zy-wcs.git - Gitblit

			@@ -8,11 +8,16 @@
			import com.core.common.DateUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.entity.param.ArmTaskAssignmentParam;
			import com.zy.asrs.entity.param.CombParam;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.PostMesDataUtils;
			import com.zy.asrs.utils.RouteUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.VersionUtils;
			import com.zy.asrs.utils.core.ReturnT;
			import com.zy.common.constant.ArmConstant;
			import com.zy.common.model.LocTypeDto;
			import com.zy.common.model.MatDto;
			import com.zy.common.model.SearchLocParam;
			@@ -46,7 +51,6 @@
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

			import java.util.*;
			import java.util.concurrent.TimeUnit;
			import java.util.stream.Collectors;

			/**
			@@ -94,9 +98,18 @@
			private WrkMastService wrkMastService;
			@Autowired
			private BasRgvMapService basRgvMapService;
			@Autowired
			private BasArmService basArmService;
			@Autowired
			private BasArmMastService basArmMastService;

			@Value("${wms.url}")
			private String wmsUrl;

			@Value("${wms.comb}")
			private String wmsComb;
			@Value("${inventory.number}")
			private Integer inventoryNumber;

			public Integer wrkNo = 10000;

			@@ -112,6 +125,7 @@
			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());
			@@ -124,7 +138,14 @@
			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 = "";
			@@ -154,6 +175,7 @@
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			log.error("物料码扫码失败");
			back = true;
			}
			// 退回
			@@ -166,6 +188,10 @@
			}
			if (!staProtocol.isPakMk()) {
			continue;
			}
			// led 异常显示
			if (ledThread != null) {
			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);
			@@ -184,7 +210,11 @@
			&& staProtocol.isPakMk()) {
			if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "00000000".equals(barcode)) {
			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) {
			String errorMsg = "扫码失败，请重试";
			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);
			wrkNo++;
			@@ -194,6 +224,20 @@
			log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
			continue;
			}
			// if (staProtocol.getSiteId()!= 159){
			// if( Cools.isEmpty(barcodeMat) \|\| "NG".endsWith(barcodeMat) \|\| "NoRead".equals(barcodeMat) \|\| "00000000".equals(barcodeMat)) {
			// News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcodeMat(), barcodeMat);
			//
			// staProtocol.setWorkNo(wrkNo);
			// News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			// wrkNo++;
			// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			// 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());
			// continue;
			// }
			// }
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			@@ -263,7 +307,34 @@

			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			}
			// 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 {
			staProtocol.setWorkNo(wrkNo);
			wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			@@ -530,7 +601,7 @@
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			// log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			if("00000000".equals(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			staProtocol.setWorkNo(wrkNo++);
			staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			@@ -620,7 +691,7 @@
			log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位成功===>>" + jsonObject.toJSONString());
			try {
			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setStaNo((short)161);
			devpThread.setPakMk(staProtocol.getSiteId(), false);

			@@ -688,9 +759,10 @@
			continue;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			if ((wrkMast.getIoType() != 12 && wrkMast.getIoType() < 100) \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			continue;
			}

			// 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, wrkMast.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			@@ -721,7 +793,7 @@
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位堆垛机
			News.error("出库任务完成下发堆垛机复位", wrkMast.getWrkNo());
			log.error("出库任务完成下发堆垛机复位,{}", wrkMast.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:{}]", wrkMast.getWrkNo());
			@@ -742,8 +814,112 @@
			}

			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			* 堆垛机任务衔接任务生成
			*/
			public synchronized void connectWrk(Integer mark) {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocolIn = devpThread.getStation().get(4001);
			if (staProtocolIn == null) {
			continue;
			} else {
			staProtocolIn = staProtocolIn.clone();
			}
			int[] outStaNos = {1015, 2016};
			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) {
			continue;
			} else {
			staProtocolOut = staProtocolOut.clone();
			}

			if (staProtocolOut.getWorkNo() != null && staProtocolOut.getStaNo() == 4006) {
			WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
			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");
			continue;
			}
			try {
			TransplantWork param = new TransplantWork();
			param.setWorkNo(wrkMastOut.getWrkNo());
			param.setBarcode(wrkMastOut.getBarcode());
			param.setSourceStaNo(outStaNo);
			param.setStaNo(wrkMastOut.getStaNo());

