/**
			* 小车上工位左右移动
			*
			*/
			// public synchronized boolean rgvStaMove(Long workNo) {
			// try {
			// for (RgvSlave rgv : slaveProperties.getRgv()) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// if (rgvProtocol == null) {
			// continue;
			// } else {
			// rgvProtocol = rgvProtocol.clone();
			// }
			// if (rgvProtocol.isLoaded2ing() && rgvProtocol.isLoaded1ing()) {
			// continue;
			// }
			// if (rgvProtocol.isLoaded1ing() && !rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo1() != 0) {
			// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
			// Short moveSta = 0;
			//
			// if (wrkMastSta.getStaEnd() < 1036 \|\| (2000 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd() < 2031)) {
			// moveSta = 2;
			// boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(), 7, wrkMastSta.getWrkNo(), moveSta);
			// if (!rgvComplete) {
			// log.error("小车工位移动失败，小车号{}！", rgvProtocol.getRgvNo());
			// break;
			// }
			// }
			// }
			// if (!rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo2() != 0) {
			// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
			// Short moveSta = 0;
			//
			// if (wrkMastSta.getStaEnd() > 2030 \|\| (1036 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd() < 2000)) {
			// moveSta = 1;
			// boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(), 8, wrkMastSta.getWrkNo(), moveSta);
			// if (!rgvComplete) {
			// log.error("小车工位移动失败，小车号{}！", rgvProtocol.getRgvNo());
			// break;
			// }
			// }
			// }
			//
			//
			// }
			// } catch (Exception e) {
			// log.error("小车复位线程报错！" + e);
			// }
			// }
			/**
			* 完成小车任务
			*/
			public synchronized void rgvCompleteWrkMastSta() {
			try{
			for (DevpSlave devp : slaveProperties.getDevp()) {
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}else {
			rgvProtocol = rgvProtocol.clone();
			}
			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！3", rgv.getId());
			continue;
			}

			// 只有当RGV工位1等待WCS确认、自动
			if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING \|\| rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
			){

			log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
			if(rgvProtocol.getTaskNo1() == 9999){ // 预调度任务确认
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			Integer staNo = basRgvMap.getNowRoute();
			switch (staNo){
			case 1004: staNo = 1042; break;
			case 1007: staNo = 1105; break;
			}

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			boolean rgvComplete = false;
			// public synchronized void rgvCompleteWrkMastSta() {
			// try{
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			// for (RgvSlave rgv : slaveProperties.getRgv()) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// if (rgvProtocol == null) {
			// continue;
			// }else {
			// rgvProtocol = rgvProtocol.clone();
			// }
			// BasRgv basRgv = basRgvService.selectById(rgv.getId());
			// if (basRgv == null) {
			// log.error("{}号RGV尚未在数据库进行维护！3", rgv.getId());
			// continue;
			// }
			// //放货确认
			// if(rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
			// boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
			// if (!rgvComplete){
			// log.error("小车放货复位失败，小车号{}！", rgvProtocol.getRgvNo());
			// }
			// }
			// if(rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
			// boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 6);
			// if (!rgvComplete){
			// log.error("小车放货复位失败，小车号{}！", rgvProtocol.getRgvNo());
			// }
			// }
			//
			// // 只有当RGV工位1等待WCS确认、自动
			// if (rgvProtocol.getStatusType1() == RgvStatusType.WAITING
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// ){
			//
			// log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType1(),rgvProtocol);
			// if(rgvProtocol.getTaskNo1() == 9999){ // 预调度任务确认
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// Integer staNo = basRgvMap.getNowRoute();
			// switch (staNo){
			// case 1004: staNo = 1042; break;
			// case 1007: staNo = 1105; break;
			// }
			//
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(staNo);
			// boolean rgvComplete = false;

			// long now = System.currentTimeMillis();
			// if (staProtocol.isLoading()) {
			@@ -2839,210 +3128,140 @@
			// rgvProtocol.setLoadingStartTime(now);
			// }
			// }
			//
			// if (staProtocol.isLoading()) {
			// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
			// if (!rgvComplete){
			// log.error("小车复位失败，小车号{}！等待入库取货", rgvProtocol.getRgvNo());
			// }
			// }
			// }
			// if ( rgvProtocol.getTaskNo1()!=9999 && rgvProtocol.getTaskNo1() != 0){
			// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
			// if(null == wrkMastSta){
			// log.error("小车无任务");
			// continue;
			// }
			// if(wrkMastSta.getWrkSts() == 1){//取货确认
			//// if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
			//// continue;
			//// }
			// boolean rgvComplete = false;
			// rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),7,wrkMastSta.getWrkNo(),(short)2);
			// if (!rgvComplete){
			// log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			// break;
			// }
			// wrkMastSta.setUpdateTime(new Date());
			// wrkMastSta.setWrkSts(2);
			// try{
			// wrkMastStaMapper.updateById(wrkMastSta);
			// log.error("更新小车任务成功");
			// }catch (Exception e){
			// log.error("更新小车任务失败");
			// }
			// break;
			// }
			// }
			//
			// else {
			// log.error("小车复位失败，小车号{},等待wcs确认但是没有工作号！",rgvProtocol.getRgvNo());
			// }
			// }
			// // 只有当RGV工位2等待WCS确认、自动
			// if (rgvProtocol.getStatusType2() == RgvStatusType.WAITING
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// ){
			// log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType2(),rgvProtocol);
			// if (rgvProtocol.getTaskNo2() !=0 ){
			// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
			// if(wrkMastSta.getWrkSts() == 1){//取货确认
			// boolean rgvComplete = false;
			// rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),8,wrkMastSta.getWrkNo(),(short)1);
			// if (!rgvComplete){
			// log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			// break;
			// }
			// wrkMastSta.setWrkSts(2);
			// try{
			// wrkMastStaMapper.updateById(wrkMastSta);
			// log.error("更新小车任务成功");
			// }catch (Exception e){
			// log.error("更新小车任务失败");
			// }
			// break;
			// }
			// if(wrkMastSta.getWrkSts() == 4){//行走后确认
			// wrkMastSta.setWrkSts(2);
			// try{
			// wrkMastStaMapper.updateById(wrkMastSta);
			// log.error("更新小车任务成功");
			// }catch (Exception e){
			// log.error("更新小车任务失败");
			// }
			// boolean rgvComplete = false;
			//
			// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
			// if (!rgvComplete){
			// log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			// break;
			// }
			// break;
			// }
			// if (Cools.isEmpty(wrkMastSta) \|\| wrkMastSta.getWrkSts()!=1){
			// log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
			// continue;
			// }

			if (staProtocol.isLoading()) {
			rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！等待入库取货", rgvProtocol.getRgvNo());
			}
			}
			}
			if (rgvProtocol.getTaskNo1()!=0 && rgvProtocol.getTaskNo1()!=9999){
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
			if(wrkMastSta.getWrkSts() == 1){//取货确认
			wrkMastSta.setWrkSts(4); //行走状态
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			boolean rgvComplete = false;
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			// continue;
			// }
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			//
			// int sourceSta = wrkMast.getSourceStaNo();
			// boolean rgvComplete = false;
			//
			// //双工位出入库不同工位复位
			// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),6);

			rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			break;
			}
			if(wrkMastSta.getWrkSts() == 4){//行走确认
			wrkMastSta.setWrkSts(2);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			boolean rgvComplete = false;

			rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			break;
			}
			if (Cools.isEmpty(wrkMastSta) \|\| wrkMastSta.getWrkSts()!=1){
			log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
			continue;
			}

