zy-wcs.git - Gitblit

			@@ -196,6 +196,9 @@
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());


			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(dto.getWorkNo());

			@@ -320,7 +323,11 @@

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			Integer staNo = wrkMast.getStaNo();
			if (wrkMast.getSourceStaNo()==145){
			staNo = 147;
			}
			staProtocol.setStaNo(staNo);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (result) {
			@@ -388,15 +395,6 @@
			continue;
			}

			// 拣、盘、并作业站转换
			// int stnNo = 0;
			// if (wrkMast.getStaNo() == 109) {
			// stnNo = 127;
			// } else if (wrkMast.getStaNo() == 113) {
			// stnNo = 128;
			// } else {
			// log.error("{}号任务数据异常！", wrkMast.getWrkNo());
			// }
			// 获取目标站
			Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			.eq("type_no", wrkMast.getIoType() - 50)
			@@ -489,17 +487,17 @@
			WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");

			if (wrkMast == null) {
			WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
			if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 9999L);
			if (Cools.isEmpty(wrkMastSta)){
			WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
			wrkMastSta1.setType(2);
			wrkMastSta1.setWrkType(1);
			wrkMastStaMapper.insert(wrkMastSta1);
			}
			continue;
			}
			// WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
			// if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
			// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 9999L);
			// if (Cools.isEmpty(wrkMastSta)){
			// WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
			// wrkMastSta1.setType(2);
			// wrkMastSta1.setWrkType(1);
			// wrkMastStaMapper.insert(wrkMastSta1);
			// }
			// continue;
			// }
			// log.error("站点号"+staProtocol.getSiteId()+"未查询到工作档案！");
			// 无拣料数据
			continue;
			@@ -577,6 +575,46 @@

			}

			}
			}

			/**
			* 拣料、并板、盘点再入库拆垛位置
			*/
			public synchronized void storeEmptyPlt4() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历叠盘入库口
			for (DevpSlave.Sta pickSta : devp.getEmptyInSta2()) {

			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
			if (Cools.isEmpty(basDevp) \|\| basDevp.getReportSign()!=1){
			continue;
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
			WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
			if (wrkMast == null) {
			WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
			if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
			if (Cools.isEmpty(wrkMastSta)){
			WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
			wrkMastSta1.setType(2);
			wrkMastSta1.setWrkType(1);
			wrkMastStaMapper.insert(wrkMastSta1);
			}
			}
			}
			}
			}
			}
			}

			@@ -761,607 +799,6 @@
			log.error("搜索RGV车。通过目标站搜索哪台车可用"+e);
			return null;
			}
			}

			// /**
			// * 绑定小车方法
			// */
			// public synchronized void rgvBindSte() {
			// //获取等待绑定RGV的任务
			// List<WrkMast> wrkMasts = wrkMastMapper.selectWaitBindRGV();
			// for (WrkMast wrkMast : wrkMasts) {
			// //目标站
			// Integer staNo = wrkMast.getStaNo();
			// //源站
			// Integer sourceStaNo = wrkMast.getSourceStaNo();
			// //通过目标站搜索rgv号
			// Integer rgvNo=0;
			// if (wrkMast.getCrnNo()==1){
			// rgvNo=1;
			// }else if (wrkMast.getCrnNo()==6){
			// rgvNo=2;
			// }else {
			// rgvNo = this.searchRgvNo(staNo);
			// }
			// if (rgvNo == null \|\| rgvNo==0) {//未找到可用的rgv
			// continue;
			// }
			//
			// wrkMast.setRgvNo(rgvNo);//绑定rgv号
			// wrkMast.setRgvDstaNo(wrkMast.getSourceStaNo());//设置RGV前往工作档源站取货
			// if (wrkMastMapper.updateById(wrkMast)==0){
			// log.error("绑定小车更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			// }
			// }
			// }

			/**
			* 绑定小车方法
			*/
			public synchronized void rgvBindSte() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			if (devp.getId()==2){
			continue;
			}
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			//入库绑小车
			for (DevpSlave.Sta Sta : devp.getInRgvSta()) {
			StaProtocol staProtocol = devpThread.getStation().get(Sta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() < 9990){
			List<WrkMast> wrkMasts = wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getWorkNo()).eq("wrk_sts", 2L));
			if (Cools.isEmpty(wrkMasts) \|\| wrkMasts.size()!=1){
			continue;
			}
			WrkMast wrkMast = wrkMasts.get(0);
			//目标站
			Integer staNo = wrkMast.getStaNo();
			//通过目标站搜索rgv号
			Integer rgvNo=0;
			if (wrkMast.getCrnNo()==1){
			rgvNo=1;
			}else if (wrkMast.getCrnNo()==6){
			rgvNo=2;
			}else {
			rgvNo = this.searchRgvNo(staNo);
			}
			if (rgvNo == null \|\| rgvNo==0) {//未找到可用的rgv
			continue;
			}
			wrkMast.setRgvNo(rgvNo);//绑定rgv号
			if (wrkMastMapper.updateById(wrkMast)==0){
			log.error("绑定小车更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			}
			}
			}
			//出库绑小车
			for (DevpSlave.Sta Sta : devp.getOutRgvSta()) {
			StaProtocol staProtocol = devpThread.getStation().get(Sta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() < 9990){
			List<WrkMast> wrkMasts = wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getWorkNo()).eq("wrk_sts", 14L));
			if (Cools.isEmpty(wrkMasts) \|\| wrkMasts.size()!=1){
			continue;
			}
			WrkMast wrkMast = wrkMasts.get(0);
			//目标站
			Integer staNo = wrkMast.getStaNo();
			//通过目标站搜索rgv号
			Integer rgvNo=0;
			if (wrkMast.getCrnNo()==1){
			rgvNo=1;
			}else if (wrkMast.getCrnNo()==6){
			rgvNo=2;
			}else {
			rgvNo = this.searchRgvNo(staNo);
			}
			if (rgvNo == null \|\| rgvNo==0) {//未找到可用的rgv
			continue;
			}
			wrkMast.setRgvNo(rgvNo);//绑定rgv号
			if (wrkMastMapper.updateById(wrkMast)==0){
			log.error("绑定小车更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			}
			}
			}
			}
			}catch (Exception e){
			log.error("绑定小车异常：{}", e.getMessage());
			}
			}

