zy-wcs.git - Gitblit

			@@ -14,25 +14,23 @@
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.CommandUtils;
			import com.zy.asrs.utils.RouteUtils;
			import com.zy.asrs.utils.TrackRangeUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.common.model.MatDto;
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.CollectionUtils;
			import com.zy.common.utils.HttpHandler;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			import com.zy.core.cache.MessageQueue;
			import com.zy.core.cache.SlaveConnection;
			import com.zy.core.cache.*;
			import com.zy.core.enums.*;
			import com.zy.core.model.CrnSlave;
			import com.zy.core.model.DevpSlave;
			import com.zy.core.model.RgvSlave;
			import com.zy.core.model.Task;
			import com.zy.core.model.*;
			import com.zy.core.model.command.CrnCommand;
			import com.zy.core.model.command.RgvCommand;
			import com.zy.core.model.protocol.CrnProtocol;
			import com.zy.core.model.protocol.RgvProtocol;
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.model.command.LedCommand;
			import com.zy.core.model.protocol.*;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.BarcodeThread;
			import com.zy.core.thread.LedThread;
			import com.zy.core.thread.RgvThread;
			import com.zy.core.thread.SiemensDevpThread;
			import lombok.extern.slf4j.Slf4j;
			@@ -44,6 +42,8 @@

			import java.io.IOException;
			import java.util.*;
			import java.util.concurrent.ConcurrentHashMap;
			import java.util.stream.Collectors;

			/**
			* 立体仓库WCS系统主流程业务
			@@ -74,31 +74,23 @@
			private TaskWrkService taskWrkService;
			@Autowired
			private StaDescMapper staDescMapper;

			@Autowired
			private StaDescService staDescService;

			@Autowired
			private ApiLogService apiLogService;
			@Autowired
			private CommonService commonService;
			@Autowired
			private BasRgvService basRgvService;
			private CrnController crnController;
			@Autowired
			private WrkMastStaMapper wrkMastStaMapper;
			@Autowired
			private BasRgvMapMapper basRgvMapMapper;
			private BasDevpPositionService basDevpPositionService;

			@Value("${wms.url}")
			private String wmsUrl;
			@Value("${wms.inboundTaskApplyPath}")
			private String inboundTaskApplyPath;
			@Value("${wms.movePath}")
			private String movePath;
			@Value("${wms.taskStatusFeedbackPath}")
			private String taskStatusFeedbackPath;
			@Autowired
			private CrnController crnController;

			@Value("${wms.rgvOpen}")
			private boolean rgvOpen;
			@@ -112,10 +104,11 @@
			@Value("${constant-parameters.trackProportion}")
			private Long trackProportion;

			public void generateStoreWrkFile() throws IOException, InterruptedException {
			@Value("${constant-parameters.avoidDistance}")
			private Long avoidDistance;

			public void generateStoreWrkFile() {
			try {


			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			@@ -164,13 +157,13 @@
			}
			// 退回
			if (back) {
			if (stano == inSta.getBackSta().shortValue()){
			if (stano == inSta.getBackSta().shortValue()) {
			continue;
			}
			if (workNo == 0 && stano == 0){
			if (workNo == 0 && stano == 0) {
			continue;
			}
			if (!staProtocol.isPakMk()){
			if (!staProtocol.isPakMk()) {
			continue;
			}
			// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			@@ -189,27 +182,30 @@
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (workNo == 9991 )
			&& staProtocol.isPakMk()) {
			&& !staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo>9000 && workNo<10000))
			&& staProtocol.isPakMk()
			&& staProtocol.isPakMkWalk()
			) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode) && !barcode.equals("99999999")) {
			if (!Cools.isEmpty(barcode) && !barcode.equals("99999999")) {
			// 请求wms接口，获取工作号和目标库位
			ToWmsDTO toWmsDTO = new ToWmsDTO(barcode,staProtocol.getSiteId(),staProtocol.isHigh() ? 2 : 1);
			TaskWrk taskWrk1=taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode",barcode));
			if(!Cools.isEmpty(taskWrk1)){
			log.info("托盘码："+barcode+"任务档存在");
			if (taskWrk1.getIoType()==1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())){
			ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, 0);
			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
			if (!Cools.isEmpty(taskWrk1)) {
			log.info("托盘码：" + barcode + "任务档存在");
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("crn_no", taskWrk1.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId()));
			if (Cools.isEmpty(staDesc)){
			log.info("托盘码："+barcode+"任务档存在");
			.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));

			if (Cools.isEmpty(staDesc)) {
			log.info("托盘码：" + barcode + "任务档存在");
			return;
			}else {
			} else {
			staProtocol.setWorkNo(taskWrk1.getWrkNo());
			staProtocol.setStaNo(staDesc.getCrnStn());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			@@ -218,9 +214,9 @@
			return;
			}
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("Content-Type","application/json");
			headParam.put("Content-Type", "application/json");
			String response;
			try{
			try {
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			.setUri(wmsUrl)
			@@ -228,140 +224,54 @@
			.setJson(JSON.toJSONString(toWmsDTO))
			.build()
			.doPost();
			}catch (Exception e){
			} catch (Exception e) {
			log.error("请求入库调用接口失败");
			log.error("异常信息打印："+e);
			try{
			log.error("异常信息打印：" + e);
			try {
			BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
			if (Cools.isEmpty(basDevp)){
			log.error("站点号异常"+inSta.getStaNo());
			} else if (basDevp.getStaErr()!=0){
			if (Cools.isEmpty(basDevp)) {
			log.error("站点号异常" + inSta.getStaNo());
			} else if (basDevp.getStaErr() != 0) {
			basDevp.setStaErr(2);
			basDevpService.updateById(basDevp);
			}
			}catch (Exception e1){
			} catch (Exception e1) {
			// 退回
			log.error("扫码检测程序异常"+inSta.getStaNo()+"异常信息"+e1);
			log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1);
			}
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
			// if (taskWrk != null) {
			// taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
			// taskWrkMapper.updateById(taskWrk);
			// }
			continue;
			}