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast)){
			if (!staProtocol.isPakMk()){
			continue;
			}
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			log.error("rgv任务完成给输送线下发命令："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
			continue;
			}
			}
			boolean rgvComplete = false;

			rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),3);
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1());
			wrkMast1.setPdcType("Y");

			wrkMastService.updateById(wrkMast1);

			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
			}

			else {
			log.error("小车复位失败，小车号{},等待wcs确认但是没有工作号！",rgvProtocol.getRgvNo());
			}
			}
			// 只有当RGV工位2等待WCS确认、自动
			if ((rgvProtocol.getStatusType2() == RgvStatusType.WAITING \|\| rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
			){
			log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
			if (rgvProtocol.getTaskNo2() !=0 ){
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
			if(wrkMastSta.getWrkSts() == 1){//取货确认
			wrkMastSta.setWrkSts(4); //行走状态
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			boolean rgvComplete = false;

			rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			break;
			}
			if(wrkMastSta.getWrkSts() == 4){//行走后确认
			wrkMastSta.setWrkSts(2);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			boolean rgvComplete = false;

			rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			break;
			}
			if (Cools.isEmpty(wrkMastSta) \|\| wrkMastSta.getWrkSts()!=1){
			log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
			continue;
			}

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast)){
			if (!staProtocol.isPakMk()){
			continue;
			}
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			log.error("rgv任务完成给输送线下发命令："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
			continue;
			}
			}
			int sourceSta = wrkMast.getSourceStaNo();
			boolean rgvComplete = false;

			//双工位出入库不同工位复位
			rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),6);

			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1());
			wrkMast1.setPdcType("Y");

			wrkMastService.updateById(wrkMast1);

			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
			}
			else {
			log.error("小车复位失败，小车号{},等待wcs确认但是没有工作号！",rgvProtocol.getRgvNo());
			}
			}
			//当小车无任务时取消锁定
			if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0){
			rgvThread.setPakMk(true);
			rgvThread.setPakIn(true);
			rgvThread.setPakOut(true);
			}
			}
			}
			}catch (Exception e){
			log.error("小车复位线程报错！"+e);
			}
			}
			// if (!rgvComplete){
			// log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			// break;
			// }
			// WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1());
			// wrkMast1.setPdcType("Y");
			//
			// wrkMastService.updateById(wrkMast1);
			//
			// wrkMastSta.setWrkSts(3);
			// wrkMastStaMapper.updateById(wrkMastSta);
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
			// }
			// else {
			// log.error("小车复位失败，小车号{},等待wcs确认！",rgvProtocol.getRgvNo());
			// }
			// }
			// //当小车无任务时取消锁定
			// if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0){
			// rgvThread.setPakMk(true);
			// rgvThread.setPakIn(true);
			// rgvThread.setPakOut(true);
			// }
			// }
			// }
			// }catch (Exception e){
			// log.error("小车复位线程报错！"+e);
			// }
			// }

			/**
			* rgv放货任务下发
			@@ -3052,7 +3271,7 @@
			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			if (rgvProtocol.getStatusType1() != RgvStatusType.IDLE && rgvProtocol.getModeType() != RgvModeType.AUTO) {
			continue;
			}
			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			@@ -3060,12 +3279,22 @@
			log.error("{}号RGV尚未在数据库进行维护！4", rgv.getId());
			continue;
			}
			//小车无任务时跳过
			if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0){
			if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
			rgvThread.setPaking(true);
			continue;
			}
			//入库放货
			if(rgvThread.isPakIn()){
			//小车无任务时跳过
			if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0 ){
			continue;
			}
			if(!rgvThread.isPaking()){
			continue;

			}
			if(!basRgv.getPakAll().equals("1")){
			continue;
			}
			if(basRgv.getPakIn().equals("1")){
			for(RgvSlave.RgvStn rgvStn : rgv.getRgvInPStn()){//入库放货站点
			boolean flag = false;

			@@ -3084,8 +3313,7 @@
			continue;
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			@@ -3096,39 +3324,43 @@
			continue;
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			Integer wrkNo = 0;
			if(rgvProtocol.getTaskNo2() != 0){
			wrkNo = rgvProtocol.getTaskNo2();
			Integer workNo = 0;
			if(rgvProtocol.getTaskNo2() > 9999\|\| rgvProtocol.getTaskNo1() > 9999){
			workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1() : rgvProtocol.getTaskNo2();
			}else{
			wrkNo = rgvProtocol.getTaskNo1();
			workNo = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2() : rgvProtocol.getTaskNo1();
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(wrkNo));//根据站点工作号和小车工作范围检索任务档
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNoPut(workNo);
			WrkMast wrkMast = wrkMastMapper.selectByWrkNo(workNo);
			if( null == wrkMastSta ) {
			News.infoNoLog( " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null); //命令下发
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			if (sign){
			try{
			rgvThread.setPaking(false);
			if(wrkMast != null){
			wrkMast.setSheetNo("2");
			wrkMastMapper.updateById(wrkMast);
			}
			wrkMastSta.setWrkSts(2);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
			if (!signMap){
			log.error("货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			log.error("更新小车任务失败"+ e);
			}
			} else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}

			}
			basRgv.setPakRgv("1");
			basRgvService.updateById(basRgv);
			}
			//出库放货
			if( rgvThread.isPakOut()){
			if( basRgv.getPakOut().equals("1")){
			for(RgvSlave.RgvStn rgvStn : rgv.getRgvOutPStn()){//入库放货站点
			boolean flag = false;

			@@ -3147,8 +3379,7 @@
			continue;
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isOutEnable()
			&& staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			@@ -3159,50 +3390,50 @@
			continue;
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			Integer wrkNo = 0;
			if(rgvProtocol.getTaskNo1() != 0){
			wrkNo = rgvProtocol.getTaskNo1();
			Integer workNo = 0;
			if(basRgv.getPakToCrn().equals("1")){
			workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1():rgvProtocol.getTaskNo2(); //正常情况出库放货优先工位1放
			}else{
			wrkNo = rgvProtocol.getTaskNo2();
			workNo = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2():rgvProtocol.getTaskNo1(); //接驳情况优先工位2放
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(wrkNo));//根据站点工作号和小车工作范围检索任务档

			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNoPut(workNo);//根据站点工作号和小车工作范围检索任务档
			WrkMast wrkMast = wrkMastMapper.selectByWrkNo(workNo);

			if( null == wrkMastSta ) {
			News.infoNoLog( " - 1" + " - 4" + " - 查询无待出库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			wrkMastSta.setWrkSts(2);
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null); //命令下发
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			if (sign){
			try{
			rgvThread.setPaking(false);
			if(wrkMast != null){
			wrkMast.setSheetNo("2");
			wrkMastMapper.updateById(wrkMast);
			}
			wrkMastSta.setWrkSts(2);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
			if (!signMap){
			log.error("货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}

			} else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}

			}
			basRgv.setPakRgv("1");
			basRgvService.updateById(basRgv);
			}
			rgvThread.setPakRgv(true);//优先放货完成，开启预调度
			}
			}



			/**
			* rgv出入库任务下发
			*/
			public synchronized void rgvIoExecute(Integer mark) {
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());