			/**
			* 绑定小车方法
			*/
			public synchronized void rgvBindSte2() {
			try{
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectWaitBindRGVRgvNo(rgv.getId());
			if (!Cools.isEmpty(wrkMasts) && wrkMasts.size()!=0){
			continue;
			}
			List<WrkMast> wrkMasts2 = wrkMastMapper.selectWaitBindRgvNo2(rgv.getId());
			for (WrkMast wrkMast : wrkMasts2) {
			if (wrkMastMapper.selectWaitBindRgvNoOneWrkNo(wrkMast.getWrkNo())!=null){
			continue;
			}
			//目标站
			BasDevp basDevp = basDevpService.selectById(wrkMast.getRgvDstaNo());
			if (Cools.isEmpty(basDevp) \|\| !basDevp.getAutoing().equals("Y") \|\| !basDevp.getLoading().equals("N") \|\| basDevp.getWrkNo()!=0){
			continue;
			}
			wrkMastMapper.insertRgvMast(wrkMast.getWrkNo());
			wrkMastMapper.updateRgvMast(wrkMast.getWrkNo());
			break;
			}
			}
			}catch (Exception e){
			log.error("小车搬运任务异常：{}", e.getMessage());
			}
			}

			/**
			* 入出库 ===>> RGV入出库作业下发
			*/
			public synchronized void rgvIoExecuteOld() {
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取RGV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！", rgv.getId());
			continue;
			}

			// 只有当RGV空闲、自动,
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			// && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
			// && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getLoaded2() == 0
			) {

			//查找是否存在入出库工作中等待RGV搬运的任务
			List<WrkMast> wrkMasts = wrkMastMapper.selectIoRgvNo(rgv.getId());
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast.getWrkSts() == 2) {//2.设备上走1 => 3.RGV取货中
			if (rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
			continue;
			}

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getSourceStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			// boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			if (pathUsed) {
			//行走路径被占用，禁止下发命令
			continue;
			}
			//行走路径空闲，锁定路径
			RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 2.设备上走1 => 3.RGV取货中
			Date now = new Date();
			wrkMast.setWrkSts(3L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 2.设备上走1 => 3.RGV取货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			} else if (wrkMast.getWrkSts() == 14) {//4.RGV取货完成 => 5.RGV放货中 14出库完成
			if (rgvProtocol.getTaskNo1() == 0 \|\| !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致
			continue;
			}
			if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物
			continue;
			}

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			if (pathUsed) {
			//行走路径被占用，禁止下发命令
			continue;
			}
			//行走路径空闲，锁定路径
			RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 4.RGV取货完成 => 5.RGV放货中
			Date now = new Date();
			wrkMast.setWrkSts(5L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 4.RGV取货完成 => 5.RGV放货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			} else if (wrkMast.getWrkSts() == 23) {//23.设备上走1 => 24.RGV取货中
			if (rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
			continue;
			}

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getSourceStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			if (pathUsed) {
			//行走路径被占用，禁止下发命令
			continue;
			}
			//行走路径空闲，锁定路径
			RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 23.设备上走1 => 24.RGV取货中
			Date now = new Date();
			wrkMast.setWrkSts(24L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 23.设备上走1 => 24.RGV取货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			} else if (wrkMast.getWrkSts() == 25) {//25.RGV取货完成 => 26.RGV放货中
			if (rgvProtocol.getTaskNo1() == 0 \|\| !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致
			continue;
			}
			if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物
			continue;
			}

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			if (pathUsed) {
			//行走路径被占用，禁止下发命令
			continue;
			}
			//行走路径空闲，锁定路径
			RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 25.RGV取货完成 => 26.RGV放货中
			Date now = new Date();
			wrkMast.setWrkSts(26L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 25.RGV取货完成 => 26.RGV放货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			}

			}
			}
			}

			/**
			* 入出库 ===>> RGV入出库作业下发
			*/
			public synchronized void rgvIoExecute() {
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			RgvSlave rgvSlave=null;
			if (rgv.getId()==1){
			rgvSlave = slaveProperties.getRgv().get(1);
			}else {
			rgvSlave = slaveProperties.getRgv().get(0);
			}

			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}

			RgvThread rgvThreadSlave = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocolSlave = rgvThreadSlave.getRgvProtocol();
			BasRgv basRgvSlave = null;
			if (rgvProtocolSlave == null) {
			rgvSlave=null;
			}else {
			basRgvSlave = basRgvService.selectById(rgv.getId());
			if (basRgvSlave == null) {
			rgvSlave=null;
			}
			}

			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgv.getId());
			continue;
			}

			boolean signSlave=false;//此处判断RgvSlave是否已经规避
			boolean signSlaveState=false;//此处判断RgvSlave是否空闲
			Integer staSlave = 0;//此处记录RgvSlave当前位置