			JSONObject jsonObject = JSON.parseObject(response);
			apiLogService.save("wms请求入库货位接口"
			,wmsUrl+inboundTaskApplyPath
			,null
			,"127.0.0.1"
			,JSON.toJSONString(toWmsDTO)
			,response
			,true
			, wmsUrl + inboundTaskApplyPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(toWmsDTO)
			, response
			, true
			);
			log.info("入库请求参数{}" + JSON.toJSONString(toWmsDTO));
			log.info("入库请求返回参数{}" + JSON.toJSONString(response));
			if (jsonObject.getInteger("code").equals(200) && !Cools.isEmpty(jsonObject.get("data").toString())) {
			GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
			try{
			BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
			if (Cools.isEmpty(basDevp)){
			log.error("站点号异常1"+inSta.getStaNo());
			throw new CoolException("站点号异常1,未查询到站点信息"+inSta.getStaNo());
			}
			Integer staNoCrnNo = Utils.StaNoCrnNo(inSta.getStaNo());
			if (staNoCrnNo==0){
			basDevp.setStaErr(1);
			basDevpService.updateById(basDevp);
			log.error("站点号异常2"+inSta.getStaNo());
			throw new CoolException("站点号异常2,站点号不存在"+inSta.getStaNo());
			}else {
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
			.eq("crn_no", staNoCrnNo.longValue())
			.eq("loc_no", getWmsDto.getLocNo()));
			if (Cools.isEmpty(locMast)){
			basDevp.setStaErr(1);
			basDevpService.updateById(basDevp);
			log.error("站点号异常3"+inSta.getStaNo());
			throw new CoolException("站点号异常3：此巷道不存在目标库位"+inSta.getStaNo());
			}
			}
			} catch (Exception e){
			// log.error("扫码检测程序异常"+inSta.getStaNo()+"异常信息"+e);
			if (jsonObject.getInteger("code").equals(200)) {
			try {
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			} catch (Exception e) {
			// 退回
			log.error("扫码检测程序异常"+inSta.getStaNo()+errMsg);
			log.error("扫码检测程序异常,异常信息"+e);
			log.error("扫码检测程序异常" + inSta.getStaNo() + errMsg);
			log.error("扫码检测程序异常,异常信息" + e);

			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
			// if (taskWrk != null) {
			// taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
			// taskWrkMapper.updateById(taskWrk);
			// }
			continue;
			}
			//查看该库位是否为空库位
			LocMast locMast=locMastService.selectOne(new EntityWrapper<LocMast>()
			.eq("loc_sts","O")
			.eq("loc_no",getWmsDto.getLocNo()));
			if(Cools.isEmpty(locMast)){
			try{
			HashMap<String, Object> headParam1 = new HashMap<>();
			headParam1.put("taskNo",getWmsDto.getTaskNo());
			headParam1.put("status",6);
			headParam1.put("ioType",1);
			headParam1.put("barcode",barcode);
			String response2;
			response2 = new HttpHandler.Builder()
			// .setHeaders(headParam)
			.setUri(wmsUrl)
			.setPath(taskStatusFeedbackPath)
			.setJson(JSON.toJSONString(headParam1))
			.build()
			.doPost();
			JSONObject jsonObject1 = JSON.parseObject(response2);
			apiLogService.save("wcs派发库位==》不为空《==上报wms"
			,wmsUrl+taskStatusFeedbackPath
			,null
			,"127.0.0.1"
			,JSON.toJSONString(headParam1)
			,response
			,true
			);
			}catch (Exception e){
			log.error("wcs派发库位==》不为空《==上报wms", getWmsDto.getWrkNo());
			throw new CoolException("wcs派发入库任务上报wms失败,派发库位==》不为空《==，异常信息："+e);
			}
			}

			// 创新一个入库工作档
			TaskWrk taskWrk = taskWrkService.selectByTaskNo(getWmsDto.getWrkNo());
			if(Cools.isEmpty(taskWrk)) {
			taskWrk = createTask(getWmsDto,barcode);
			if (Cools.isEmpty(taskWrk)){
			log.error("库位异常，库位号：{}", getWmsDto.getTargetLocationCode());
			}else {
			taskWrkService.insert(taskWrk);
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId()));
			staProtocol.setWorkNo(taskWrk.getWrkNo());
			staProtocol.setStaNo(staDesc.getCrnStn());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}

			}else {
			continue;
			}

			} else {
			// 退回
			log.error("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			@@ -388,17 +298,284 @@
			}
			}

			public void generateStoreWrkFileIsEmptyMk() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Integer workNo = staProtocol.getWorkNo();
			Integer stano = staProtocol.getStaNo();

			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			if (staProtocol.isFrontErr()) {
			errMsg = "前超限";
			back = true;
			}
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "高超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			back = true;
			}
			// 退回
			if (back) {
			if (stano == inSta.getBackSta().shortValue()) {
			continue;
			}
			if (workNo == 0 && stano == 0) {
			continue;
			}
			if (!staProtocol.isPakMk()) {
			continue;
			}
			// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			staProtocol.setWorkNo(workNo);
			staProtocol.setStaNo(inSta.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
			if (taskWrk != null) {
			taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
			taskWrk.setModiTime(new Date());
			taskWrkMapper.updateById(taskWrk);
			}
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo>9000 && workNo<10000))
			&& staProtocol.isPakMk()
			&& staProtocol.isPakMkWalk()
			) {
			// 请求wms接口，获取工作号和目标库位
			ToWmsDTO toWmsDTO = new ToWmsDTO("", staProtocol.getSiteId(), 1);

			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("Content-Type", "application/json");
			String response;
			try {
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			.setUri(wmsUrl)
			.setPath(inboundTaskApplyPath)
			.setJson(JSON.toJSONString(toWmsDTO))
			.build()
			.doPost();
			} catch (Exception e) {
			log.error("请求入库调用接口失败");
			log.error("异常信息打印：" + e);
			try {
			BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
			if (Cools.isEmpty(basDevp)) {
			log.error("站点号异常" + inSta.getStaNo());
			} else if (basDevp.getStaErr() != 0) {
			basDevp.setStaErr(2);
			basDevpService.updateById(basDevp);
			}
			} catch (Exception e1) {
			// 退回
			log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1);
			}
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			continue;
			}

			JSONObject jsonObject = JSON.parseObject(response);
			apiLogService.save("wms请求入库货位接口"
			, wmsUrl + inboundTaskApplyPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(toWmsDTO)
			, response
			, true
			);
			log.info("入库请求参数{}" + JSON.toJSONString(toWmsDTO));
			log.info("入库请求返回参数{}" + JSON.toJSONString(response));
			if (jsonObject.getInteger("code").equals(200)) {
			try {
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			} catch (Exception e) {
			// log.error("扫码检测程序异常"+inSta.getStaNo()+"异常信息"+e);
			// 退回
			log.error("扫码检测程序异常" + inSta.getStaNo() + errMsg);
			log.error("扫码检测程序异常,异常信息" + e);

			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			} else {
			continue;
			}
			}
			}
			}
			} catch (Exception e) {
			log.error("generateStoreWrkFile e", e);
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}


			public void generateStoreWrkFileWalk() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInWalkSta()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Integer workNo = staProtocol.getWorkNo();