			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/TransplantingOut/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();

			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			staProtocolOut.setWorkNo(9997);
			devpThread.setPakMk(staProtocolOut.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolOut));

			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			if(staProtocolIn.getWorkNo() != null &&staProtocolIn.getStaNo() != 4001){
			WrkMast wrkMastIn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo());
			WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9996);
			if(wrkMastIn == null){
			continue;
			}
			if(wrkMast != null){
			News.info("已存在斜街任务，等待任务完成");
			continue;
			}
			try {
			TransplantWork param = new TransplantWork();
			param.setWorkNo(wrkMastIn.getWrkNo());
			param.setBarcode(wrkMastIn.getBarcode());
			param.setSourceStaNo(4001);
			param.setStaNo(wrkMastIn.getStaNo());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/TransplantingIn/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			staProtocolIn.setWorkNo(9996);
			devpThread.setPakMk(staProtocolIn.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolIn));

			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			}

			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}

			}


			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			public synchronized void crnIoExecute(Integer mark) {

			for (CrnSlave crn : slaveProperties.getCrn()) {
			@@ -794,7 +970,8 @@
			// 库位移转
			//mark - 3 - ....
			this.locToLoc(crn, crnProtocol,mark);
			// this.crnRebackHp(crnProtocol, crnThread);
			//预调度
			this.crnRebackHp(crnProtocol, crnThread);

			}
			// News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
			@@ -804,21 +981,17 @@
			* 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
			*/
			public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) {
			// for (CrnSlave crn : slaveProperties.getCrn()) {
			// // 获取堆垛机信息
			// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			// if (crnProtocol == null) {
			// continue;
			// }
			// BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			// if (basCrnp == null) {
			// log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			// continue;
			// }
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
			if (crnProtocol.getBay() == 1) {
			return;
			}
			int x=1;
			switch (crnProtocol.getCrnNo()){
			case 1: x =1; break;
			case 2: x =3; break;
			case 3: x =5; break;
			case 4: x =7; break;
			case 5: x =9; break;
			}

			// 已经存在吊车执行任务时，则过滤3,12
			@@ -832,7 +1005,7 @@
			}

			//输送线没有入库任务，过滤2
			if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
			if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) != null) {
			return;
			}
			News.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
			@@ -841,10 +1014,10 @@
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9999); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 回原点
			crnCommand.setSourcePosX((short) 0); // 源库位排
			crnCommand.setSourcePosY((short) 0); // 源库位列
			crnCommand.setSourcePosZ((short) 0); // 源库位层
			crnCommand.setTaskMode(CrnTaskModeType.X_MOVE); // 任务模式: 回原点
			crnCommand.setSourcePosX((short) x); // 源库位排
			crnCommand.setSourcePosY((short) 1); // 源库位列
			crnCommand.setSourcePosZ((short) 1); // 源库位层
			crnCommand.setDestinationPosX((short) 0); // 目标库位排
			crnCommand.setDestinationPosY((short) 0); // 目标库位列
			crnCommand.setDestinationPosZ((short) 0); // 目标库位层
			@@ -853,6 +1026,7 @@
			}
			crnThread.setBackHpFlag(true);
			}

			// }
			}

			@@ -871,6 +1045,61 @@
			continue;
			} 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;
			}
			}
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			@@ -1016,9 +1245,70 @@
			// 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());
			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);
			break;
			} else {
			staProtocol2 = staProtocol2.clone();
			}
			WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9997);
			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")){
			// 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) 5); // 源库位排
			crnCommand.setSourcePosY((short) 1); // 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.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(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());
			}
			break;
			}
			}
			}
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast == null) {
			continue;
			}
			if (wrkMast.getIoType() == 107){
			int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("io_type", wrkMast.getIoType()).eq("wrk_sts", 14));
			if (count >= inventoryNumber) {
			continue;
			}
			}
			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null) {
			@@ -1057,8 +1347,16 @@
			// continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// 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 (slave.getId() == 1 \|\| slave.getId() == 2){
			// if (staProtocol.isLoading() \|\| staProtocol.getWorkNo() != 0 \|\| !staProtocol.isOutEnable()){
			// continue;
			// }
			// }
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			@@ -1366,14 +1664,50 @@
			if (crnProtocol == null) {
			continue;
			}
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行对工作档的完成操作");
			if(crnProtocol.getTaskNo() == 9999){
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());