			// 只有当RGV空闲、自动,
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			// && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
			// && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getLoaded2() == 0
			) {

			//查找是否存在入出库工作中等待RGV搬运的任务
			List<WrkMast> wrkMasts = wrkMastMapper.selectIoRgvNo(rgv.getId());
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast.getWrkSts() == 2) {//2.设备上走1 => 3.RGV取货中
			if (rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
			continue;
			}

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getSourceStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			// boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			if (pathUsed) {
			//行走路径被占用，禁止下发命令
			continue;
			}
			//行走路径空闲，锁定路径
			RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 2.设备上走1 => 3.RGV取货中
			Date now = new Date();
			wrkMast.setWrkSts(3L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 2.设备上走1 => 3.RGV取货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			} else if (wrkMast.getWrkSts() == 14) {//4.RGV取货完成 => 5.RGV放货中 14出库完成
			if (rgvProtocol.getTaskNo1() == 0 \|\| !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致
			continue;
			}
			if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物
			continue;
			}

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			if (pathUsed) {
			//行走路径被占用，禁止下发命令
			continue;
			}
			//行走路径空闲，锁定路径
			RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 4.RGV取货完成 => 5.RGV放货中
			Date now = new Date();
			wrkMast.setWrkSts(5L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 4.RGV取货完成 => 5.RGV放货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			} else if (wrkMast.getWrkSts() == 23) {//23.设备上走1 => 24.RGV取货中
			if (rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
			continue;
			}

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getSourceStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			if (pathUsed) {
			//行走路径被占用，禁止下发命令
			continue;
			}
			//行走路径空闲，锁定路径
			RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 23.设备上走1 => 24.RGV取货中
			Date now = new Date();
			wrkMast.setWrkSts(24L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 23.设备上走1 => 24.RGV取货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			} else if (wrkMast.getWrkSts() == 25) {//25.RGV取货完成 => 26.RGV放货中
			if (rgvProtocol.getTaskNo1() == 0 \|\| !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致
			continue;
			}
			if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物
			continue;
			}

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			if (pathUsed) {
			//行走路径被占用，禁止下发命令
			continue;
			}
			//行走路径空闲，锁定路径
			RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 25.RGV取货完成 => 26.RGV放货中
			Date now = new Date();
			wrkMast.setWrkSts(26L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 25.RGV取货完成 => 26.RGV放货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			}

			}
			}
			}

			private boolean rgvIoExecuteWrk2To3() {
			return false;
			}

			/**
			@@ -2041,201 +1478,6 @@
			}

			/**
			* 入库 ===>> RGV入库站到站
			*/
			public synchronized void rgvInStn(RgvSlave slave, RgvProtocol rgvProtocol) {
			WrkMast wrkMast = wrkMastMapper.selectRgvInSteNo(slave.getId());


			//查找工作状态为2（设备上走）,且RGV入库接驳站符合的的入库工作档，提取出最多2笔
			List<WrkMast> wrkMastTask = getRgvInTask(slave);
			if(wrkMastTask.size() <= 0){
			return;
			}

			// RGV控制过滤，必须满足自动、空闲，没有任务号
			if (!rgvProtocol.getStatusType().equals(CrnStatusType.IDLE)
			\|\| rgvProtocol.getModeType() != RgvModeType.AUTO
			\|\| rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getTaskNo2() != 0) {
			return;
			}

			// 已经存在RGV执行任务时，则过滤
			if(wrkMastMapper.selectRgvInWorking(slave.getId()).size() > 0){
			return;
			}

			if(wrkMastTask.size() == 2){
			//有2笔RGV待入库任务，2个工位，取货、放货任务同时下发
			WrkMast wrkMast1 = wrkMastTask.get(0);
			WrkMast wrkMast2 = wrkMastTask.get(1);
			if(Cools.isEmpty(wrkMast1) \|\| Cools.isEmpty(wrkMast2)){
			log.error("工作档RGV入库数据为空");
			return;
			}
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(slave.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货
			rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 工位2任务模式: 取放货
			rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点
			rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), 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={}", slave.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 6.RGV入库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(6L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}

			wrkMast2.setWrkSts(6L);
			wrkMast2.setCrnStrTime(now);
			wrkMast2.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast2) == 0) {
			log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中失败！！，工作号={}", wrkMast2.getWrkNo());
			}
			}
			} else if(wrkMastTask.size() == 1){
			//只有1笔RGV待入库任务，先下发取货任务，取货后再判断是否有下一笔待入库任务
			WrkMast wrkMast1 = wrkMastTask.get(0);
			if(Cools.isEmpty(wrkMast1)){
			log.error("工作档RGV入库数据为空");
			return;
			}
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(slave.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 6.RGV入库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(6L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}
			}
			}
			}

			/**
			* 出库 ===>> RGV出库站到站
			*/
			public synchronized void rgvOutStn(RgvSlave slave, RgvProtocol rgvProtocol) {
			//查找工作状态为14（出库完成）,且RGV出库接驳站符合的的出库工作档，提取出最多2笔
			List<WrkMast> wrkMastTask = getRgvOutTask(slave);
			if(wrkMastTask.size() <= 0){
			return;
			}

			// RGV控制过滤，必须满足自动、空闲，没有任务号
			if (!rgvProtocol.getStatusType().equals(CrnStatusType.IDLE)
			\|\| rgvProtocol.getModeType() != RgvModeType.AUTO
			\|\| rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getTaskNo2() != 0) {
			return;
			}