			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable() && (workNo == 0 \|\| (workNo>9000 && workNo<10000))
			&& staProtocol.isPakMkWalk()
			) {
			if (inSta.isBarcodeSign()){
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if (!Cools.isEmpty(barcode) && !barcode.equals("99999999")) {
			// 请求wms接口，获取工作号和目标库位
			ToWmsDTO toWmsDTO = new ToWmsDTO(barcode, staProtocol.getSiteId(), 0);
			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));

			if (!Cools.isEmpty(taskWrk1)) {
			log.info("托盘码：" + barcode + "任务档存在");
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));

			if (Cools.isEmpty(staDesc)) {
			log.info("托盘码：" + barcode + "任务档存在");
			return;
			} else {
			staProtocol.setWorkNo(taskWrk1.getWrkNo());
			staProtocol.setStaNo(staDesc.getCrnStn());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}
			return;
			}
			} else {
			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>());

			if (!Cools.isEmpty(taskWrk1)) {
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));

			if (Cools.isEmpty(staDesc)) {
			return;
			} else {
			staProtocol.setWorkNo(taskWrk1.getWrkNo());
			staProtocol.setStaNo(staDesc.getCrnStn());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}
			return;
			}
			}
			} else {
			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>());

			if (!Cools.isEmpty(taskWrk1)) {
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));

			if (Cools.isEmpty(staDesc)) {
			return;
			} else {
			staProtocol.setWorkNo(taskWrk1.getWrkNo());
			staProtocol.setStaNo(staDesc.getCrnStn());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}
			return;
			}
			}
			}


			}
			}
			} catch (Exception e) {
			log.error("generateStoreWrkFile e", e);
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			/**
			* 堆垛机站出库到出库站
			*/
			public void crnStnToOutStn() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {

			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crnSlave.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crnSlave.getId());
			continue;
			}
			if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			crnSlave.updateCrnInStn(crnOther);
			}
			}
			}
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo()));
			for (StaDesc staDesc : staDescs){
			try{

			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("CRN_NO", crnProtocol.getLaneNo()).eq("CRN_STN", crnStn.getStaNo()));
			for (StaDesc staDesc : staDescs) {
			try {
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			@@ -409,37 +586,37 @@
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == 0)) {
			// 查询工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
			TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnProtocol.getLaneNo(), staDesc.getStnNo().toString());
			if (taskWrk == null) {
			continue;
			}
			log.info("下发输送线任务：taskWrk:"+JSON.toJSONString(taskWrk));
			log.info("下发输送线任务：taskWrk:" + JSON.toJSONString(taskWrk));
			// R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
			staProtocol.setWorkNo(taskWrk.getWrkNo());
			staProtocol.setStaNo(staDesc.getCrnStn());
			boolean offer = false;
			try{
			try {
			offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			}catch (Exception e){
			log.error("下发输送线任务失败：异常:"+e);
			log.error("下发输送线任务失败：异常:offer:"+offer);
			} catch (Exception e) {
			log.error("下发输送线任务失败：异常:" + e);
			log.error("下发输送线任务失败：异常:offer:" + offer);
			}
			// JSONObject jsonObject = JSON.parseObject(JSON.toJSONString(r));
			if (offer){
			log.info("下发输送线任务成功：taskWrk:"+JSON.toJSONString(taskWrk));
			if (offer) {
			log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk));
			Date now = new Date();
			taskWrk.setStatus(5);
			taskWrk.setWrkSts(14);
			taskWrk.setModiTime(now);
			taskWrk.setCompleteTime(now);
			taskWrkService.updateById(taskWrk);
			}else {
			log.error("下发输送线任务失败：taskWrk:"+JSON.toJSONString(taskWrk));
			} else {
			log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(taskWrk));
			// log.error("下发输送线任务失败：异常信息:"+JSON.toJSONString(r));
			}
			}
			}catch (Exception e){
			log.error("出库到出库站异常:异常信息："+e);
			} catch (Exception e) {
			log.error("出库到出库站异常:异常信息：" + e);
			}
			}

			@@ -455,11 +632,21 @@
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			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 (!crn.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			crn.updateCrnInStn(crnOther);
			}
			}
			}

			// 库位移转
			@@ -498,7 +685,8 @@
			*/
			public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) throws IOException {
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("CRN_NO", crnProtocol.getLaneNo()).eq("CRN_STN", crnStn.getStaNo()));

			for (StaDesc staDesc : staDescs) {
			boolean flag = false;
			// 获取堆垛机入库站信息
			@@ -516,7 +704,7 @@
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			&& staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			@@ -524,8 +712,8 @@
			}

			// 获取工作状态为2（设备上走）的入库工作档
			TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
			if(null == taskWrk) {
			TaskWrk taskWrk = taskWrkMapper.selectPakIn(crnProtocol.getLaneNo(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
			if (null == taskWrk) {
			continue;
			}

			@@ -535,7 +723,7 @@
			}

			// 已经存在吊车执行任务时，则过滤
			if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
			if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
			continue;
			}

			@@ -583,7 +771,8 @@

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(staDesc.getCrnNo()); // 堆垛机编号
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setCrnNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
			crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 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
			@@ -593,23 +782,23 @@
			crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位列
			crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位层
			crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排
			crnCommand.setCommand((short)1);
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) {
			crnCommand.setCommand((short) 1);
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) {
			log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			throw new CoolException("堆垛机命令生成失败");
			}else{
			try{
			} else {
			try {
			taskWrkService.updateById(taskWrk);
			}catch (Exception e){
			} catch (Exception e) {
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", taskWrk.getWrkNo());
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，异常："+e);
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，异常：" + e);
			}
			try{
			try {
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo",taskWrk.getTaskNo());
			headParam.put("status",taskWrk.getStatus());
			headParam.put("ioType",taskWrk.getIoType());
			headParam.put("barcode",taskWrk.getBarcode());
			headParam.put("taskNo", taskWrk.getTaskNo());
			headParam.put("status", taskWrk.getStatus());
			headParam.put("ioType", taskWrk.getIoType());
			headParam.put("barcode", taskWrk.getBarcode());
			String response;
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			@@ -620,14 +809,14 @@
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			apiLogService.save("wcs派发入库任务上报wms"
			,wmsUrl+taskStatusFeedbackPath
			,null
			,"127.0.0.1"
			,JSON.toJSONString(headParam)
			,response
			,true
			, wmsUrl + taskStatusFeedbackPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(headParam)
			, response
			, true
			);
			} catch (Exception e){
			} catch (Exception e) {
			log.error("wcs派发入库任务上报wms失败", JSON.toJSONString(taskWrk));
			// throw new CoolException("wcs派发入库任务上报wms失败");
			}
			@@ -643,17 +832,17 @@
			* 出库 ===>> 库位到堆垛机站
			* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
			*/
			public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
			List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null);
			if (taskWrksInitial.size()==0){
			public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
			List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(crnProtocol.getLaneNo(), null);
			if (taskWrksInitial.size() == 0) {
			return;
			}
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
			for (StaDesc staDesc : staDescs){
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("CRN_NO", crnProtocol.getLaneNo()).eq("CRN_STN", crnStn.getStaNo()));
			for (StaDesc staDesc : staDescs) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(),staDesc.getStnNo().toString());
			for (TaskWrk taskWrk : taskWrks){
			List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(crnProtocol.getLaneNo(), staDesc.getStnNo().toString());
			for (TaskWrk taskWrk : taskWrks) {
			if (taskWrk == null) {
			continue;
			}
			@@ -679,7 +868,7 @@
			}