			// 堆垛机复位
			News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
			crnThread.setResetFlag(true);
			}
			} else if (crnProtocol.getTaskNo() == 9996) {//盘点入库衔接
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			News.error(""+mark+" - 1"+" - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			wrkMast.setWrkSts(4L);
			} else {
			continue;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo());
			News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
			crnThread.setResetFlag(true);
			}
			}
			}else{
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null ) {
			News.error("" + mark + " - 1" + " - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			continue;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			@@ -1388,16 +1722,19 @@
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			log.error(wrkMast.getWrkNo()+"任务修改状态4成功，复位堆垛机={}",crnThread.getCrnProtocol().getCrnNo());
			News.warnNoLog(""+mark+" - 2"+" - 修改成功后复位堆垛机 : 堆垛机号={}",crnThread.getCrnProtocol().getCrnNo());
			log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo());
			News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
			crnThread.setResetFlag(true);
			}
			}
			}



			}
			// News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成");
			}


			/**
			* 堆垛机异常信息记录
			@@ -1767,13 +2104,13 @@
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) { continue; }
			if (staProtocol.getWorkNo() != 0) {
			if (staProtocol.getWorkNo() != 0 \|\| staProtocol.isErr()) {
			reset = false;
			break;
			}
			}
			// 获取led线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// led显示默认内容
			if (reset) {
			if (ledThread == null) {
			@@ -1927,7 +2264,7 @@
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setFullPlt(shallowLoc.getLocSts().equals("F") ? "Y" : "N"); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			@@ -2223,16 +2560,20 @@
			public synchronized void autoEmptyOut() {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			List<Integer> list = new ArrayList<>();
			list.add(101);list.add(112);
			Map<Integer,Integer> map = new HashMap<>();
			map.put(101,102);map.put(112,111);
			list.add(1108);list.add(2031);
			for (Integer site:list){
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", map.get(site)));
			if (!Cools.isEmpty(wrkMast)){
			Integer emptyCount = wrkMastMapper.countPakOutEmpty(site);
			StaProtocol staProtocol = null;
			if(emptyCount >= 2 && site == 1108){
			continue;
			}else if(emptyCount == 1 && site == 2031){
			continue;
			}
			//如果站点可出禁用，则不生成空盘出库任务
			StaProtocol staProtocol = devpThread.getStation().get(site);
			switch (site){
			case 1108:staProtocol = devpThread.getStation().get(site - 2);break;
			case 2031:staProtocol = devpThread.getStation().get(site);break;
			}
			if (staProtocol == null) {
			return;
			} else {
			@@ -2243,14 +2584,7 @@
			&& staProtocol.isOutEnable() //可出信号
			&& staProtocol.getWorkNo() == 0
			) {
			WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(site);
			if (null != pakoutEmpty) {
			return;
			}
			Short loctype1 = 1;
			if (site == 101){
			loctype1 = 2;
			}
			LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
			locTypeDto.setSiteId(site);
			try {
			@@ -2279,7 +2613,7 @@
			public synchronized void autoEmptyIn() {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			List<Integer> list = new ArrayList<>();
			list.add(153);list.add(157);
			list.add(1038);
			for (Integer site:list){
			StaProtocol staProtocol = devpThread.getStation().get(site);
			if (staProtocol == null) {
			@@ -2296,9 +2630,6 @@

			try {
			Short loctype1 = 1;
			if (site == 153){
			loctype1 = 2;
			}
			LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
			locTypeDto.setSiteId(site);

			@@ -2332,12 +2663,15 @@
			* 小车地图更新更新锁
			* */
			public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd,String sign){
			// log.info("小车地图更新！[标记：{}];[BasRgvMap：{}];[staStart：{}];[staEnd：{}];",sign,JSON.toJSONString(basRgvMapCurrent),staStart,staEnd);

			// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
			//更新当前小车锁
			try{
			Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
			// log.info("小车地图更新！获取最远站点;[farCurrentStaNo：{}]",farCurrentStaNo);
			Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
			// log.info("小车地图更新！获取合并干涉项;[fallMerge：{}]",fallMerge);
			basRgvMapCurrent.setLockEndRoute(fallMerge);
			Integer i = basRgvMapMapper.updateById(basRgvMapCurrent);
			// if (i>0){
			@@ -2346,9 +2680,14 @@

			//更新另一台小车地图
			Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther(basRgvMapCurrent.getRgvNo());
			// log.info("小车地图更新！另一台小车号;[rgvNoOther：{}]",rgvNoOther);

			BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
			// log.info("小车地图更新！另一台小车;[basRgvMapOther：{}]",JSON.toJSONString(basRgvMapOther));

			List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
			Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//另一台小车可活动最远位置
			// log.info("小车地图更新！另一台小车可活动最远位置;[lockEndRoute：{}]",lockEndRoute);
			basRgvMapOther.setEndRoute(lockEndRoute);
			Integer i1 = basRgvMapMapper.updateById(basRgvMapOther);
			// if (i1>0){
			@@ -2356,7 +2695,7 @@
			// }
			return true;
			}catch (Exception e){
			log.error("小车地图更新出错！");
			log.error("小车地图更新出错！异常原因："+e);
			return false;
			}
			}
			@@ -2384,13 +2723,15 @@
			// 只有当RGV空闲、自动,工位一无物//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
			&& (rgvProtocol.getTaskNo1()==0)
			&& !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.isLoaded2ing()
			&& rgvProtocol.getTaskNo2()==0
			&&rgvThread.isPakMk()
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

			Integer rgvNoOther = basRgvMap.getRgvNoOther(rgvProtocol.getRgvNo());
			Integer rgvNoOther = basRgvMap.getRgvNoOther((int) rgvProtocol.getRgvNo());
			RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNoOther);
			RgvProtocol rgvProtocolOther = rgvThreadOther.getRgvProtocol();
			if (rgvProtocolOther == null) {
			@@ -2400,8 +2741,10 @@
			}
			if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocolOther.getModeType() == RgvModeType.AUTO
			&& rgvProtocolOther.getLoaded1()==0
			&& (rgvProtocolOther.getTaskNo1()==0)
			&& !rgvProtocolOther.isLoaded1ing()
			&& rgvProtocolOther.getTaskNo1()==0
			&& !rgvProtocolOther.isLoaded2ing()
			&& rgvProtocolOther.getTaskNo2()==0
			&&rgvThreadOther.isPakMk()
			){
			//对工作档进行判断
			@@ -2425,6 +2768,26 @@
			}
			}

			/**
			* 自动生成RGV接驳任务（检索出入口任务，生成对应RGV任务，检索4楼任务，非3号堆垛机，则生成对应接驳任务）
			*/
			// public synchronized void rgvCreateWrkMastSta(){
			// try{
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(1105);
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			// continue;
			// }
			// }
			// }
			// }


			/**
			* 完成小车任务
			@@ -2433,39 +2796,91 @@
			try{
			for (DevpSlave devp : slaveProperties.getDevp()) {
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			for (BasRgvMap rgvSlave:basRgvMaps) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			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(rgvSlave.getRgvNo());
			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！3", rgvSlave.getRgvNo());
			log.error("{}号RGV尚未在数据库进行维护！3", rgv.getId());
			continue;
			}

			// 只有当RGV等待WCS确认、自动
			// 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()!=0){
			if (rgvProtocol.getTaskNo1()==32222){
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			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()) {
			// rgvProtocol.setLoadingStartTime(null); // 已到位，清空时间戳
			// } else {
			// if (rgvProtocol.getLoadingStartTime() == null) {
			// 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()!=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;

			rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2415");
			rgvThread.setPakMk(true);
			break;
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
			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;
			@@ -2494,27 +2909,15 @@
			if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
			continue;
			}
			}else {
			log.error("rgv任务完成给输送线下发命令,但未查询到工作档");
			// 下发站点信息
			Map<Integer,Integer> map = new HashMap<>();
			map.put(101,102);map.put(112,111);
			map.put(100,100);
			staProtocol.setWorkNo(rgvProtocol.getTaskNo1().intValue());
			staProtocol.setStaNo(map.get(rgvProtocol.getRgvPosI()).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 = rgvComplete(rgvProtocol.getRgvNo());
			// boolean rgvComplete = true;
			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().intValue());
			WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1());
			wrkMast1.setPdcType("Y");

			wrkMastService.updateById(wrkMast1);
			@@ -2524,12 +2927,113 @@
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
			rgvThread.setPakMk(true);
			}