			// 已经存在RGV执行任务时，则过滤
			if(wrkMastMapper.selectRgvOutWorking(slave.getId()).size() > 0){
			return;
			}

			if(wrkMastTask.size() == 2){
			//有2笔RGV待入库任务，2个工位，取货、放货任务同时下发
			WrkMast wrkMast1 = wrkMastTask.get(0);
			WrkMast wrkMast2 = wrkMastTask.get(1);
			if(Cools.isEmpty(wrkMast1) \|\| Cools.isEmpty(wrkMast2)){
			log.error("工作档RGV入库数据为空");
			return;
			}
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(slave.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货
			rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 工位2任务模式: 取放货
			rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点
			rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), 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={}", slave.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 14.出库完成 => 16.RGV出库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(16L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}

			wrkMast2.setWrkSts(16L);
			wrkMast2.setCrnStrTime(now);
			wrkMast2.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast2) == 0) {
			log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中失败！！，工作号={}", wrkMast2.getWrkNo());
			}
			}
			} else if(wrkMastTask.size() == 1){
			//只有1笔RGV待入库任务，先下发取货任务，取货后再判断是否有下一笔待入库任务
			WrkMast wrkMast1 = wrkMastTask.get(0);
			if(Cools.isEmpty(wrkMast1)){
			log.error("工作档RGV入库数据为空");
			return;
			}
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(slave.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 14.出库完成 => 16.RGV出库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(16L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}
			}
			}
			}

			/**
			* 查找工作状态为14（出库完成）,且RGV出库接驳站符合的的出库工作档，提取出最多2笔
			* @param slave
			* @return
			@@ -2304,347 +1546,6 @@
			}
			}
			return wrkMastTask;
			}

			/**
			* 根据RGV完成信号，执行对工作档的完成操作，和RGV的任务下发
			*/
			public synchronized void rgvFinished() {
			Date now = new Date();
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			//判断RGV是否空闲，工位1是否空闲，工位1是否有物，是否为电脑模式，工位1是否有工作号
			if (rgvProtocol.statusType1 == RgvStatusType.FETCHWAITING
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1() != 0
			&& rgvProtocol.getStatus() != 0
			&& rgvProtocol.getStatus1() != 0
			) {
			WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
			if (wrkMast1 == null) {
			log.error("RGV工位1处于等待确认且取货任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgv.getId(), rgvProtocol.getTaskNo1());
			continue;
			}

			if (wrkMast1.getWrkSts() == 3) {//3.RGV取货中 => 4.RGV取货完成
			wrkMast1.setWrkSts(4L);
			}else if(wrkMast1.getWrkSts() == 5){//5.RGV放货中 => 6.RGV放货完成
			rgvProtocol.setTaskNo1((short) 0);//入库任务完成，清空任务号
			wrkMast1.setWrkSts(6L);
			} else if (wrkMast1.getWrkSts() == 24) {//24.RGV取货中 => 25.RGV取货完成
			wrkMast1.setWrkSts(25L);//
			} else if (wrkMast1.getWrkSts() == 26) {//26.RGV放货中 => 27.RGV放货完成
			rgvProtocol.setTaskNo1((short) 0);//出库任务完成，清空任务号
			wrkMast1.setWrkSts(27L);//27.RGV放货完成
			}

			//解锁路径
			RgvUtils.unLockPath(wrkMast1.getRgvNo());

			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("工位1修改工作档状态失败！！，工作号={}", wrkMast1.getWrkNo());
			}

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgv.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 1); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.NONE); // 工位1任务模式: 无
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
			}