			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// 命令下发区 --------------------------------------------------------------------------

			@@ -689,12 +878,13 @@
			}

			// 已经存在吊车执行任务时，则过滤
			if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
			if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
			break;
			}

			CrnCommand command = new CrnCommand();
			command.setCrnNo(taskWrk.getCrnNo()); // 堆垛机编号
			command.setCrnNo(slave.getId()); // 堆垛机编号
			command.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机编号
			command.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
			command.setAckFinish((short) 0); // 任务完成确认位
			command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
			@@ -704,12 +894,12 @@
			command.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			command.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			command.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			command.setCommand((short)1);
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command),false)) {
			log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(command));
			command.setCommand((short) 1);
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command), false)) {
			log.error("堆垛机命令生成失败，堆垛机号={}，巷道={}，任务数据={}", slave.getId(), taskWrk.getCrnNo(), JSON.toJSON(command));
			throw new CoolException("堆垛机命令生成失败");
			}else{
			try{
			} else {
			try {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			taskWrk.setWrkSts(12);
			@@ -719,16 +909,16 @@
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			}
			}catch (Exception e){
			} catch (Exception e) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，异常："+e);
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，异常：" + e);
			}
			try{
			try {
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo",taskWrk.getTaskNo());
			headParam.put("status",taskWrk.getStatus());
			headParam.put("ioType",taskWrk.getIoType());
			headParam.put("barcode",taskWrk.getBarcode());
			headParam.put("taskNo", taskWrk.getTaskNo());
			headParam.put("status", taskWrk.getStatus());
			headParam.put("ioType", taskWrk.getIoType());
			headParam.put("barcode", taskWrk.getBarcode());
			String response;
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			@@ -739,14 +929,14 @@
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			apiLogService.save("wcs派发出库任务上报wms"
			,wmsUrl+taskStatusFeedbackPath
			,null
			,"127.0.0.1"
			,JSON.toJSONString(headParam)
			,response
			,true
			, wmsUrl + taskStatusFeedbackPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(headParam)
			, response
			, true
			);
			}catch (Exception e){
			} catch (Exception e) {
			log.error("wcs派发出库任务上报wms失败", JSON.toJSONString(taskWrk));
			// throw new CoolException("wcs派发入库任务上报wms失败");
			}
			@@ -760,16 +950,16 @@
			/**
			* 库位移转
			*/
			public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
			public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的移库工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectList(
			new EntityWrapper<TaskWrk>()
			.eq("CRN_NO",slave.getId())
			.eq("WRK_STS",11)
			.eq("IO_TYPE",3)
			.orderBy("IO_PRI",false));
			for (TaskWrk taskWrk : taskWrks){
			.eq("CRN_NO", crnProtocol.getLaneNo())
			.eq("WRK_STS", 11)
			.eq("IO_TYPE", 3)
			.orderBy("IO_PRI", false));
			for (TaskWrk taskWrk : taskWrks) {

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			// if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
			@@ -785,7 +975,7 @@
			}

			// 已经存在吊车执行任务时，则过滤
			if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
			if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
			continue;
			}

			@@ -801,11 +991,10 @@
			// 命令下发区 --------------------------------------------------------------------------




			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机编号
			crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 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
			@@ -816,7 +1005,7 @@
			crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列
			crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层
			crnCommand.setCommand((short) 1);
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) {
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			@@ -828,12 +1017,12 @@
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			}
			try{
			try {
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo",taskWrk.getTaskNo());
			headParam.put("status",taskWrk.getStatus());
			headParam.put("ioType",taskWrk.getIoType());
			headParam.put("barcode",taskWrk.getBarcode());
			headParam.put("taskNo", taskWrk.getTaskNo());
			headParam.put("status", taskWrk.getStatus());
			headParam.put("ioType", taskWrk.getIoType());
			headParam.put("barcode", taskWrk.getBarcode());
			String response;
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			@@ -844,14 +1033,14 @@
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			apiLogService.save("wcs派发移库任务上报wms"
			,wmsUrl+taskStatusFeedbackPath
			,null
			,"127.0.0.1"
			,JSON.toJSONString(headParam)
			,response
			,true
			, wmsUrl + taskStatusFeedbackPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(headParam)
			, response
			, true
			);
			}catch (Exception e){
			} catch (Exception e) {
			log.error("wcs派发移库库任务上报wms失败", taskWrk);
			// throw new CoolException("wcs派发移库库任务上报wms失败");
			}
			@@ -871,25 +1060,35 @@
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			if (crnProtocol == null) {
			continue;
			}

			if (!crn.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			crn.updateCrnInStn(crnOther);
			}
			}
			}