			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);
			}
			}
			}
			@@ -2537,11 +3041,560 @@
			log.error("小车复位线程报错！"+e);
			}
			}

			/**
			* rgv放货任务下发
			*/
			public synchronized void rgvOutExecute() {
			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！4", rgv.getId());
			continue;
			}
			//小车无任务时跳过
			if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0){
			continue;
			}
			//入库放货
			if(rgvThread.isPakIn()){
			for(RgvSlave.RgvStn rgvStn : rgv.getRgvInPStn()){//入库放货站点
			boolean flag = false;

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			if (staProtocol == null) {
			News.infoNoLog( " - 1" + " - 1" + " - Rgv入库放货站信息(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( " - 1" + " - 2" + " - 入库 ===>>Rgv放货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()
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			News.errorNoLog( " - 1" + " - 3" + " - Rgv入库放货站信息(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());
			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();
			}else{
			wrkNo = 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
			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
			if (sign){
			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 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());
			}

			}
			}
			//出库放货
			if( rgvThread.isPakOut()){
			for(RgvSlave.RgvStn rgvStn : rgv.getRgvOutPStn()){//入库放货站点
			boolean flag = false;

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			if (staProtocol == null) {
			News.infoNoLog( " - 1" + " - 1" + " - Rgv出库放货站信息(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( " - 1" + " - 2" + " - 出库 ===>>Rgv放货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.isOutEnable()
			&& staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			News.errorNoLog( " - 1" + " - 3" + " - Rgv出库放货站信息(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 = 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();
			}else{
			wrkNo = rgvProtocol.getTaskNo2();
			}
			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
			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
			if (sign){
			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 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());
			}

			}
			}
			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<>());

			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;
			}

			// 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()) {
			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
			if (rgvProtocol.getLastIo().equals("I")) {
			if (basRgv.getInEnable().equals("Y") && rgvThread.isPakIn()) {
			//mark - 1 - ....
			this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 入库
			rgvProtocol.setLastIo("O");
			} else if (basRgv.getOutEnable().equals("Y") && rgvThread.isPakOut()) {
			//mark - 2 - ....
			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("Y") && rgvThread.isPakOut()) {
			this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 出库
			rgvProtocol.setLastIo("I");
			} else if (basRgv.getInEnable().equals("Y") && rgvThread.isPakIn()) {
			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
			}

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

			}
			}
			}
			/**
			* 小车入库任务取货下发
			*/
			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;
			//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;

			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
			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;
			}
			}
			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()
			&& 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());
			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
			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());
			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);
			continue;
			}
			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
			}
			if (sign){
			wrkMastSta.setWrkSts(1);
			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");
			}
			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());
			}


			}
			}
			/**
			* 小车出库任务取货下发
			*/
			public synchronized void rgvRunWrkMastOut(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());
			StaProtocol staProtocol2 = 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;
			}
			}
			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 && staProtocol.isOutEnable()
			&& 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 = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			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());
			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);
			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.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
			}
			if (sign){
			wrkMastSta.setWrkSts(1);
			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");
			}
			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());
			}