			/**
			* rgv任务完成
			*/
			public synchronized void rgvTaskComplete(){
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取堆垛机信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			@@ -3215,58 +3446,137 @@
			log.error("{}号RGV尚未在数据库进行维护！4", rgv.getId());
			continue;
			}
			Long taskNo1 = Long.valueOf(rgvProtocol.getTaskNo1());
			Long taskNo2 = Long.valueOf(rgvProtocol.getTaskNo2());
			List<WrkMastSta> wrkMastStaList = wrkMastStaService.selectList(
			new EntityWrapper<WrkMastSta>()
			.eq("wrk_sts" ,2)
			.eq("rgv_no", rgvProtocol.getRgvNo())
			);
			for(WrkMastSta wrkMastSta : wrkMastStaList){
			if(!Objects.equals(wrkMastSta.getWrkNo(), taskNo1) && !Objects.equals(wrkMastSta.getWrkNo(), taskNo2)){
			try{
			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.info("更新小车工作档至完成成功");
			}catch (Exception e){
			log.error("更新小车工作档至完成失败");
			}
			}
			}
			if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
			&& !rgvProtocol.isLoaded1ing()
			&& !rgvProtocol.isLoaded2ing()){
			List<WrkMastSta> wrkMastStaLock = wrkMastStaService.selectLockWrk();
			List<WrkMastSta> wrkMastStaLockT = wrkMastStaService.selectLockWrkT();

			if(wrkMastStaLock.size() > 0 && rgvProtocol.getRgvNo() == 1){
			continue ;
			}
			if(wrkMastStaLockT.size() > 0 && rgvProtocol.getRgvNo() == 2){
			continue ;
			}
			basRgv.setPakRgv("1");
			basRgv.setPakToCrn("1");
			basRgv.setPakIn("1");
			basRgv.setPakOut("1");
			basRgv.setPakAll("1");
			basRgvService.updateById(basRgv);
			rgvThread.setPakMk(true);
			}

			}
			}


			/**
			* rgv出入库任务下发
			*/
			public synchronized void rgvIoExecute(Integer mark) {
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取堆垛机信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}

			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！4", rgv.getId());
			continue;
			}
			if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
			rgvThread.setPaking(true);
			}
			if(rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing()){
			basRgv.setPakAll("1");
			basRgvService.updateById(basRgv);
			}
			// 只有当RGV空闲并且无任务时才继续执行
			if ((rgvProtocol.getStatusType1() == RgvStatusType.IDLE \|\| rgvProtocol.getStatusType2() == RgvStatusType.IDLE)
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvThread.isPakMk()) {
			if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE &&
			rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk()
			&& basRgv.getPakToCrn().equals("1") && rgvThread.isPaking()) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行RGV入出库作业下发");
			// 如果最近一次是入库模式
			// rgvRunWrkMastInTest();

			if (rgvProtocol.getLastIo().equals("I")) {
			if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
			if (basRgv.getInEnable().equals("1") && basRgv.getPakIn().equals("1")) {
			//mark - 1 - ....
			this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 入库
			if (rgvProtocol.getTaskNo1()==0){
			this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 入库
			}
			rgvProtocol.setLastIo("O");
			} else if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
			} else if (basRgv.getOutEnable().equals("1") && basRgv.getPakOut().equals("1")) {
			//mark - 2 - ....
			this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 出库
			if (rgvProtocol.getTaskNo2()==0){
			this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 出库
			}
			rgvProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (rgvProtocol.getLastIo().equals("O")) {
			if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
			this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 出库
			if (basRgv.getOutEnable().equals("1") && basRgv.getPakOut().equals("1")) {
			if (rgvProtocol.getTaskNo2()==0){
			this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 出库
			}
			rgvProtocol.setLastIo("I");
			} else if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
			this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 入库
			} else if (basRgv.getInEnable().equals("1") && basRgv.getPakIn().equals("1")) {
			if (rgvProtocol.getTaskNo1()==0){
			this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 入库
			}
			rgvProtocol.setLastIo("O");
			}
			}
			WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
			WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
			if(wrkMastSta1 != null && wrkMastSta2 != null){
			rgvThread.setPakMk(false); //小车双工位锁定
			}
			}
			if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakIn() && rgvThread.isPakRgv()){
			rgvPreScheduling();//若暂无下发任务预调度提前到取货点
			WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
			WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
			if(wrkMastSta1 != null && wrkMastSta2 != null){
			rgvThread.setPakMk(false); //小车双工位锁定
			}
			// if(basRgv.getPakToCrn().equals("0")){
			// rgvRunWrkToCrn(rgv, rgvProtocol,mark); //若小车取到一个接驳任务，第二个工位只能取接驳任务
			// }
			// if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakIn() && rgvThread.isPakRgv()){
			// rgvPreScheduling();//若暂无下发任务预调度提前到取货点
			// }

			if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO) {
			//小车执行放货任务
			rgvOutExecute();

			}
			// if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
			// //小车执行放货任务
			// rgvOutExecute();
			//
			// }
			}
			}
			public synchronized void rgvRunWrkMastInTest(){
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(1);
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(1031); //更新小车当前位置站点号
			basRgvMap.setNowRoute(1021); //更新小车当前位置站点号
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(342);//根据站点工作号和小车工作范围检索任务档

			// WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, 1);
			@@ -3280,10 +3590,10 @@
			// }
			wrkMastSta.setWorkSta(1);
			wrkMastSta.setRgvNo(1);
			wrkMastSta.setStaStart(1031);
			wrkMastSta.setStaStart(1035);
			Short direction = 2;//双工位最终抵达位置
			boolean sign = false;
			sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction); //命令下发
			// sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction,); //命令下发
			if (sign){
			wrkMastSta.setWrkSts(1);
			try{
			@@ -3307,13 +3617,17 @@
			public synchronized void rgvRunWrkMastIn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark) {
			for (RgvSlave.RgvStn rgvStn : slave.getRgvInTStn()) {//rgv入库取货站点
			boolean flag = false;
			boolean ds = false;
			BasRgv basRgv = basRgvService.selectById(slave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！4", slave.getId());
			continue;
			}
			//遍历rgv入库取货站点
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			StaProtocol staProtocol2 = null;

			StaProtocol staProtocol2 = null; //连续取货任务站点
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
			WrkMastSta wrkMastSta3 = null;//连取两个
			if(rgvStn.getStaNo2()!= null ){
			staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
			if (staProtocol2 == null) {
			@@ -3327,76 +3641,97 @@
			News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}
			if((staProtocol.getWorkNo()>9999 && staProtocol2.getWorkNo()>9999) \|\| (staProtocol.getWorkNo()<10000 && staProtocol2.getWorkNo()<10000)){
			//当连续取货站点为相同类型时才能连续取
			wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
			}

			}
			if(rgvProtocol.getTaskNo2() > 9999 && staProtocol.getWorkNo() < 10000){
			continue;
			}

			if (staProtocol == null) {
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
			if (staDetl == null) {
			News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}


			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv入库取货站信息(以下需要全true):"
			+ "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
			+ "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isInEnable()
			+ "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
			+ "工作号>0" + staProtocol.getWorkNo() + "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
			continue;
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = new ArrayList<>();
			switch (rgvProtocol.getRgvNo()){
			case 1: route = RouteUtils.getRouteOne();break;
			case 2: route = RouteUtils.getRouteTwo();break;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			basRgvMapService.updateById(basRgvMap);
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档

			if( null == wrkMastSta ) {
			News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
			WrkMastSta wrkMastSta2 = null;
			if(rgvProtocol.getTaskNo2() != null){
			wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
			}
			boolean result = false;
			if(wrkMastSta2 != null && rgvProtocol.getRgvNo() == 1){ //距离计算 2楼单入库口不需要计算
			result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta2.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
			}
			if(result){//若小车距离放货点距离近于取货点则跳过取货 true跳过取货/false优先取货
			rgvThread.setPakRgv(false);
			basRgv.setPakRgv("0");
			basRgvService.updateById(basRgv);