			// //工位1取货完成后，工位2是无货空闲状态时，准备给工位2发任务，确认是否有待执行RGV任务
			// if (rgvProtocol.getModeType() == RgvModeType.AUTO
			// && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() == 0
			// && rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() == 0
			// && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			// ) {
			// WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
			// if (wrkMast1 == null) {
			// log.error("RGV工位1处于等待确认且取货任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgv.getId(), rgvProtocol.getTaskNo1());
			// continue;
			// }
			// List<WrkMast> wrkMastTask = new ArrayList<>();
			// List<WrkMast> list = new ArrayList<>();
			// Integer type = 0;//1入库，2出库
			// if(wrkMast1.getWrkSts()==6L){
			// wrkMastTask = getRgvInTask(rgv);
			// list = wrkMastMapper.selectRgvInWorking(rgv.getId());
			// type = 1;
			// } else if(wrkMast1.getWrkSts()==16L){
			// wrkMastTask = getRgvOutTask(rgv);
			// list = wrkMastMapper.selectRgvOutWorking(rgv.getId());
			// type = 2;
			// }
			// if(wrkMastTask.size() > 0){//有继续执行任务，下发取货任务给工位2
			// // 已经存在RGV执行任务时，则过滤
			// if (list.size() > 1) {
			// continue;
			// }
			// WrkMast wrkMast2 = wrkMastTask.get(0);
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgv.getId()); // RGV编号
			// rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			// rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
			// rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式: 取货
			// rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点
			// rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点
			// rgvCommand.setCommand((short) 0); //工位1、2任务确认
			// if (!MessageQueue.offer(SlaveType.Crn, wrkMast2.getRgvNo(), 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={}", rgv.getId(), JSON.toJSON(rgvCommand));
			// } else {
			// // 修改工作档状态 2.设备上走 => 6.RGV入库取货中
			// Date now = new Date();
			// wrkMast2.setWrkSts(type==1 ? 6L : 16L);
			// wrkMast2.setCrnStrTime(now);
			// wrkMast2.setModiTime(now);
			// if (wrkMastMapper.updateById(wrkMast2) == 0) {
			// log.error("工位2修改工作档状态 2/14.设备上走 => 6/16.RGV入库取货中失败！！，工作号={}", wrkMast2.getWrkNo());
			// }
			// }
			// } else {//没有继续执行任务，下发放货任务给工位1
			// if(type == 1 && wrkMast1.getWrkSts() != 6L){//RGV入库取货中
			// continue;
			// }
			// if(type == 2 && wrkMast1.getWrkSts() != 16L){//RGV出库取货中
			// continue;
			// }
			//
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgv.getId()); // RGV编号
			// rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			// rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			// rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			// rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			// rgvCommand.setCommand((short) 0); //工位1、2任务确认
			// if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
			// //step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
			// } else {
			// // 修改工作档状态 6.RGV入库取货中 => 7.RGV入库放货中
			// Date now = new Date();
			// wrkMast1.setWrkSts(type==1 ? 7L : 17L);
			// wrkMast1.setCrnEndTime(now);
			// wrkMast1.setModiTime(now);
			// if (wrkMastMapper.updateById(wrkMast1) == 0) {
			// log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中失败！！，工作号={}", wrkMast1.getWrkNo());
			// }
			// log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
			// }
			// }
			// } else if (rgvProtocol.getModeType() == RgvModeType.AUTO
			// && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() > 0
			// && rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() > 0
			// && rgvProtocol.statusType2 == RgvStatusType.FETCHWAITING){
			// // 工位2状态：也是取货完成等待确认91 并且任务完成位 = 1, 工位1、2同时下发放货任务
			// WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
			// WrkMast wrkMast2 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo2().intValue());
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgv.getId()); // RGV编号
			// rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			// rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			// rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			// rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			// rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			// rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
			// rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式: 放货
			// rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点
			// rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点
			// rgvCommand.setCommand((short) 0); //工位1、2任务确认
			// if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) {
			// //step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
			// } else {
			// // 修改工作档状态 2.设备上走 => 6.RGV入库取货中
			// Date now = new Date();
			// wrkMast1.setWrkSts(wrkMast1.getWrkSts()==6L ? 7L : 17L);
			// wrkMast1.setCrnStrTime(now);
			// wrkMast1.setModiTime(now);
			// if (wrkMastMapper.updateById(wrkMast1) == 0) {
			// log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中失败！！，工作号={}", wrkMast1.getWrkNo());
			// }
			//
			// wrkMast2.setWrkSts(wrkMast2.getWrkSts()==6L ? 7L : 17L);
			// wrkMast2.setCrnStrTime(now);
			// wrkMast2.setModiTime(now);
			// if (wrkMastMapper.updateById(wrkMast2) == 0) {
			// log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中失败！！，工作号={}", wrkMast2.getWrkNo());
			// }
			// }
			// }
			}

			}
			}

			/**
			* 入出库 ===>> RGV出库站到堆垛机入库站/系统入库站
			* rgvInDStnToCrnStn
			*/
			public synchronized void rgvDestStnToCrnStn() {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			// 遍历入库任务的RGV出库站
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvDestStn()) {
			// 获取RGV出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档List
			// List<WrkMast> wrkMasts = wrkMastMapper.selectRgvInStep2(staProtocol.getSiteId());
			List<WrkMast> wrkMasts = wrkMastMapper.selectRgvDestStep2(staProtocol.getSiteId());
			for(WrkMast wrkMast : wrkMasts){
			// 判断工作档条件
			if (wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null
			\|\| wrkMast.getRgvSstaNo() == null \|\| wrkMast.getRgvDstaNo() == null) {
			continue;
			}

			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, wrkMast.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// 判断RGV状态等待确认,工位1
			if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())
			&& rgvProtocol.statusType1 == RgvStatusType.WAITING) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			// 更新工作档状态为2,14
			wrkMast.setWrkSts(wrkMast.getWrkSts()==7L ? 2L : 14L);
			wrkMast.setOnlineYn("Y");
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位RGV工位1
			rgvThread.setResetFlag1(true);
			} else {
			log.error("RGV工位1接驳，更新工作档的工作状态为{}失败！！！ [工作号:{}]", wrkMast.getWrkSts()==7L ? 2L : 14L, wrkMast.getWrkNo());
			}
			}
			// 判断RGV状态等待确认,工位2
			if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo2().equals(wrkMast.getWrkNo().shortValue())
			&& rgvProtocol.statusType2 == RgvStatusType.WAITING) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			// 更新工作档状态为2,14
			wrkMast.setWrkSts(wrkMast.getWrkSts()==7L ? 2L : 14L);
			wrkMast.setOnlineYn("Y");
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位RGV工位2
			rgvThread.setResetFlag2(true);
			} else {
			log.error("RGV工位2接驳，更新工作档的工作状态为{}失败！！！ [工作号:{}]", wrkMast.getWrkSts()==7L ? 2L : 14L, wrkMast.getWrkNo());
			}
			}
			}

			}
			}
			}
			}

			/**
			* 出库 ===>> RGV出库站到系统出库站
			*/
			public synchronized void rgvOutDStnToOutStn() {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			// 遍历出库任务的RGV出库站
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvDestStn()) {
			// 获取RGV出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档List
			List<WrkMast> wrkMasts = wrkMastMapper.selectRgvOutStep2(staProtocol.getSiteId());
			for(WrkMast wrkMast : wrkMasts){
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null
			\|\| wrkMast.getRgvSstaNo() == null \|\| wrkMast.getRgvDstaNo() == null) {
			continue;
			}