			}
			}
			/**
			* 执行小车搬运任务
			*
			* @return
			*/
			public synchronized void rgvRunWrkMastFullSta() {
			boolean wrkEnable = false;
			// public synchronized boolean rgvRunWrkMastFullSta() {
			// boolean wrkEnable = false;
			// 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可用入库取货
			// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// && !rgvProtocol.isLoaded1ing()
			// && rgvProtocol.getTaskNo1() == 0
			// && rgvThread.isPakMk()
			// && rgvThread.isPakIn()
			// ) {
			// 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){
			// List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//入库口
			// if (!staNos.contains(wrkMastSta.getStaStart())) {
			// continue;
			// }
			// boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			// wrkEnable = true;
			// if (sign){
			// wrkMastSta.setWrkSts(1);
			// 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");
			// }
			// rgvThread.setPakMk(false);
			// rgvThread.setPakOut(false);
			// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
			// if (signMap){
			// return wrkEnable;
			//// break;
			// }else {
			// 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());
			// Thread.sleep(500);
			// }
			// } else {
			// log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			// Thread.sleep(500);
			// }
			// break;
			// }
			// }
			//
			// // 只有当RGV空闲、自动,工位一无物//rgv可用出库取货
			// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// && !rgvProtocol.isLoaded2ing()
			// && rgvProtocol.getTaskNo2() == 0
			// && rgvThread.isPakMk()
			// && rgvThread.isPakOut()
			// ){
			// 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){
			// List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//入库口
			// if (staNos.contains(wrkMastSta.getStaStart())) {//非入库口（出库口）限制
			// continue;
			// }
			// boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null); //命令下发
			// wrkEnable = true;
			// if (sign){
			// wrkMastSta.setWrkSts(1);
			// 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");
			// }
			// rgvThread.setPakMk(false);
			// rgvThread.setPakOut(false);
			// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
			// if (signMap){
			// return wrkEnable;
			//// break;
			// }else {
			// 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());
			// Thread.sleep(500);
			// }
			// } else {
			// log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			// Thread.sleep(500);
			// }
			// break;
			// }
			//
			// }
			//
			// }
			// }catch (Exception e){
			// log.error("执行小车搬运任务下发失败");
			// }
			// return wrkEnable;
			// }
			/**
			* 小车预调度
			*/
			public synchronized void rgvPreScheduling(){
			try{
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			for (BasRgvMap rgvSlave:basRgvMaps) {
			@@ -2558,11 +3611,13 @@
			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.getLoaded1()==0
			&& !rgvProtocol.isLoaded1ing()
			&& rgvProtocol.getTaskNo1() == 0
			&& !rgvProtocol.isLoaded2ing()
			&& rgvProtocol.getTaskNo2() == 0
			&& rgvThread.isPakMk()
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			@@ -2572,43 +3627,43 @@
			}
			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()!=0 \|\| wrkMastSta.getWrkType()!=3){//1:满版 3：取放
			continue;
			}
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			wrkEnable = true;
			if (sign){
			rgvThread.setPakMk(false);
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
			if (signMap){
			Thread.sleep(300);
			wrkMastSta.setWrkSts(1);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			return;
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			break;
			}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());
			}
			} else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			// 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 (!wrkEnable){
			rgvRunWrkMastEmptyStaAvoidance();
			}
			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("3875行执行小车搬运任务下发失败");
			log.error("3875行"+e);
			log.error("执行小车移动下发失败");
			}
			}
			/**
			@@ -2743,130 +3798,319 @@
			/*
			* 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());
			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！1", rgvSlave.getRgvNo());
			continue;
			}

			// 只有当RGV空闲、自动,工位一无物//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
			&& rgvProtocol.getTaskNo1()==0
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvThread.isPakMk()
			// && rgvProtocol.getTaskNo2()==0
			){
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			continue;
			}
			// if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
			// continue;
			// } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157) ){
			// 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());
			// 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！1", rgvSlave.getRgvNo());
			// continue;
			// }
			//
			// // 只有当RGV空闲、自动,工位一无物//rgv可用
			// 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
			// && rgvThread.isPakMk()
			//// && rgvProtocol.getTaskNo2()==0
			// ){
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			// continue;
			// }
			rgvAvoidanceXY(rgvProtocol.getRgvNo());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
			}
			}
			}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);
			}
			}
			//// 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");
			// }
			// }
			// }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);
			// }
			// }

			/*
			* 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;

			}
			}
			}
			// 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){
			public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta,Short direction){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			boolean pakIn1 = true;
			boolean pakIn2 = true;
			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_PUT); // 工位1任务模式: 取放货
			rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //工位1起点
			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;
			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.setDirection2(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(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;
			}
			}
			}
			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.setDirection2(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(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;
			}
			}
			}
			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.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;
			}
			@@ -2972,13 +4216,44 @@
			// }
			// }