			// 状态：等待确认并且任务完成位 = 1
			if (!Cools.isEmpty(crnProtocol.getTaskFinish()) && crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			//获取入库待确认工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
			if (Cools.isEmpty(taskWrk)&&crnProtocol.getTaskNo() !=999) {
			log.error("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());
			TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crnProtocol.getLaneNo(), crnProtocol.getTaskNo().intValue());
			if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
			log.error("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={}，巷道号={}，工作号={}", crn.getId(), crnProtocol.getLaneNo(), crnProtocol.getTaskNo());
			continue;
			}
			Thread.sleep(300);
			//确认完成信号
			CrnOperatorParam crnOperatorParam=new CrnOperatorParam();
			CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
			crnOperatorParam.setCrnNo(crn.getId());
			Date now = new Date();

			crnController.crnTaskComplete(crnOperatorParam);
			if(!Cools.isEmpty(taskWrk)){
			if(taskWrk.getIoType()==1 && taskWrk.getWrkSts()==3){
			if (!Cools.isEmpty(taskWrk)) {
			if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(5);//完结
			//更新库位状态
			@@ -899,7 +1098,7 @@
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			}else if(taskWrk.getIoType()==2&&taskWrk.getWrkSts()==12){
			} else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(13);//出库完成
			taskWrk.setStatus(5);//完结
			//更新库位状态
			@@ -909,7 +1108,7 @@
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			}else if(taskWrk.getIoType()==3&&taskWrk.getWrkSts()==12){
			} else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(5);//完结
			//更新库位状态
			@@ -932,12 +1131,12 @@
			taskWrkService.updateById(taskWrk);


			try{
			try {
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo",taskWrk.getTaskNo());
			headParam.put("status",taskWrk.getStatus());
			headParam.put("ioType",taskWrk.getIoType());
			headParam.put("barcode",taskWrk.getBarcode());
			headParam.put("taskNo", taskWrk.getTaskNo());
			headParam.put("status", taskWrk.getStatus());
			headParam.put("ioType", taskWrk.getIoType());
			headParam.put("barcode", taskWrk.getBarcode());
			String response;
			log.error("wcs完结任务上报wms==》", headParam);

			@@ -954,14 +1153,14 @@
			// log.error("wcs完结任务上报wms==》", jsonObject);

			apiLogService.save("wcs派发入库任务上报wms"
			,wmsUrl+taskStatusFeedbackPath
			,null
			,"127.0.0.1"
			,JSON.toJSONString(headParam)
			,response
			,true
			, wmsUrl + taskStatusFeedbackPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(headParam)
			, response
			, true
			);
			}catch (Exception e){
			} catch (Exception e) {
			log.error("wcs完结任务上报wms失败", taskWrk);
			log.error("wcs完结任务上报wms失败,报错信息：", e);
			// throw new CoolException("wcs派发入库任务上报wms失败");
			@@ -975,7 +1174,7 @@
			/**
			* 堆垛机异常信息记录
			*/
			public void recCrnErr(){
			public void recCrnErr() {
			Date now = new Date();
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			@@ -997,7 +1196,7 @@
			continue;
			}
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			@@ -1044,7 +1243,7 @@
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			null, // 工作号
			@@ -1059,7 +1258,7 @@
			null, // 源站
			null, // 源库位
			null, // 条码
			(int)crnProtocol.getAlarm(), // 异常码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			@@ -1090,9 +1289,9 @@
			}
			}

			private TaskWrk createTask(GetWmsDto dto, String barcode){
			private TaskWrk createTask(GetWmsDto dto, String barcode) {
			String wcsLocNo = dto.getLocNo();
			if(Cools.isEmpty(wcsLocNo)){
			if (Cools.isEmpty(wcsLocNo)) {
			return null;
			}
			Date now = new Date();
			@@ -1112,1097 +1311,450 @@
			taskWrk.setCrnNo(locMast.getCrnNo());
			taskWrk.setTargetPoint(wcsLocNo);
			taskWrk.setStartPoint(dto.getStaNo().toString());
			if(taskWrk.getIoType() == 1){
			if (taskWrk.getIoType() == 1) {
			taskWrk.setWrkSts(2);
			if (!Cools.isEmpty(taskWrk.getTargetPoint())) {
			taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint());
			}

			// } else if (param.getIoType() == 2) {
			// taskWrk.setWrkSts(11);
			// if (!Cools.isEmpty(param.getStartPoint())) {
			// taskWrk.setStartPoint(Utils.getWcsLocNo(param.getStartPoint()));//起点
			// taskWrk.setOriginStartPoint(param.getStartPoint());
			// }
			// taskWrk.setTargetPoint(param.getTargetPoint());
			// }else if (param.getIoType() == 3){
			// taskWrk.setWrkSts(11);
			// if (!Cools.isEmpty(param.getStartPoint())) {
			// taskWrk.setStartPoint(param.getStartPoint());//起点
			// taskWrk.setOriginStartPoint(param.getStartPoint());
			// }
			}
			return taskWrk;
			}
			/**
			* 完成小车任务
			*/
			public synchronized void rgvCompleteWrkMastSta() {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;

			public String rgvOtherTaskWrk(RgvSlave slave) {

			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
			TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
			ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
			if (!allTaskProtocol.isEmpty()) {
			for (TaskProtocol taskProtocol : allTaskProtocol.values()) {
			if (taskProtocol.getTaskNo() != 0) {
			return taskProtocol.getTaskNo().toString();
			}
			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等待WCS确认、自动
			if (rgvProtocol.getStatusType() == RgvStatusType.WORKING
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& ((rgvProtocol.getStatusType1()==RgvStatusType.WAITING \|\| rgvProtocol.getStatusType2()==RgvStatusType.WAITING ) \|\|
			(rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING \|\| rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING ))
			) {
			log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
			if (rgvProtocol.getTaskNo1()!=0 && (rgvProtocol.getStatusType1()==RgvStatusType.WAITING \|\| rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)){
			if (rgvProtocol.getTaskNo1()==(short)32222){
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			break;
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue());
			if (Cools.isEmpty(wrkMastSta) \|\| wrkMastSta.getType()!=1 \|\| 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;
			}
			/* WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
			Thread.sleep(200);
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			continue;
			}
			// 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){
			//
			// }
			}*/
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			}else if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING \|\| rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){
			if (rgvProtocol.getTaskNo2()==(short)32222){
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			break;
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().longValue());
			if (Cools.isEmpty(wrkMastSta) \|\| wrkMastSta.getType()!=2){
			log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
			continue;
			}
			/*WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
			Thread.sleep(200);
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			continue;
			}
			// 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){
			//
			// }
			}*/
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			}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());
			}
			}
			}
			}catch (Exception e){
			log.error("小车复位线程报错！"+e);
			}
			}
			/**
			* 入出库 ===>> 小车作业下发
			*/
			public synchronized boolean rgvIoExecute(Integer sign) {
			boolean rgvIoExecuteSign = false;
			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(rgvSlave);
			break;
			//执行小车空板搬运任务
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
			break;
			case 6:////提升
			// signWork = qwe();
			break;
			default:
			break;
			}
			for (int signCount = 1;!signWork && signCount<7;signCount++){
			switch (signCount){
			case 1://执行小车货物搬运任务
			signWork = rgvRunWrkMastFullSta(rgvSlave);
			break;
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
			break;
			case 6:////提升
			// signWork = rgvRunWrkMastEmptyStaPut();
			break;
			default:
			break;
			}
			}
			}else {
			continue;
			}
			if (!rgvIoExecuteSign){
			rgvIoExecuteSign = signWork;
			}
			}
			// if (!rgvIoExecuteSign){
			// if (sign>6){
			//
			// }
			// }
			}catch (Exception e){
			log.error("RGV小车任务下发报错"+e);
			}
			return rgvIoExecuteSign;
			}