			// rgvThread.setPakRgv(false);
			continue;
			}
			wrkMastSta.setWorkSta(wrkMastSta2 != null ? 1 : 2);
			wrkMastSta.setWorkSta(wrkMastSta2 !=null ? 1 : 2);
			wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
			Short direction = 2;//双工位最终抵达位置
			boolean sign = false;
			//若取货为工位2且取货口前一站点有物，给双工位同时下发指令
			if(wrkMastSta.getWorkSta() == 2 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0 && sign){
			WrkMastSta wrkMastSta3 = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol2.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
			wrkMastSta3.setWorkSta(1);
			wrkMastSta3.setRgvNo((int) rgvProtocol.getRgvNo());
			sign = rgvTakeFullAll2(basRgvMap.getRgvNo(), wrkMastSta, wrkMastSta3);
			}else{
			sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction); //命令下发
			}
			sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			if (sign){
			wrkMastSta.setWrkSts(1);

			if(wrkMastSta3 != null ){
			List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
			if(wrkMastStaPaking.size() < 1){//已有标记不再标记
			wrkMastSta3.setMk(1);
			basRgv.setPakAll("0");
			basRgvService.updateById(basRgv);

			try{
			wrkMastStaMapper.updateById(wrkMastSta3);
			log.error("锁定相隔站点任务");
			}catch (Exception e){
			log.error("锁定相隔站点任务失败");
			}
			}
			}
			basRgv.setPakOut("0");//出库不允许
			basRgvService.updateById(basRgv);
			rgvThread.setPaking(false);//任务下发锁定

			try{
			wrkMastSta.setWrkSts(1);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			rgvThread.setPakOut(false);//出库不允许
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
			if (!signMap){
			log.error("货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			} else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			@@ -3415,7 +3750,14 @@
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
			BasRgv basRgv = basRgvService.selectById(slave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！4", slave.getId());
			continue;
			}
			StaProtocol staProtocol2 = null;
			WrkMastSta wrkMastSta3 = null;

			if(rgvStn.getStaNo2()!= null ){
			staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
			if (staProtocol2 == null) {
			@@ -3429,6 +3771,8 @@
			News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}
			wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());

			}
			if (staProtocol == null) {
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv出库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			@@ -3436,6 +3780,7 @@
			} else {
			staProtocol = staProtocol.clone();
			}

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
			if (staDetl == null) {
			@@ -3443,7 +3788,7 @@
			continue;
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isOutEnable()
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
			&& staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
			flag = true;
			}
			@@ -3455,48 +3800,207 @@
			continue;
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = new ArrayList<>();
			switch (rgvProtocol.getRgvNo()){
			case 1: route = RouteUtils.getRouteOne();break;
			case 2: route = RouteUtils.getRouteTwo();break;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			basRgvMapService.updateById(basRgvMap);
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
			if( null == wrkMastSta ) {
			News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
			WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
			if(basRgv.getPakToCrn().equals("0")){
			wrkMastSta = wrkMastStaMapper.selectNoInterfereCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));
			}
			boolean result = false;
			if(wrkMastSta2 != null && rgvProtocol.getRgvNo() == 1){ //距离计算 2楼单入库口不需要计算
			result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta2.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
			if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //距离计算 2楼单入库口不需要计算
			result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
			}
			if(result){//若小车距离放货点距离近于取货点则跳过取货 true跳过取货/false优先取货
			rgvThread.setPakRgv(false);
			basRgv.setPakRgv("0");
			basRgvService.updateById(basRgv);

			continue;
			}
			WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
			wrkMastSta.setWorkSta(wrkMastSta1 != null ? 2 : 1);//若1号工位有任务给2号工位
			wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//若1号工位有任务给2号工位
			wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
			boolean sign = false;
			Short direction = 1;//工位1方向
			//若取货为工位2且取货口前一站点有物，给双工位同时下发指令
			if(wrkMastSta.getWorkSta() == 1 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0 && sign){
			WrkMastSta wrkMastSta3 = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol2.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
			wrkMastSta3.setWorkSta(2);
			wrkMastSta3.setRgvNo((int) rgvProtocol.getRgvNo());
			sign = rgvTakeFullAll2(basRgvMap.getRgvNo(), wrkMastSta, wrkMastSta3);
			}else{
			sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction); //命令下发
			}
			sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			if (sign){
			wrkMastSta.setWrkSts(1);
			if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
			basRgv.setPakToCrn("0");
			basRgvService.updateById(basRgv);
			if(wrkMastSta3 != null){
			if(!LEFT_POSITION.contains(wrkMastSta3.getStaEnd())){
			wrkMastSta3 = null;//若接驳第二位不接驳时取消连续取货
			}
			}
			}

			if(wrkMastSta3 != null ){
			List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
			if(wrkMastStaPaking.size() < 1){
			wrkMastSta3.setMk(1);
			basRgv.setPakAll("0");
			basRgvService.updateById(basRgv);
			try{
			wrkMastStaMapper.updateById(wrkMastSta3);
			log.error("锁定相隔站点任务");
			}catch (Exception e){
			log.error("锁定相隔站点任务失败");
			}
			}
			}
			basRgv.setPakIn("0");
			basRgvService.updateById(basRgv);

			rgvThread.setPaking(false);
			// rgvThread.setPakIn(false);//入库不允许
			try{
			wrkMastSta.setWrkSts(1);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			rgvThread.setPakIn(false);//入库不允许
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
			if (!signMap){
			log.error("货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			} else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}


			}
			}

			/**
			* 小车出库接驳任务取货下发
			*/
			public synchronized void rgvRunWrkToCrn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
			for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv出库取货站点
			boolean flag = false;
			//遍历rgv入库取货站点
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
			BasRgv basRgv = basRgvService.selectById(slave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！4", slave.getId());
			continue;
			}
			StaProtocol staProtocol2 = null;
			WrkMastSta wrkMastSta3 = null;

			if(rgvStn.getStaNo2()!= null ){
			staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
			if (staProtocol2 == null) {
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol2 = staProtocol2.clone();
			}
			BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
			if (staDetl2 == null) {
			News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}
			wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());

			}
			if (staProtocol == null) {
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv出库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
			if (staDetl == null) {
			News.error("" + mark + " - 1" + " - 2" + " - 出库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
			&& staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv出库取货站信息(以下需要全true):"
			+ "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
			+ "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isOutEnable()
			+ "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanouting());
			continue;
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			List<Integer> route = new ArrayList<>();
			switch (rgvProtocol.getRgvNo()){
			case 1: route = RouteUtils.getRouteOne();break;
			case 2: route = RouteUtils.getRouteTwo();break;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			basRgvMapService.updateById(basRgvMap);
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
			if( null == wrkMastSta ) {
			News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
			if(basRgv.getPakToCrn().equals("0")){
			wrkMastSta = wrkMastStaMapper.selectNoInterfereCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));
			}
			boolean result = false;
			if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //距离计算 2楼单入库口不需要计算
			result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
			}
			if(result){//若小车距离放货点距离近于取货点则跳过取货 true跳过取货/false优先取货
			basRgv.setPakRgv("0");
			basRgvService.updateById(basRgv);

			continue;
			}
			wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//若1号工位有任务给2号工位
			wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
			boolean sign = false;
			sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			if (sign){
			if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
			basRgv.setPakToCrn("0");
			basRgvService.updateById(basRgv);
			if(wrkMastSta3 != null){
			if(!LEFT_POSITION.contains(wrkMastSta3.getStaEnd())){
			wrkMastSta3 = null;//若接驳第二位不接驳时取消连续取货
			}
			}
			}