			/**
			* 取放取路径计算
			*/
			public synchronized boolean rgvCalcDistance(Integer rgvNo, Integer outStn, Integer inStn){
			try {
			// 小车当前位置
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvNo);
			Integer currPos = basRgvMap.getNowRoute(); // 或者用 rgvProtocol.getRgvPosI()

			if(currPos == null \|\| outStn == null \|\| inStn == null){
			return false; // 无效数据直接放弃
			}

			// 计算两段距离
			List<Integer> routeToOut = RouteUtils.getRouteDis(currPos, outStn);
			List<Integer> routeToIn = RouteUtils.getRouteDis(currPos, inStn);

			int distOut = (routeToOut != null) ? routeToOut.size() : Integer.MAX_VALUE;
			int distIn = (routeToIn != null) ? routeToIn.size() : Integer.MAX_VALUE;

			// 调试日志
			log.info("RGV距离计算: currPos={}, outStn={}, distOut={}, inStn={}, distIn={}",
			currPos, outStn, distOut, inStn, distIn);

			return distOut < distIn; // 放货点更近 → true
			} catch (Exception e) {
			log.error("RGV路径距离计算异常", e);
			return false;
			}
			}

			/*
			* 小车复位
			* */
			public synchronized boolean rgvComplete(Integer rgvId){
			public synchronized boolean rgvComplete(Integer rgvId,Integer step){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(step, new 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={}",rgvId);
			return false;
			@@ -2992,4 +4267,170 @@
			}
			}




			/*
			* arm任务完成自动组托
			* */
			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;
			}

			List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>()
			.eq("arm_no", armSta.getArmNo())
			.eq("sta_no", armSta.getStaNo())
			.eq("status", 1));
			for (BasArm basArm : basArmList) {
			if (basArm.getStatus()!=1){
			continue;
			}
			try{
			List<BasArmMast> basArmMastList = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLine())
			.eq("status", 3)
			);
			if (basArmMastList.isEmpty()){
			continue;
			}
			CombParam combParam = new CombParam(basArmMastList);
			combParam.setBarcode(barcode);
			//设置工作空间就绪
			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.getSortingLine(),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");
			}
			} catch (Exception e){
			log.error("arm编号："+basArm.getArmNo()+"====》机械臂抓取任务完成"+e.getMessage());
			}
			break;
			}
			}
			}
			} catch (Exception e){
			log.error("机械臂抓取任务完成组托失败"+e.getMessage());
			}
			}
			public synchronized void armMissionAccomplishedScanToCheckIn() {
			try{
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta armSta : devp.getArmSta()) {

			List<BasArmMast> basArmMastList = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", armSta.getArmNo())
			.eq("sta_no", armSta.getStaNo())
			.eq("status", 4)
			);

			if (basArmMastList.isEmpty()){
			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();
			}

			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){
			log.error("组托完成驱动托盘扫码入库失败"+e.getMessage());
			}
			}

			/*
			* arm任务下发
			* */
			public synchronized void armTaskAssignment() {
			try{
			List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<>());
			for (BasArm basArm : basArmList) {
			if (basArm.getStatus()!=1){
			continue;
			}
			try{
			List<BasArmMast> basArmMastListRuning = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLine())
			.eq("status", 1)
			);
			List<BasArmMast> basArmMastListRuning3 = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLine())
			.eq("status", 3)
			);
			if (basArmMastListRuning.isEmpty() && basArmMastListRuning3.isEmpty()){
			List<BasArmMast> basArmMastList = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLine())
			.eq("status", 0)
			);
			if (basArmMastList.isEmpty()){
			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！！！");
			continue;
			}
			for (BasArmMast basArmMast:basArmMastList) {
			ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArmMast.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.ARM_URL, ArmConstant.ARM_WORKSPACE, armTaskAssignmentParam);
			if (result.getCode()==200){
			basArmMast.setStatus(1);
			basArmMastService.updateById(basArmMast);
			} else {
			log.error("机械臂抓取任务："+JSON.toJSON(basArmMast)+"===》任务信息下发失败");
			}
			}
			}
			} catch (Exception e){
			log.error("arm编号："+basArm.getArmNo()+"====》拆码垛任务下发失败"+e.getMessage());
			}
			}
			}catch (Exception e){
			log.error("arm任务下发失败"+e.getMessage());
			}
			}

			}