			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, wrkMast.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// 判断RGV状态等待确认,工位1
			if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())
			&& rgvProtocol.statusType1 == RgvStatusType.WAITING) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			// 更新工作档状态为14
			wrkMast.setWrkSts(14L);
			wrkMast.setOnlineYn("Y"); //控制WMS将工作状态14转15的时机，只有RGV运搬完成后才可以转
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位RGV工位1
			rgvThread.setResetFlag1(true);
			} else {
			log.error("RGV工位1接驳，更新工作档的工作状态为2失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			}
			// 判断RGV状态等待确认,工位2
			if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo2().equals(wrkMast.getWrkNo().shortValue())
			&& rgvProtocol.statusType2 == RgvStatusType.WAITING) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			// 更新工作档状态为14
			wrkMast.setWrkSts(14L);
			wrkMast.setOnlineYn("Y"); //控制WMS将工作状态14转15的时机，只有RGV运搬完成后才可以转
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位RGV工位2
			rgvThread.setResetFlag2(true);
			} else {
			log.error("RGV工位2接驳，更新工作档的工作状态为2失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			}
			}

			}
			}
			}
			}

			/**
			@@ -3125,9 +2026,16 @@
			// 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.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			try {
			WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122);
			if (!Cools.isEmpty(wrkMast1)){
			continue;
			}
			// 获取空板入库站信息

			SearchLocParam param = new SearchLocParam();
			@@ -3148,7 +2056,7 @@
			if (!Cools.isEmpty(wrkMast) && wrkMast.getIoType()==10 && wrkMast.getWrkSts()==2){
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
			if (Cools.isEmpty(wrkMastSta)){
			WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),0);
			WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),wrkMast.getStaNo());
			wrkMastSta1.setWrkNo(wrkMast.getWrkNo().longValue());
			wrkMastSta1.setType(2);
			wrkMastSta1.setWrkType(6);//工作类型 1:取（叠盘） 2：拆盘 3：取放 5：满取 6：满放
			@@ -3235,17 +2143,17 @@
			// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
			if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())));
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl)));
			}
			commands.add(ledCommand);
			}
			Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
			// 获取LED线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// // 相同工作号集合则过滤
			// if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
			// continue;
			// }
			// 相同工作号集合则过滤
			if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
			continue;
			}
			// 命令下发 -------------------------------------------------------------------------------
			if (!commands.isEmpty()) {
			// if (led.getId() == 7) {
			@@ -3525,26 +2433,26 @@
			}
			}

			/**
			* 初始化RGV地图
			*/
			public synchronized void initRgvMap() {
			Object data = redisUtil.get("rgv_map");
			if (data == null) {
			//重新获取全路径地图
			BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//获取默认路径
			if (basRgvPath != null) {
			ArrayList<RgvNode> rgvNodes = new ArrayList<>();
			List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
			for (Integer integer : rgvPath) {
			RgvNode rgvNode = new RgvNode(integer);
			rgvNodes.add(rgvNode);
			}
			//将数据库地图数据存入redis
			redisUtil.set("rgv_map", JSON.toJSONString(rgvNodes));
			}
			}
			}
			// /**
			// * 初始化RGV地图
			// */
			// public synchronized void initRgvMap() {
			// Object data = redisUtil.get("rgv_map");
			// if (data == null) {
			// //重新获取全路径地图
			// BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//获取默认路径
			// if (basRgvPath != null) {
			// ArrayList<RgvNode> rgvNodes = new ArrayList<>();
			// List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
			// for (Integer integer : rgvPath) {
			// RgvNode rgvNode = new RgvNode(integer);
			// rgvNodes.add(rgvNode);
			// }
			// //将数据库地图数据存入redis
			// redisUtil.set("rgv_map", JSON.toJSONString(rgvNodes));
			// }
			// }
			// }

			/**
			* 堆垛机演示 ===>> 库位移转
			@@ -3760,97 +2668,6 @@

			}

			public synchronized void outOfDevp() {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
			for (WrkMast wrkMast : wrkMasts) {
			if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
			wrkMast.setCtnNo("Y");
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
			}
			}

			}
			}


			public synchronized void autoEmptyOut() {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			Integer autoOutSite = 12;
			//如果站点可出禁用，则不生成空盘出库任务
			StaProtocol staProtocol = devpThread.getStation().get(autoOutSite);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() //自动
			&& !staProtocol.isLoading() //无物
			&& staProtocol.isOutEnable() //可出信号
			&& staProtocol.getWorkNo() == 0
			) {
			WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(autoOutSite);
			if (null != pakoutEmpty) {
			return;
			}
			try {
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/emptyOut/v1")
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			JSONObject data = (JSONObject) jsonObject.get("data");
			log.info((String) data.get("msg"));
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}

			public synchronized void autoEmptyIn() {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			Integer autoInSite = 12;
			StaProtocol staProtocol = devpThread.getStation().get(autoInSite);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() //自动
			&& staProtocol.isLoading() //有物
			&& staProtocol.isInEnable() //可入信号
			&& (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990) //工作号为0或者工作号是9991~9999（输送机留用）
			) {

			try {
			LocTypeDto locTypeDto = new LocTypeDto((short) 1, (short) 1, (short) 1);


			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/emptyIn/v1")
			.setJson(JSON.toJSONString(locTypeDto))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			log.info((String) jsonObject.get("msg"));
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}