			/**
			* 执行小车搬运任务
			*/
			public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) {
			try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			return false;
			}
			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());
			return false;
			}

			// 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
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			return false;
			}
			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()!=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") \|\| basDevp.getWrkNo()!=0){
			continue;
			}
			Date date = new Date();

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
			if (staProtocol == null) {
			log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
			continue;
			}
			if (!staProtocol.isAutoing() \|\| staProtocol.isLoading() \|\| staProtocol.getWorkNo() != 0){
			continue;
			}
			if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
			if (staProtocol.isLoadingSuper()){
			continue;
			}
			}
			if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
			if (!staProtocol.isEmptyMk()){
			continue;
			}
			}
			BasDevp basDevpS = basDevpService.selectById(wrkMastSta.getStaStart());
			if (!basDevpS.getAutoing().equals("Y") \|\| !basDevpS.getLoading().equals("Y") \|\| basDevpS.getWrkNo()!=wrkMastSta.getWrkNo().intValue()){
			continue;
			}
			StaProtocol staProtocols = devpThread.getStation().get(basDevpS.getDevNo());
			if (staProtocols == null) {
			log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
			continue;
			}
			if (!staProtocols.isAutoing() \|\| !staProtocols.isLoading() \|\| staProtocols.getWorkNo() != wrkMastSta.getWrkNo().intValue()){
			continue;
			}


			log.info(date+"取放任务下发：小车工作档："+wrkMastSta);
			log.info(date+"取放任务下发：目标站状态："+basDevp);
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
			if (signMap){
			wrkMastSta.setWrkSts(1);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			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());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			// }
			}catch (Exception e){
			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 boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//拆盘
			try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			return false;
			}
			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());
			return false;
			}

			// 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 \|\| 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) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			return false;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=2){// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
			continue;
			}
			boolean sign = false;
			if ( wrkMastSta.getStaEnd()!=0){//放
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y") \|\| basDevp.getWrkNo()!=0){
			continue;
			}
			Date date = new Date();

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
			if (staProtocol == null) {
			log.info(date+"拆盘任务下发：未查询到站点信息："+wrkMastSta);
			continue;
			}
			if (!staProtocol.isAutoing() \|\| staProtocol.isLoading() \|\| staProtocol.getWorkNo() != 0){
			continue;
			}
			if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
			if (staProtocol.isLoadingSuper()){
			continue;
			}
			}
			if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
			if (!staProtocol.isEmptyMk()){
			continue;
			}
			}

			log.info(date+"拆盘任务下发：小车工作档："+wrkMastSta);
			log.info(date+"拆盘任务下发：目标站状态："+basDevp);
			sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
			}else {
			continue;
			}
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
			if (signMap){
			wrkMastSta.setWrkSts(2);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return 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());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			// }
			}catch (Exception e){
			log.error("3933行执行小车放空板任务下发失败");
			log.error("3933行"+e);
			}
			return false;
			}

			/**
			* 执行小车搬运任务
			*/
			public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//满放
			try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			return false;
			}
			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());
			return false;
			}

			// 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.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) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			return false;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=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.getStaEnd()!=0){//满放
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y") \|\| basDevp.getWrkNo()!=0){
			continue;
			}
			Date date = new Date();

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
			if (staProtocol == null) {
			log.info(date+"满放任务下发：未查询到站点信息："+wrkMastSta);
			continue;
			}
			if (!staProtocol.isAutoing() \|\| staProtocol.isLoading() \|\| staProtocol.getWorkNo() != 0){
			continue;
			}
			if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
			if (staProtocol.isLoadingSuper()){
			continue;
			}
			}
			if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
			if (!staProtocol.isEmptyMk()){
			continue;
			}
			}

			log.info(date+"满放任务下发：小车工作档："+wrkMastSta);
			log.info(date+"满放任务下发：目标站状态："+basDevp);
			sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
			}else {
			continue;
			}
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
			if (signMap){
			wrkMastSta.setWrkSts(2);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return 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());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			// }
			}catch (Exception e){
			log.error("3933行执行小车放空板任务下发失败");
			log.error("3933行"+e);
			}
			return false;
			}

			public synchronized boolean rgvRunWrkMastEmptyStaTake(RgvSlave rgvSlave) {//叠盘
			try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			return false;
			}
			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());
			return false;
			}

			// 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 4：（）只允许拆盘
			) {
			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());
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=1){// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
			continue;
			}
			boolean sign = false;
			if ( wrkMastSta.getStaStart()!=0){//取
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
			if (!basDevp.getAutoing().equals("Y") \|\| !basDevp.getLoading().equals("Y")){
			continue;
			}
			Date date = new Date();

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
			if (staProtocol == null) {
			log.info(date+"叠盘任务下发：未查询到站点信息："+wrkMastSta);
			continue;
			}
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			continue;
			}
			if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
			if (!staProtocol.isEmptyMk()){
			continue;
			}
			}

			log.info(date+"叠盘任务下发：小车工作档："+wrkMastSta);
			log.info(date+"叠盘任务下发：目标站状态："+basDevp);
			sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
			}else {
			continue;
			}
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
			if (signMap){
			wrkMastSta.setWrkSts(1);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return 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());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			// }
			}catch (Exception e){
			log.error("3989行执行小车取空板任务下发失败");
			log.error("3989行"+e);
			}
			return false;
			}