			if(wrkMastSta3 != null ){
			List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
			if(wrkMastStaPaking.size() < 1){
			wrkMastSta3.setMk(1);
			basRgv.setPakAll("0");
			basRgvService.updateById(basRgv);
			try{
			wrkMastStaMapper.updateById(wrkMastSta3);
			log.error("锁定相隔站点任务");
			}catch (Exception e){
			log.error("锁定相隔站点任务失败");
			}
			}
			}
			basRgv.setPakIn("0");
			basRgvService.updateById(basRgv);

			rgvThread.setPaking(false);
			// rgvThread.setPakIn(false);//入库不允许
			try{
			wrkMastSta.setWrkSts(1);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			} else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			@@ -3636,216 +4140,8 @@
			/**
			* 小车预调度
			*/
			public synchronized void rgvPreScheduling(){
			try{
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			for (BasRgvMap rgvSlave:basRgvMaps) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}else {
			rgvProtocol = rgvProtocol.clone();
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！4", rgvSlave.getRgvNo());
			continue;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用才进行预调度
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& !rgvProtocol.isLoaded1ing()
			&& rgvProtocol.getTaskNo1() == 0
			&& !rgvProtocol.isLoaded2ing()
			&& rgvProtocol.getTaskNo2() == 0
			&& rgvThread.isPakMk()
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口入库预调度
			List<Integer> staNos = Arrays.asList( 1043, 1104,1037);
			for (Integer staNo : staNos) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if(staProtocol.isLoading()){
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo((int) rgvProtocol.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1(false); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(9999); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式: 移动
			rgvCommand.setEndStaNo1(0); //工位1 放货后要去的位置
			switch (staNo){
			case 1043: rgvCommand.setTargetPosition1(1042);break; //工位1目标站点
			case 1104: rgvCommand.setTargetPosition1(1105);break;
			case 1037: rgvCommand.setTargetPosition1(1036);break;

			}
			if(Objects.equals(basRgvMap.getNowRoute(), staNo)){
			continue;
			}
			rgvCommand.setCommand(true); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Rgv, (int) rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", (int) rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
			}
			}
			}

			}

			}
			}
			}catch (Exception e){
			log.error("执行小车移动下发失败");
			}
			}
			/**
			* 执行小车搬运任务
			*/
			// public synchronized void rgvRunWrkMastEmptyStaPut() {//放
			// public synchronized void rgvPreScheduling(){
			// try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// if (rgvProtocol == null) {
			// continue;
			// }
			// BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			// if (basRgv == null) {
			// log.error("{}号RGV尚未在数据库进行维护！5", rgvSlave.getId());
			// continue;
			// }
			//
			// // 只有当RGV空闲、自动,工位二有物//rgv可用
			// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// && rgvProtocol.getLoaded1()==1 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			// ) {
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// if (basRgvMap == null) {
			// log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			// continue;
			// }
			// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
			// for (WrkMastSta wrkMastSta : wrkMastStaList){
			// if (wrkMastSta.getType()!=2 \|\| (wrkMastSta.getWrkType()!=2 && wrkMastSta.getWrkType()!=4)){// 2:空板 2:放 4：拆盘
			// continue;
			// }
			// boolean sign = false;
			// if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//放
			// sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
			// }else {
			// continue;
			// }
			// if (sign){
			// boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
			// if (signMap){
			// wrkMastSta.setWrkSts(2);
			// try{
			// wrkMastStaMapper.updateById(wrkMastSta);
			// }catch (Exception e){
			// log.error("更新小车任务失败");
			// }
			// return;
			// }else {
			// log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			// }
			// }else {
			// log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			// }
			// break;
			// }
			// }
			// }
			// }catch (Exception e){
			// log.error("3933行执行小车放空板任务下发失败");
			// log.error("3933行"+e);
			// }
			// }

			// public synchronized void rgvRunWrkMastEmptyStaTake() {//取
			// try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// if (rgvProtocol == null) {
			// continue;
			// }
			// BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			// if (basRgv == null) {
			// log.error("{}号RGV尚未在数据库进行维护！6", rgvSlave.getId());
			// continue;
			// }
			//
			// // 只有当RGV空闲、自动,工位二无物//rgv可用
			// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// && rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			// ) {
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// if (basRgvMap == null) {
			// log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			// continue;
			// }
			// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			// for (WrkMastSta wrkMastSta : wrkMastStaList){
			// if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=1){// 2:空板 1:取
			// continue;
			// }
			// boolean sign = false;
			// if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//取
			// sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
			// } else {
			// continue;
			// }
			// if (sign){
			// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
			// if (signMap){
			// wrkMastSta.setWrkSts(1);
			// try{
			// wrkMastStaMapper.updateById(wrkMastSta);
			// }catch (Exception e){
			// log.error("更新小车任务失败");
			// }
			// return;
			// }else {
			// log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			// }
			// }else {
			// log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			// }
			// break;
			// }
			// }
			// }
			// }catch (Exception e){
			// log.error("3989行执行小车取空板任务下发失败");
			// log.error("3989行"+e);
			// }
			// }

			/*
			* 有任务但未执行此时需要调整小车位置
			* */
			// public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
			// try{
			// Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
			// if (integer==0){
			// return;
			// }
			// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			// for (BasRgvMap rgvSlave:basRgvMaps) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			@@ -3857,412 +4153,101 @@
			// }
			// BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
			// if (basRgv == null) {
			// log.error("{}号RGV尚未在数据库进行维护！1", rgvSlave.getRgvNo());
			// log.error("{}号RGV尚未在数据库进行维护！4", rgvSlave.getRgvNo());
			// continue;
			// }
			//
			// // 只有当RGV空闲、自动,工位一无物//rgv可用
			// // 只有当RGV空闲、自动,工位一无物//rgv可用才进行预调度
			// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// && !rgvProtocol.isLoaded1ing() //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			// && rgvProtocol.getTaskNo1()==0
			// && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			// && !rgvProtocol.isLoaded1ing()
			// && rgvProtocol.getTaskNo1() == 0
			// && !rgvProtocol.isLoaded2ing()
			// && rgvProtocol.getTaskNo2() == 0
			// && rgvThread.isPakMk()
			//// && rgvProtocol.getTaskNo2()==0
			// ){
			// ) {
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			// if (basRgvMap == null) {
			// log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			// continue;
			// }
			//// if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
			//// continue;
			//// } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157) ){
			//// continue;
			//// }
			// rgvAvoidanceXY((int) rgvProtocol.getRgvNo());
			// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
			// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			// // 根据输送线plc遍历
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历入库口入库预调度
			// List<Integer> staNos = Arrays.asList( 1043, 1104, 1029, 1022, 1019, 1008, 1005);
			// for (Integer staNo : staNos) {
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(staNo);
			// if(staProtocol.isLoading()){
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo((int) rgvProtocol.getRgvNo()); // RGV编号
			// rgvCommand.setAckFinish1(false); // 工位1任务完成确认位
			// rgvCommand.setTaskNo(9999); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式: 移动
			// switch (staNo){
			// case 1043: rgvCommand.setTargetPosition1(1042);break; //工位1目标站点
			// case 1104: rgvCommand.setTargetPosition1(1105);break;
			// case 1037: rgvCommand.setTargetPosition1(1036);break;
			//
			// }
			// if(Objects.equals(basRgvMap.getNowRoute(), staNo)){
			// continue;
			// }
			// rgvCommand.setCommand(true); //工位1任务确认
			// if (!MessageQueue.offer(SlaveType.Rgv, (int) rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", (int) rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
			// }
			// }
			// }
			//
			// }
			//
			// }
			// }
			// }catch (Exception e){
			// log.error("4109行执行小车初始化任务下发失败");
			// log.error("4109行"+e);
			// log.error("执行小车移动下发失败");
			// }
			// }