			// /**
			// * 其他 ===>> 码垛位自动补充空板：驱动拆盘机输出托盘
			// */
			@@ -3982,7 +2799,10 @@
			int[] staNos=new int[]{131,135};//(2个入库站点，1楼2个出库码垛站,根据现场修改)
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp.getWrkNo()!=0){
			if (Cools.isEmpty(basDevp) \|\| basDevp.getReportSign()!=1){
			continue;
			}
			if (basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 \|\| basDevp.getWrkNo()>9999)){
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
			@@ -4106,7 +2926,7 @@
			int[] staNos=new int[]{144};//(1楼1个贴标位,根据现场修改)
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			if ((basDevp.getWrkNo()<9900 \|\| basDevp.getWrkNo()>19999) && basDevp.getWrkNo()!=32222){
			if ((basDevp.getWrkNo()<9900 \|\| basDevp.getWrkNo()>9999) && basDevp.getWrkNo()!=32222){
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
			@@ -4149,6 +2969,135 @@
			}
			wrkMast.setWrkSts(55L);
			wrkMastMapper.updateById(wrkMast);

			}
			}
			}catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 贴标完成驱动托盘进入下一步"+e);
			}
			}

			/**
			* 其他 ===>> 退货码垛完成托盘继续下一步
			*/
			public synchronized void stackingCompletionDriveTrayOk3() {
			try {
			int[] staNos=new int[]{118};
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (Cools.isEmpty(basDevp) \|\| basDevp.getWrkNo()!=0 \|\| basDevp.getReportSign()!=3){
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne145(145);
			if (Cools.isEmpty(wrkMast)){
			continue;
			}
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (!staProtocol.isLoading()){
			log.info("{}站点无物，异常！",staNo);
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& !staProtocol.isEmptyMk()
			) {
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}
			wrkMast.setSheetNo("5");
			wrkMastMapper.updateById(wrkMast);
			}
			}
			}catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 退货码垛完成托盘继续下一步"+e);
			}
			}

			/**
			* 其他 ===>> 拆垛完成继续下一步运行途中自动避让空板
			*/
			public synchronized void stackingCompletionDriveTray4() {
			try {
			int[] staNos=new int[]{134};//(134有任务，135空闲，则避让)
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			BasDevp basDevp135 = basDevpService.selectById(135);
			if (basDevp.getWrkNo()==0 \|\| (basDevp.getWrkNo()<10000 && basDevp.getWrkNo()>9899) ){
			continue;
			}
			if (basDevp135.getReportSign()!=0){
			continue;
			}
			WrkMast wrkMast131 = wrkMastMapper.selectWrkMastUnstackingOne202Two(131);
			if (Cools.isEmpty(wrkMast131)){
			continue;
			}
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol135 = devpThread.getStation().get(135);
			if (staProtocol135 == null) {
			continue;
			} else {
			staProtocol135 = staProtocol135.clone();
			}
			if (staProtocol135.getWorkNo()<9900 \|\| staProtocol135.getWorkNo()>9999 \|\| staProtocol135.getWorkNo()==0
			\|\| !staProtocol135.isLoading() \|\| !staProtocol135.isAutoing()){
			continue;
			}
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (!staProtocol.isLoading()){
			continue;
			}
			// if (!staProtocol.getWorkNo().equals(wrkMast131.getWrkNo())){
			// log.info("站点工作号={} 与贴标工作号={} 不一致，异常！",staProtocol.getWorkNo(),wrkMast131.getWrkNo().shortValue());
			// }
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& basDevp.getReportSign()==0
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
			if (true){
			return;
			}

			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol135));
			try{
			Thread.sleep(100);
			}catch (Exception e){ }
			basDevp135.setReportSign(2);
			basDevpService.updateById(basDevp135);
			staProtocol135.setWorkNo(32222);
			staProtocol135.setStaNo(144);
			devpThread.setPakMk(staProtocol135.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol135));
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}
			boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol135));

			}
			}
			@@ -4209,12 +3158,30 @@
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast)){
			Thread.sleep(200);
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
			continue;
			}
			log.error("小车任务完成下发输送线任务："+staProtocol);
			// try{
			// Thread.sleep(1000);
			// DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			// StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
			// log.error("小车任务完成读取输送线任务："+staProtocolEnd);
			// if (staProtocolEnd.getWorkNo()==0 ){ //\|\| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
			// staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
			// staProtocolEnd.setStaNo(wrkMast.getStaNo());
			// if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
			// continue;
			// }
			// log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
			// }
			// }catch (Exception e){
			//
			// }
			}
			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			@@ -4246,11 +3213,29 @@
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast)){
			Thread.sleep(200);
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
			continue;
			}
			log.error("小车任务完成下发输送线任务："+staProtocol);
			try{
			Thread.sleep(1000);
			DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
			log.error("小车任务完成读取输送线任务："+staProtocolEnd);
			if (staProtocolEnd.getWorkNo()==0 ){ //\|\| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
			staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
			staProtocolEnd.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
			continue;
			}
			log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
			}
			}catch (Exception e){

			}
			}
			wrkMastSta.setWrkSts(3);
			@@ -4268,9 +3253,95 @@
			}
			}
			/**
			* 入出库 ===>> 小车作业下发
			*/
			public synchronized void rgvIoExecute(Integer sign) {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// 获取小车信息
			boolean signWork = false;
			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！", rgvSlave.getId());
			continue;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			) {
			switch (sign){
			//执行小车货物搬运任务
			case 1:
			signWork = rgvRunWrkMastFullSta();
			break;
			//执行小车空板搬运任务
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut();
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull();
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake();
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull();
			break;
			case 6:////提升
			// signWork = qwe();
			break;
			default:
			break;
			}
			}
			for (int signCount = 1;!signWork && signCount<8;signCount++){
			switch (signCount){
			case 1://执行小车货物搬运任务
			signWork = rgvRunWrkMastFullSta();
			break;
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut();
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull();
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake();
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull();
			break;
			case 6:////提升
			// signWork = rgvRunWrkMastEmptyStaPut();
			break;
			default:
			if (sign>6){
			rgvRunWrkMastEmptyStaAvoidance();//避让
			signWork = true;
			}
			break;
			}
			}