			/*
			* 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;
			// }
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0);
			if (Cools.isEmpty(wrkMastSta)){
			return;
			}
			boolean signRgv = true;
			boolean signRgv1 = true;
			boolean signRgv2 = true;
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", 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.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.getTaskNo2()==0
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			) {
			if (rgvProtocol.getRgvNo()!=1){
			if (!rgvProtocol.getRgvPosI().equals(120) && !rgvProtocol.getRgvPosI().equals(110)){
			continue;
			}
			rgvAvoidanceXY(rgvProtocol.getRgvNo());
			// return;
			continue;
			}
			if (!rgvProtocol.getRgvPosI().equals(110) && !rgvProtocol.getRgvPosI().equals(108) && !rgvProtocol.getRgvPosI().equals(119)){
			continue;
			}
			Integer count108Y = wrkMastStaMapper.selectAllWrkCount108Y();
			if (count108Y!=0){
			continue;
			}
			// Integer count108 = wrkMastStaMapper.selectAllWrkCount108();
			// if (count108!=0){
			// continue;
			// }
			rgvAvoidanceXY(rgvProtocol.getRgvNo());
			continue;
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMap.getRgvNo(), basRgvMap.getEndRoute()); //获取合并干涉项
			// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(),fallMerge);
			// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route ,route);
			// if (!wrkMastStaList.isEmpty()){
			// log.info("小车存在可执行任务，跳过避让！！4214");
			// return;
			// }
			// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			//// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
			//// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
			// if (rgvProtocol.getRgvNo()==1){
			// signRgv1 = false;
			// }else {
			// signRgv2 = false;
			// }
			// }
			// if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) \|\| rgvProtocol.getRgvPosI().equals(102) )){
			// signRgv1 = false;
			// continue;
			// } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) \|\| rgvProtocol.getRgvPosI().equals(117) ) ){
			// signRgv2 = false;
			// continue;
			// }
			}else {
			signRgv = false;
			break;
			}
			}
			// if (signRgv && (signRgv1 \|\| signRgv2)){
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// if (rgvProtocol == null) {
			// 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.getTaskNo2()==0
			// && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			// && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			// ) {
			// if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) \|\| rgvProtocol.getRgvPosI().equals(102) )){
			// continue;
			// } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) \|\| rgvProtocol.getRgvPosI().equals(117) ) ){
			// continue;
			// }
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// rgvAvoidanceXY(rgvProtocol.getRgvNo());
			// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			//
			// }
			// }
			// }
			}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);
			}
			}

			/*
			* 刷新地图数据
			* */
			public synchronized void refreshRgvMap() {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", 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.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.getTaskNo2()==0
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvSlave.getId());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			}
			}
			}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){
			if (rgvId==1){
			try{
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
			// 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( (short)104);
			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{
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2((short)32222); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式: 回原点
			rgvCommand.setSourceStaNo2((short)114);
			rgvCommand.setCommand((short) 2); //工位2任务确认
			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 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;

			}
			}
			return "无";

			}

			public boolean rgvDetection(RgvSlave slave) {
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
			RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

			/*
			* 小车取货至工位任务
			* */
			public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_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;
			}
			}catch (Exception e){
			if (rgvProtocol == null \|\| rgvTaskProtocol == null) {
			return false;
			}
			}

			/*
			* 小车取货至工位任务
			* */
			public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //工位1起点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocol.getRgvPos().equals(0L) \|\| rgvTaskProtocol.getAvoid() == -1 \|\| rgvProtocol.getRgvPosDestination() == 0L
			\|\| (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
			return false;
			}
			}
			RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
			RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());

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

			/*
			* 小车取空板至工位任务叠盘
			* */
			public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式: 取货
			rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //工位2起点
			rgvCommand.setCommand((short) 2); //工位2任务确认
			if (!MessageQueue.offer(SlaveType.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));
			if (rgvProtocolOther.statusEnable) {
			if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocolOther.getRgvPos().equals(0L) \|\| rgvTaskProtocolOther.getAvoid() == -1 \|\| rgvProtocolOther.getRgvPosDestination() == 0L) {
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			return true;
			}

			/*
			* 小车放空板至输送线任务 //拆盘
			* */
			public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式: 放货
			rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //工位2目标站点
			rgvCommand.setCommand((short) 2); //工位2任务确认
			if (!MessageQueue.offer(SlaveType.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;
			}
			}catch (Exception e){
			return false;
			public TaskWrk deviceDetection(RgvSlave.RgvStn inSta) {

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			return null;
			}
			// 判断是否满足取货条件
			if (staProtocol.isAutoing()
			// && staProtocol.isLoading()
			&& staProtocol.getWorkNo() != 0) {
			TaskWrk taskWrk = taskWrkService.selectByTaskNo(staProtocol.getWorkNo().toString());
			if (taskWrk != null) {
			return taskWrk;
			}
			}
			return null;
			}

			/*
			* 小车取空板至工位任务满取
			* */
			public synchronized boolean rgvTakeEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_5); // 工位2任务模式: 满取
			rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //工位2起点
			rgvCommand.setCommand((short) 2); //工位2任务确认
			if (!MessageQueue.offer(SlaveType.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;
			}
			}catch (Exception e){
			return false;
			}
			}

			/*
			* 小车放空板至输送线任务 //满放
			* */
			public synchronized boolean rgvPutEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.PUT_6); // 工位2任务模式: 满放
			rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //工位2目标站点
			rgvCommand.setCommand((short) 2); //工位2任务确认
			if (!MessageQueue.offer(SlaveType.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;
			}
			}catch (Exception e){
			return false;
			}
			}

			/*
			* 小车复位
			* */
			public synchronized boolean rgvComplete(Integer rgvId){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, 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;
			} else {
			log.info("RGV命令下发成功，RGV号={}",rgvId);
			return true;
			}
			}catch (Exception e){
			log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
			return false;
			}
			}

			/*
			* 小车地图更新更新锁
			* */
			public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
			if (rgvOpen){
			public boolean rgvOtherStatusEnable(RgvSlave slave) {
			RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
			if (rgvProtocolOther == null) {
			return true;
			}

			// 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
			// Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(staEnd, staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
			Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
			basRgvMapCurrent.setLockEndRoute(fallMerge);
			basRgvMapMapper.updateById(basRgvMapCurrent);

			//更新另一台小车地图
			Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther();
			BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
			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
			Integer lockEndRouteL = RouteUtils.RouteIndexFarMasL(rgvNoOther, lockEndRoute);//另一台小车可活动最远位置
			basRgvMapOther.setEndRoute(lockEndRouteL);
			basRgvMapMapper.updateById(basRgvMapOther);
			if (rgvProtocolOther.statusEnable) {
			// if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocolOther.getRgvPos().equals(0L)) {
			return true;
			}catch (Exception e){
			log.error("小车地图更新出错！");
			return false;
			// }
			}
			return false;
			}

			public synchronized void taskStart() {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			try {
			if (rgvDetection(rgvSlave)) {
			String taskNoNow = rgvOtherTaskWrk(rgvSlave);
			List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("PLC_POSITION", true));
			boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
			if (basDevpPositions.isEmpty()) {
			log.error("获取所有站点信息异常");
			continue;
			}
			List<TaskWrk> taskWrkList = new ArrayList<>();
			List<Integer> staList = new ArrayList<>();
			for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()) {
			TaskWrk taskWrk = deviceDetection(inSta);
			if (taskWrk != null) {
			if (taskWrk.getTaskNo().equals(taskNoNow)) continue;
			taskWrkList.add(taskWrk);
			staList.add(inSta.getStaNo());
			}
			}

			if (taskWrkList.isEmpty() \|\| staList.isEmpty()) continue;

			boolean sign = false;

			if (rgvOtherStatusEnable(rgvSlave)) {
			//分成上下两部分任务
			List<Integer>[] avoidRange = RouteUtils.gradeRange(staList, basDevpPositions, itSmall);
			List<Integer> rangeListSou = avoidRange[itSmall ? 0 : 1];
			List<Integer> rangeListSouOther = avoidRange[itSmall ? 1 : 0];
			//就近排序
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
			List<Integer> rangeList = RouteUtils.SortNearby(rangeListSou, rgvProtocol.RgvPos, basDevpPositions);
			List<Integer> rangeListOther = RouteUtils.SortNearby(rangeListSouOther, rgvProtocol.RgvPos, basDevpPositions);