			/*
			* 小车XY移动避让
			* */
			// public synchronized boolean rgvAvoidanceXY(Integer rgvId){
			// BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo(rgvId);
			// if (basRgvMap.getStartRoute() == 100 \|\| basRgvMap.getStartRoute() == 101){
			// try{
			//
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgvId); // RGV编号
			// rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			// rgvCommand.setTaskNo1((short)32222); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式: 回原点
			// //basRgvMap.getLockStartRoute().shortValue()
			// rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
			// rgvCommand.setCommand((short) 1); //工位1任务确认
			// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }catch (Exception e){
			// return false;
			//
			// }
			// }else {
			// try{
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgvId); // RGV编号
			// rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			// rgvCommand.setTaskNo1((short)32222); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式: 回原点
			// //basRgvMap.getLockStartRoute().shortValue()
			// rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
			// rgvCommand.setCommand((short) 1); //工位1任务确认
			// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }catch (Exception e){
			// return false;
			//
			// }
			// }
			// }


			/*
			* 小车取货至工位任务
			* */
			public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta,Short direction){
			public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			boolean pakIn1 = true;
			boolean pakIn2 = true;
			rgvCommand.setRgvNo(rgvId); // RGV编号
			if(wrkMastSta.getWrkSts() == 0 \|\| wrkMastSta.getWrkSts() == 4){//初始后行走
			if(wrkMastSta.getWorkSta() == 2){//出库RGV取货行走
			rgvCommand.setAckFinish2(false); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位2工作号
			rgvCommand.setTaskStatus2(RgvTaskStatusType.X_MOVE); // 工位2任务模式: 取放货
			rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //工位2 放货后要去的位置
			rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //工位2目标站点
			// rgvCommand.setDirection1((short) 2);
			// rgvCommand.setWrkTaskMove2(direction);
			rgvCommand.setCommand(true); //工位1任务确认
			pakIn1 = false;
			}else{ //入库RGV取货行走
			rgvCommand.setAckFinish1(false); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位1工作号
			rgvCommand.setTaskStatus1(RgvTaskStatusType.X_MOVE); // 工位1任务模式: 取放货
			rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //工位1 放货后要去的位置
			rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //工位1目标站点
			// rgvCommand.setDirection1((short) 1);
			// rgvCommand.setDirection1(direction);
			rgvCommand.setCommand(true); //工位1任务确认
			}
			if(!pakIn1){
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}else{
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}
			RgvTaskStatusType type;
			Integer targetPosition = 0;
			if(wrkMastSta.getWrkSts() == 0){
			type = RgvTaskStatusType.FETCH; //取货
			targetPosition = wrkMastSta.getStaStart();
			}else{
			type = RgvTaskStatusType.PUT; //放货
			targetPosition = wrkMastSta.getStaEnd();
			}
			if(wrkMastSta.getWrkSts() == 1){//取货
			if(wrkMastSta.getWorkSta() == 2){//出库RGV取货
			rgvCommand.setAckFinish2(false); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位2工作号
			rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 工位2任务模式: 取放货
			rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //工位2 放货后要去的位置
			rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //工位2目标站点
			rgvCommand.setDirection1((short)2);
			rgvCommand.setWrkTaskMove2(direction);
			rgvCommand.setCommand(true); //工位1任务确认
			pakIn1 = false;
			}else{ //入库RGV取货
			rgvCommand.setAckFinish1(false); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位1工作号
			rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 工位1任务模式: 取放货
			rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //工位1 放货后要去的位置
			rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //工位1目标站点
			rgvCommand.setDirection1((short)1);
			rgvCommand.setWrkTaskMove1(direction);
			rgvCommand.setCommand(true); //工位1任务确认
			}
			if(!pakIn1){
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}else{
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}
			rgvCommand.setTaskNo(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位工作号
			rgvCommand.setTaskStatus(type); // 工位任务模式: 取货
			rgvCommand.setTargetPosition(targetPosition); //工位目标站点
			rgvCommand.setWrkTaskPri(wrkMastSta.getWorkSta());
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(2, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {

			return true;
			}
			if(wrkMastSta.getWrkSts() == 2) {//放货
			if((wrkMastSta.getWorkSta() == 2)){ //工位2任务放货
			rgvCommand.setAckFinish2(false); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位2工作号
			rgvCommand.setTaskStatus2(RgvTaskStatusType.PUT); // 工位2任务模式: 放货
			rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //工位2 放货后要去的位置
			rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd()); //工位2目标站点
			rgvCommand.setDirection1((short)2);
			rgvCommand.setCommand(true); //工位1任务确认
			pakIn2 = false;
			}else{ //工位1任务放货
			rgvCommand.setAckFinish1(false); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位1工作号
			rgvCommand.setTaskStatus1(RgvTaskStatusType.PUT); // 工位1任务模式: 放货
			rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //工位1 放货后要去的位置
			rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd()); //工位1目标站点
			rgvCommand.setDirection1((short)1);
			rgvCommand.setCommand(true); //工位1任务确认
			}
			if(!pakIn2){
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}else{
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}
			}
			return true;

			}catch (Exception e){
			return false;
			}
			}


			/*
			* 小车取货至双工位任务
			* */
			public synchronized boolean rgvTakeFullAll2(Integer rgvId,WrkMastSta wrkMastSta,WrkMastSta wrkMastSta2){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			boolean pakIn1 = true;
			boolean pakIn2 = true;
			rgvCommand.setRgvNo(rgvId); // RGV编号
			if(wrkMastSta.getWrkSts() == 0) {//取货
			if (wrkMastSta.getWorkSta() == 2) {//入库RGV取货
			rgvCommand.setAckFinish2(false); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位2工作号
			rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 工位2任务模式: 取放货
			rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //工位2 放货后要去的位置
			rgvCommand.setTargetPosition2(wrkMastSta.getStaStart()); //工位2目标站点
			rgvCommand.setCommand(true); //工位1任务确认
			rgvCommand.setAckFinish1(false); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta2.getWrkNo())); // 工位1工作号
			rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 工位1任务模式: 取放货
			rgvCommand.setEndStaNo1(wrkMastSta2.getWrkEnd()); //工位1 放货后要去的位置
			rgvCommand.setTargetPosition1(wrkMastSta2.getStaStart()); //工位1目标站点
			rgvCommand.setCommand(true); //工位1任务确认
			rgvCommand.setWrkTaskPri((short) 2); //优先执行工位2任务
			} else { //出库RGV取货
			rgvCommand.setAckFinish1(false); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位1工作号
			rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 工位1任务模式: 取放货
			rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //工位1 放货后要去的位置
			rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //工位1目标站点
			rgvCommand.setAckFinish2(false); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位2工作号
			rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 工位2任务模式: 取放货
			rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //工位2 放货后要去的位置
			rgvCommand.setTargetPosition2(wrkMastSta.getStaStart()); //工位2目标站点
			rgvCommand.setWrkTaskPri((short) 1); //出库取货优先执行工位1任务
			rgvCommand.setCommand(true); //工位1任务确认
			}
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(2, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}