			}
			}catch (Exception e){
			log.error("RGV小车任务下发报错"+e);
			}
			}
			/**
			* 执行小车搬运任务
			*/
			public synchronized void rgvRunWrkMastFullSta() {
			public synchronized boolean rgvRunWrkMastFullSta() {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			@@ -4286,6 +3357,8 @@

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			@@ -4302,6 +3375,10 @@
			if (wrkMastSta.getType()!=1 \|\| wrkMastSta.getWrkType()!=3){//1:满版 3：取放
			continue;
			}
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y")){
			continue;
			}
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
			@@ -4312,7 +3389,7 @@
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return;
			return true;
			}else {
			log.error("3864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());
			}
			@@ -4327,11 +3404,12 @@
			log.error("3875行执行小车搬运任务下发失败");
			log.error("3875行"+e);
			}
			return false;
			}
			/**
			* 执行小车搬运任务//拆盘
			*/
			public synchronized void rgvRunWrkMastEmptyStaPut() {//拆盘
			public synchronized boolean rgvRunWrkMastEmptyStaPut() {//拆盘
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			@@ -4347,9 +3425,11 @@

			// 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==3 \|\| rgvProtocol.getLoaded2()==1 )////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物；3 1、2层都有物
			&& (rgvProtocol.getLoaded2()==3 \|\| rgvProtocol.getLoaded2()==1 \|\| rgvProtocol.getLoaded2()==4)////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物() ；3 1、2层都有物 4：（）只允许拆盘
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			@@ -4365,6 +3445,10 @@
			}
			boolean sign = false;
			if ( wrkMastSta.getStaEnd()!=0){//放
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y")){
			continue;
			}
			sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
			}else {
			continue;
			@@ -4378,7 +3462,7 @@
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return;
			return true;
			}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());
			}
			@@ -4393,12 +3477,13 @@
			log.error("3933行执行小车放空板任务下发失败");
			log.error("3933行"+e);
			}
			return false;
			}

			/**
			* 执行小车搬运任务
			*/
			public synchronized void rgvRunWrkMastEmptyStaPutFull() {//满放
			public synchronized boolean rgvRunWrkMastEmptyStaPutFull() {//满放
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			@@ -4414,8 +3499,11 @@

			// 只有当RGV空闲、自动,工位二有物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& (rgvProtocol.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			@@ -4426,11 +3514,15 @@
			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()!=6){// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
			if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=6){// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放 7:提升
			continue;
			}
			boolean sign = false;
			if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//满放
			if ( wrkMastSta.getStaEnd()!=0){//满放
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y")){
			continue;
			}
			sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
			}else {
			continue;
			@@ -4444,7 +3536,7 @@
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return;
			return true;
			}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());
			}
			@@ -4459,9 +3551,10 @@
			log.error("3933行执行小车放空板任务下发失败");
			log.error("3933行"+e);
			}
			return false;
			}

			public synchronized void rgvRunWrkMastEmptyStaTake() {//叠盘
			public synchronized boolean rgvRunWrkMastEmptyStaTake() {//叠盘
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			@@ -4477,9 +3570,11 @@

			// 只有当RGV空闲、自动,工位二无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==0 \|\| rgvProtocol.getLoaded2()==1 ) //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物（只能满放）；3 1、2层都有物
			&& (rgvProtocol.getLoaded2()==0 \|\| rgvProtocol.getLoaded2()==1 ) //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			@@ -4495,6 +3590,10 @@
			}
			boolean sign = false;
			if ( wrkMastSta.getStaStart()!=0){//取
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
			if (!basDevp.getAutoing().equals("Y") \|\| !basDevp.getLoading().equals("Y")){
			continue;
			}
			sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
			}else {
			continue;
			@@ -4508,7 +3607,7 @@
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return;
			return true;
			}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());
			}
			@@ -4523,9 +3622,10 @@
			log.error("3989行执行小车取空板任务下发失败");
			log.error("3989行"+e);
			}
			return false;
			}

			public synchronized void rgvRunWrkMastEmptyStaTakeFull() {//满取
			public synchronized boolean rgvRunWrkMastEmptyStaTakeFull() {//满取
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			@@ -4541,8 +3641,11 @@

			// 只有当RGV空闲、自动,工位二无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded2()==0 //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物（只能满放）；3 1、2层都有物
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& rgvProtocol.getLoaded2()==0 //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			@@ -4557,7 +3660,11 @@
			continue;
			}
			boolean sign = false;
			if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//满取
			if (wrkMastSta.getStaStart()!=0){//满取
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
			if (!basDevp.getAutoing().equals("Y") \|\| !basDevp.getLoading().equals("Y")){
			continue;
			}
			sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
			}else {
			continue;
			@@ -4571,7 +3678,7 @@
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return;
			return true;
			}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());
			}
			@@ -4586,6 +3693,7 @@
			log.error("3989行执行小车取空板任务下发失败");
			log.error("3989行"+e);
			}
			return false;
			}

			/*
			@@ -4615,6 +3723,8 @@
			&& 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
			&& rgvProtocol.getTaskNo1()==0
			&& rgvProtocol.getTaskNo2()==0
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){