			//所属部分就进取货

			//筛选范围内任务
			//就近排序
			//筛选在范围任务
			Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
			List<Integer> belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);

			for (Integer staNoNow : belongToRange) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			if (!sign) {
			// 筛选范围内取货任务
			for (Integer staNoNow : belongToRange) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}

			if (!sign) {
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			if (!sign) {
			// 半边区域内取货任务
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			if (!sign) {
			// 半边区域内放货任务
			for (Integer staNoNow : rangeListOther) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			} else {
			//可用区域就近取货
			//就近排序
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
			List<Integer> rangeList = RouteUtils.SortNearby(staList, rgvProtocol.RgvPos, basDevpPositions);
			// 半边区域内取货任务
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			}
			} catch (Exception e) {
			log.error("任务生成失败===》异常信息：{}", e.getMessage());
			}
			}
			}

			//获取起点与终点对象
			public RgvSlave.RgvStn getRgvStnNow(RgvSlave rgvSlave, Integer staNo) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNo)) {
			return rgvStn;
			}
			}
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvOutSta()) {
			if (rgvStn.getStaNo().equals(staNo)) {
			return rgvStn;
			}
			}
			return null;
			}

			//获取起点与终点对象
			public RgvSlave.RgvStn[] getRgvStnAll(RgvSlave rgvSlave, Integer souSta, Integer endSta) {
			RgvSlave.RgvStn[] rgvStns = new RgvSlave.RgvStn[2];
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(souSta)) {
			rgvStns[0] = rgvStn;
			}
			}
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvOutSta()) {
			if (rgvStn.getStaNo().equals(endSta)) {
			rgvStns[1] = rgvStn;
			}
			}
			return rgvStns;
			}

			public boolean taskGenerate(RgvSlave rgvSlave, RgvSlave.RgvStn rgvStn, Integer sign) {
			try {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();

			TaskProtocol issuedTake = new TaskProtocol();
			TaskProtocol issuedPut = new TaskProtocol();
			try {
			ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
			if (allTaskProtocol.size() > 0) {
			return false;
			}
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk == null) {
			return false;
			}
			Integer targetPointConvert = taskWrk.getTargetPointConvert();
			if (targetPointConvert == null) {
			return false;
			}
			RgvSlave.RgvStn rgvStnEnd = getRgvStnNow(rgvSlave, targetPointConvert);
			if (rgvStnEnd == null) {
			return false;
			}

			BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
			BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
			//执行
			issuedTake.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
			issuedTake.setTaskStatus(1);
			issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
			issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
			issuedTake.setIsRunning(1);
			issuedTake.setDirection(rgvStn.isDirection());


			issuedPut.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
			issuedPut.setTaskStatus(2);
			issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
			issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
			issuedPut.setIsRunning(1);
			issuedPut.setDirection(rgvStnEnd.isDirection());
			} catch (Exception e) {
			log.error("任务生成失败issued1===》异常信息：{}", e.getMessage());
			return false;
			}

			switch (sign) {
			case 1:
			taskProtocolCache.updateTaskProtocol(issuedTake);
			break;
			case 2:
			taskProtocolCache.updateTaskProtocol(issuedPut);
			break;
			default:
			taskProtocolCache.updateTaskProtocol(issuedTake);
			taskProtocolCache.updateTaskProtocol(issuedPut);
			break;
			}
			} catch (Exception e) {
			log.error("任务生成失败issued2===》异常信息：{}", e.getMessage());
			}
			return true;
			}

			/**
			* 出库 ===>> 工作档信息写入led显示器
			*/
			public synchronized void ledExecute(Integer mark) {

			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			List<LedCommand> commands = new ArrayList<>();
			// 工作档集合
			List<WrkMast> wrkMasts = new ArrayList<>();
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (null == staProtocol \|\| null == staProtocol.getWorkNo() \|\| 0 == staProtocol.getWorkNo() \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 获取工作档数据
			LedCommand ledCommand = new LedCommand();

			//
			// ledCommand.setWorkNo(wrkMast.getWrkNo());
			// ledCommand.setIoType(wrkMast.getIoType());
			// ledCommand.setTitle("空板出库");
			// ledCommand.setEmptyMk(true);
			// ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			// ledCommand.setLocNo(wrkMast.getLocNo());
			// ledCommand.setStaNo(wrkMast.getStaNo());
			MatDto matDto = new MatDto();
			ledCommand.getMatDtos().add(matDto);
			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;
			}
			// 命令下发 -------------------------------------------------------------------------------
			if (!commands.isEmpty()) {
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
			// News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			}else {
			ledThread.setLedMk(false);
			}
			}

			try {
			// 修改主档led标记
			for (WrkMast wrkMast : wrkMasts) {
			wrkMast.setOveMk("Y");
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			// News.errorNoLog(""+mark+" - 4"+" - 更新工作档失败");
			throw new CoolException("更新工作档失败");
			}
			}

			// 更新线程当前工作号集合
			ledThread.setWorkNos(workNos);

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

			}
			// News.infoNoLog(""+mark+" - 0"+" - 出库 ===>> 工作档信息写入led显示器执行完成");
			}

			/**
			* 其他 ===>> LED显示器复位，显示默认信息
			*/
			public synchronized void ledReset(Integer mark) {

			// News.warnNoLog(""+mark+" - 0"+" - 开始执行:其他 ===>> LED显示器复位，显示默认信息");
			for (LedSlave led : slaveProperties.getLed()) {

			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			boolean reset = true;
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			}
			if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
			reset = false;
			break;
			}
			}
			// 获取led线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// led显示默认内容
			if (reset && !ledThread.isLedMk()) {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
			// News.error(""+mark+" - 1"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			} else {

			}
			}
			}
			// News.infoNoLog(""+mark+" - 0"+" - 执行完成：其他 ===>> LED显示器复位，显示默认信息");
			}


			}