			// if(wrkMastSta.getWrkSts() == 2) {//放货
			// if((wrkMastSta.getWorkSta() == 2)){ //工位2任务放货
			// rgvCommand.setAckFinish2(false); // 工位2任务完成确认位
			// rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位2工作号
			// rgvCommand.setTaskStatus2(RgvTaskStatusType.PUT); // 工位2任务模式: 放货
			// rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //工位2 放货后要去的位置
			// rgvCommand.setTargetPosition2(wrkMastSta.getStaEnd()); //工位2目标站点
			// rgvCommand.setCommand(true); //工位1任务确认
			// pakIn2 = false;
			// }else{ //工位1任务放货
			// rgvCommand.setAckFinish1(false); // 工位1任务完成确认位
			// rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位1工作号
			// rgvCommand.setTaskStatus1(RgvTaskStatusType.PUT); // 工位1任务模式: 放货
			// rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //工位1 放货后要去的位置
			// rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd()); //工位1目标站点
			// rgvCommand.setCommand(true); //工位1任务确认
			// }
			// if(!pakIn2){
			// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }else{
			// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }
			// }
			return true;
			}catch (Exception e){
			return false;
			}
			}

			/*
			* 小车取货至工位任务
			* */
			// public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
			// try{
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgvId); // RGV编号
			// rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			// rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			// rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //工位1起点
			// rgvCommand.setCommand((short) 1); //工位1任务确认
			// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }catch (Exception e){
			// return false;
			// }
			// }

			/*
			* 小车放货至输送线任务
			* */
			// public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
			// try{
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgvId); // RGV编号
			// rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			// rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			// rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //工位1目标站点
			// rgvCommand.setCommand((short) 1); //工位1任务确认
			// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }catch (Exception e){
			// return false;
			// }
			// }

			/*
			* 小车取空板至工位任务
			* */
			// public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
			// try{
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgvId); // RGV编号
			// rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			// rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
			// rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式: 取货
			// rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //工位2起点
			// rgvCommand.setCommand((short) 2); //工位2任务确认
			// if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(5, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }catch (Exception e){
			// return false;
			// }
			// }

			/*
			* 小车放空板至输送线任务
			* */
			// public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
			// try{
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgvId); // RGV编号
			// rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			// rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
			// rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式: 放货
			// rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //工位2目标站点
			// rgvCommand.setCommand((short) 2); //工位2任务确认
			// if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(5, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }catch (Exception e){
			// return false;
			// }
			// }

			/**
			* 取放取路径计算
			@@ -4317,32 +4302,36 @@




			/*
			* arm任务完成自动组托
			* */
			public synchronized void armMissionAccomplished() {
			public synchronized void armMissionAccomplished() {
			try{
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta armSta : devp.getArmSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, armSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(armSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// String barcode = staProtocol.getBarcode();
			// if(!Cools.isEmpty(barcode)) {
			// if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			// armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
			// continue;
			// }
			// } else {
			// armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
			// continue;
			// }
			List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>()
			.eq("arm_no", armSta.getArmNo())
			.eq("sta_no", armSta.getStaNo())
			.eq("sta_no_sou", armSta.getStaNo())
			.eq("status", 1));
			for (BasArm basArm : basArmList) {
			if (basArm.getStatus()!=1){
			@@ -4359,16 +4348,17 @@
			continue;
			}
			CombParam combParam = new CombParam(basArmMastList);
			combParam.setBarcode(barcode);
			//arm任务完成自动组托
			ReturnT<String> result = new PostMesDataUtils().postMesData("arm任务完成自动组托",wmsUrl, wmsComb, combParam);
			if (result.getCode()==200){
			basArmMastService.updateArmMastStatus(basArm.getArmNo(),basArm.getSortingLineSou(),3,4);
			} else {
			log.error("机械臂抓取任务完成："+JSON.toJSON(basArmMastList)+"===》自动组托失败，等待重试");
			armTaskAssignmentCallApiLogSave(staProtocol, "自动组托失败", staProtocol.getSiteId()+"码垛位置，===》自动组托失败，等待重试", false);
			// log.error("机械臂抓取任务完成："+JSON.toJSON(basArmMastList)+"===》自动组托失败，等待重试");
			}
			} catch (Exception e){
			log.error("arm编号："+basArm.getArmNo()+"====》机械臂抓取任务完成"+e.getMessage());
			armTaskAssignmentCallApiLogSave(staProtocol, "机械臂抓取任务完成异常", staProtocol.getSiteId()+"码垛位置，===》自动组托失败，等待重试", false);
			// log.error("arm编号："+basArm.getArmNo()+"====》机械臂抓取任务完成"+e.getMessage());
			}
			break;
			}
			@@ -4402,20 +4392,19 @@
			} else {
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
			int workNo = commonService.getWorkNo(6);//待完善
			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(workNo);
			staProtocol.setStaNo(armSta.getStaNoEnd().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发5："+workNo+","+armSta.getStaNoEnd());
			if (!result) {
			News.error(""+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
			// int workNo = commonService.getWorkNo(6);//待完善
			// // 更新站点信息且下发plc命令
			// staProtocol.setWorkNo(workNo);
			// staProtocol.setStaNo(armSta.getStaNoEnd().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// log.error("输送线下发5："+workNo+","+armSta.getStaNoEnd());
			// if (!result) {
			// News.error(""+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			// }
			basArmMastService.updateArmMastStatus(basArmMastList.get(0).getArmNo(),basArmMastList.get(0).getSortingLine(),4,5);
			}
			// }
			}
			}
			} catch (Exception e){
			@@ -4434,6 +4423,68 @@
			continue;
			}
			try{
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basArm.getDevpId());
			StaProtocol staProtocol = devpThread.getStation().get(basArm.getStaNoSou());
			if (staProtocol == null \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			String barcode = staProtocol.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
			// log.error(staProtocol.getSiteId()+"码垛位置，===》托盘条码为空");
			continue;
			}
			} else {
			armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);

			// log.error(staProtocol.getSiteId()+"码垛位置，===》托盘条码为空");
			continue;
			}

			if(barcode.length()!=6){
			armTaskAssignmentCallApiLogSave(staProtocol, "条码长度不是6位", staProtocol.getSiteId()+"码垛位置，条码长度不是6位===>>" + barcode, false);
			// log.error(staProtocol.getSiteId()+"码垛位置，条码长度不是6位===>>" + barcode);
			continue;
			// throw new CoolException(staProtocol.getSiteId()+"码垛位置，条码长度不是6位===>>" + barcode);
			}

			int countLoc = locDetlService.selectCount(new EntityWrapper<LocDetl>().eq("zpallet",barcode));
			int countWrk = wrkDetlService.selectCount(new EntityWrapper<WrkDetl>().eq("zpallet",barcode));
			int countwait = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet",barcode));
			if (countLoc > 0 \|\| countWrk > 0 \|\| countwait > 0) {
			// throw new CoolException("组托档/工作档/库存条码数据已存在===>>" + barcode);
			armTaskAssignmentCallApiLogSave(staProtocol, "条码数据已存在", staProtocol.getSiteId()+"码垛位置，组托档/工作档/库存条码数据已存在===>>" + barcode, false);

			// log.error(staProtocol.getSiteId()+"码垛位置，组托档/工作档/库存条码数据已存在===>>" + barcode);
			continue;
			}

			List<BasArmMast> basArmMastListRuningBarCode = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("barcode", barcode)
			.eq("status", 3)
			);
			if (!basArmMastListRuningBarCode.isEmpty()){
			armTaskAssignmentCallApiLogSave(staProtocol, "条码数据已存在,正在自动组托！！！", staProtocol.getSiteId()+"码垛位置，条码数据正在自动组托===>>" + barcode, false);
			continue;
			}
			List<BasArmMast> basArmMastListError = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("status", 9)
			);
			if (!basArmMastListError.isEmpty()){
			armTaskAssignmentCallApiLogSave(staProtocol, "存在异常机械臂任务", basArm.getArmNo()+"号机械臂存在异常数据需要维护！！！", false);

			// log.error(basArm.getArmNo()+"号机械臂存在异常数据需要维护！！！");
			continue;
			}
			List<BasArmMast> basArmMastListRuning = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			@@ -4443,7 +4494,9 @@
			List<BasArmMast> basArmMastListRuning3 = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq(

			"sorting_line", basArm.getSortingLineSou())
			.eq("status", 3)
			);
			if (basArmMastListRuning.isEmpty() && basArmMastListRuning3.isEmpty()){
			@@ -4457,7 +4510,9 @@
			continue;
			}
			if (basArmMastList.size()>1){
			log.error("arm编号："+basArm.getArmNo()+"====》拆码垛任务异常禁止下发！！！任务待执行数量大于1！！！");
			armTaskAssignmentCallApiLogSave(staProtocol, "任务待执行数量大于1,无法分辨待执行任务", "arm编号："+basArm.getArmNo()+"====》拆码垛任务异常禁止下发！！！任务待执行数量大于1！！！", false);

			// log.error("arm编号："+basArm.getArmNo()+"====》拆码垛任务异常禁止下发！！！任务待执行数量大于1！！！");
			continue;
			}
			BasArmMast basArmMast = basArmMastList.get(0);
			@@ -4467,37 +4522,64 @@
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("sku", basArmMast.getSku())
			.eq("order_no", basArmMast.getOrderNo())
			.eq("binding_tags", basArmMast.getBindingTags())
			);
			if (basArmMastListOrder.size()==1){
			Thread.sleep(100);


			List<BasArmMast> basArmMastListRuningBarCode2 = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("barcode", barcode)
			);
			if (!basArmMastListRuningBarCode2.isEmpty()){
			int binding_tags = basArmMastService.selectCount(
			new EntityWrapper<BasArmMast>()
			.eq("status", 2)
			.eq("binding_tags", basArmMast.getBindingTags())
			);
			if (binding_tags<2){
			armTaskAssignmentCallApiLogSave(staProtocol, "条码数据已存在！！！", staProtocol.getSiteId()+"码垛位置，条码数据正在自动组托===>>" + barcode, false);
			continue;
			}
			}
			OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getSku());

			if (Cools.isEmpty(orderDetlValueResultUtil)){
			continue;
			}
			Double anfmeSign = basArmMastService.selectBasArmMastSignValue(basArmMast.getOrderNo(), basArmMast.getSku(),basArmMast.getBindingTags());
			orderDetlValueResultUtil.setAnfme(anfmeSign);
			//订单下发
			try{
			ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
			// 订单下发(SKU+订单)
			ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取订单（SKU）下发：",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_ADAPTOR, armOrderAssignmentParam);
			if (result.getCode()==200){
			basArmMast.setStatus(1);
			basArmMastService.updateById(basArmMast);
			// basArmMast.setStatus(1);
			// basArmMast.setBarcode(barcode);
			// basArmMastService.updateById(basArmMast);
			} else {
			log.error("机械臂抓取订单（SKU）下发："+JSON.toJSON(basArmMast)+"===》订单信息下发失败");
			armTaskAssignmentCallApiLogSave(staProtocol, "机械臂抓取订单（SKU）下发", "arm编号："+basArm.getArmNo()+"订单下发订单信息下发失败！！！", false);

			// log.error("arm编号："+basArm.getArmNo()+"机械臂抓取订单（SKU）下发："+JSON.toJSON(basArmMast)+"===》订单信息下发失败");
			}
			} catch (Exception e){
			log.error("机械臂抓取订单（SKU）下发："+JSON.toJSON(basArmMast)+"===》订单下发订单信息下发失败");
			armTaskAssignmentCallApiLogSave(staProtocol, "机械臂抓取订单（SKU）下发", "arm编号："+basArm.getArmNo()+"订单下发订单信息下发失败！！！", false);
			// log.error("arm编号："+basArm.getArmNo()+"机械臂抓取订单（SKU）下发："+JSON.toJSON(basArmMast)+"===》订单下发订单信息下发失败");
			continue;
			}
			}
			ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArm.getSortingLineSou());
			ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArm.getSortingLine());
			//设置工作空间就绪
			ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取任务下发：通知工作空间已就绪",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_WORKSPACE, armTaskAssignmentParam);
			if (result.getCode()==200){
			basArmMast.setStatus(1);
			basArmMast.setBarcode(barcode);
			basArmMastService.updateById(basArmMast);
			} else {
			log.error("机械臂抓取任务："+JSON.toJSON(basArmMast)+"===》任务信息下发失败");
			armTaskAssignmentCallApiLogSave(staProtocol, "机械臂抓取任务信息下发失败", "arm编号："+basArm.getArmNo()+"任务信息下发失败！！！", false);
			// log.error("机械臂抓取任务："+JSON.toJSON(basArmMast)+"===》任务信息下发失败");
			}
			}
			} catch (Exception e){
			@@ -4509,4 +4591,89 @@
			}
			}

			public void armTaskAssignmentCallApiLogSave(StaProtocol staProtocol ,String tableName, String response, Boolean bool) {
			ApiLog apiLog = apiLogService.selectOne(new EntityWrapper<ApiLog>()
			.eq("namespace", "机械臂任务相关")
			.eq("request", "站点号:" + staProtocol.getSiteId())
			.eq("response", response)
			.eq("url", tableName)
			.eq("client_ip", staProtocol.getBarcode())
			.eq("result", 0)
			.orderBy("create_time", false)
			);

			if (!Cools.isEmpty(apiLog)){
			long parseLong = Long.parseLong(apiLog.getTimestamp());
			if (new Date().getTime()-parseLong<5100060){
			return;
			}
			}
			apiLogService.save("机械臂任务相关", tableName, "null", staProtocol.getBarcode(),
			"站点号:" + staProtocol.getSiteId() ,
			response, bool);
			}

			/*
			* agv任务下发
			* */
			public synchronized void agvTaskAssignment() {
			try{
			List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("status", 0));
			for (BasAgvMast basAgvMast : basAgvMastList) {
			if (basAgvMast.getStatus()!=0 && basAgvMast.getIoType()!=3){//3==》出库==>输送线站点==》AGV库位
			continue;
			}
			try{
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getDevpId());
			StaProtocol staProtocol = devpThread.getStation().get(basAgvMast.getSourceStaNo());
			if (staProtocol == null \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())){

			AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam();

			//任务下发
			ReturnT<String> result = new PostMesDataUtils().postMesData("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
			if (result.getCode()==200){
			basAgvMast.setStatus(1);
			basAgvMastService.updateById(basAgvMast);
			} else {
			agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
			}
			}
			} catch (Exception e){
			log.error("任务号："+basAgvMast.getTaskNo()+"====》AGV任务下发失败"+e.getMessage());
			}
			}
			}catch (Exception e){
			log.error("AGV任务下发失败"+e.getMessage());
			}
			}

			public void agvTaskAssignmentCallApiLogSave(BasAgvMast basAgvMast ,String tableName, String response, Boolean bool) {
			ApiLog apiLog = apiLogService.selectOne(new EntityWrapper<ApiLog>()
			.eq("namespace", "Agv任务下发")
			.eq("request", "任务号:" + basAgvMast.getTaskNo())
			.eq("response", response)
			.eq("url", tableName)
			.eq("result", 0)
			.orderBy("create_time", false)
			);

			if (!Cools.isEmpty(apiLog)){
			long parseLong = Long.parseLong(apiLog.getTimestamp());
			if (new Date().getTime()-parseLong<5100060){
			return;
			}
			}
			apiLogService.save("Agv任务下发", tableName, "null", "127.0.0.1",
			"任务号:" + basAgvMast.getTaskNo() ,
			response, bool);
			}

			}