#

lsh

2024-07-11 1e5df4a2e55d8fb959311c5da8a1be183adbcd8b

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -56,7 +56,7 @@

    public static final long COMMAND_TIMEOUT = 5 * 1000;
//    private static final int[][] execute = new int[][]{{1,4},{2,4},{3,4},{4,4},{5,6},{6,6},{7,4},{8,4},{9,3},{10,4},{11,4}};
    private static final int[][] execute = new int[][]{{1,4},{2,4},{3,4},{4,4},{5,6},{6,6},{9,3},{10,4},{11,4}};
    private static final int[][] execute = new int[][]{{1,4},{2,4},{3,4},{4,4},{5,6},{6,6},{7,4},{8,4},{9,3},{10,4},{11,4}};

    @Autowired
    private CommonService commonService;
@@ -4421,6 +4421,9 @@
     */
    public synchronized void jarMastGenerate() {
        for (JarSlave jarSlave : slaveProperties.getJar()) {
            if (jarSlave.getId()>4){
                continue;
            }
            try{
                if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
                    continue;
@@ -4511,6 +4514,14 @@
            if (jarProtocol.modeType != JarModeType.AUTO){
                return false;
            }
            if (jarProtocol.statusType .equals(JarStatusType.SOS)){
                log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
                return false;
            }
            if (jarProtocol.getJarTemperature()>50){
                log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                return false;
            }

            JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
            JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
@@ -4533,7 +4544,7 @@
            //自动、空闲、右门关闭、   Other左门关闭
            if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
                    && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0){
                if (jarProtocol.statusType == JarStatusType.IDLE || jarProtocol.statusType == JarStatusType.MOVING){
                if (jarProtocol.statusType != JarStatusType.SOS){
                    log.error("Jar任务创建===》执行===>行={}",4537);
                    BasJarMast basJarMast = new BasJarMast(basJar, wrkMast, jarLocDigit);
                    basJarMast.setJarEnterStaNo(staNo);//入硫化罐站点
@@ -4626,6 +4637,10 @@
                if (jarProtocol.modeType != JarModeType.AUTO){
                    continue;
                }
                if (jarProtocol.getJarTemperature()>50){
                    log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                    continue;
                }

                JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
                JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
@@ -4701,6 +4716,10 @@
                    signExecute[jarSlave.getId()-5] = true;
                    continue;
                }
                if (jarProtocol.getJarTemperature()>50){
                    log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                    continue;
                }

                BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
                if (Cools.isEmpty(basJar)){
@@ -4710,13 +4729,11 @@
                //门作业  无
                //自动、空闲、右门关闭、   Other左门关闭
                if (jarProtocol.isAutoing() && jarProtocol.jarErr==0){
                    switch (sign){
                        case 5:
                            if (jarWrkMastExecuteGenerate5(jarSlave,sign)){
                                signExecute[jarSlave.getId()-5] = true;
                                break;//出硫化罐 ===》 入冷却槽
                            }
                    if (jarWrkMastExecuteGenerate5(jarSlave,sign)){
                        signExecute[jarSlave.getId()-5] = true;
                        //出硫化罐 ===》 入冷却槽
                    }
                    return signExecute;
                }
            } catch (Exception e){
                log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
@@ -4745,6 +4762,10 @@
                    continue;
                }
                if (jarProtocol.modeType != JarModeType.AUTO){
                    continue;
                }
                if (jarProtocol.getJarTemperature()>50){
                    log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                    continue;
                }

@@ -4838,7 +4859,13 @@
                        if (jarProtocol.modeType != JarModeType.AUTO){
                            return false;
                        }

                        if (jarProtocol.statusType .equals(JarStatusType.WAITING2) || jarProtocol.statusType .equals(JarStatusType.SOS)){
                            return false;
                        }
                        if (jarProtocol.getJarTemperature()>50){
                            log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                            continue;
                        }
                        JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
                        JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
                        if (jarOtherProtocol == null) {
@@ -4864,15 +4891,16 @@
                                    log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
                                }
                                return true;
                            } else if ((jarProtocol.statusType == JarStatusType.WAITING3 || jarProtocol.statusType == JarStatusType.MOVING) && jarProtocol.isLeftDoor()){
                            } else if (jarProtocol.isLeftDoor()){
                                //生成入硫化罐任务
                                if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,basJar.getJarNo(),new int[]{basJar.getEnterSteNo(),basJar.getEnterRgvNo(),5,1})){
                                    log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
                                }
                                return true;
                            } else if (jarProtocol.statusType == JarStatusType.IDLE && jarProtocol.isLeftDoor()){
                                log.error("JarWrkMastExecute任务创建===>执行异常===》硫化罐空闲但是门未关===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
                            }
//                            else if (jarProtocol.statusType == JarStatusType.IDLE && jarProtocol.isLeftDoor()){
//                                log.error("JarWrkMastExecute任务创建===>执行异常===》硫化罐空闲但是门未关===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
//                            }
                        }
                        return false;
                    } else {
@@ -4926,6 +4954,14 @@
                    return false;
                }

                if (jarProtocol.statusType .equals(JarStatusType.WAITING2) || jarProtocol.statusType .equals(JarStatusType.SOS)){
                    log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
                    return false;
                }
                if (jarProtocol.getJarTemperature()>50){
                    log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                    return false;
                }
                BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
                if (Cools.isEmpty(basJar)){
                    log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
@@ -4999,6 +5035,14 @@
                    return false;
                }

                if (jarProtocol.statusType .equals(JarStatusType.SOS)){
                    log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
                    return false;
                }
                if (jarProtocol.getJarTemperature()>50){
                    log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                    return false;
                }
                BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
                if (Cools.isEmpty(basJar)){
                    log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
@@ -5069,6 +5113,11 @@
                    return false;
                }

                if (jarProtocol.statusType .equals(JarStatusType.SOS)){
                    log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
                    return false;
                }

                BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
                if (Cools.isEmpty(basJar)){
                    log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
@@ -5111,26 +5160,26 @@
            if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
                return false;
            }
            List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
                add(14);//冷却完成
            List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusListB(jarSlave.getId(), new ArrayList<Integer>() {{
                add(12);//冷却完成
            }});
            if (basJarMastList.isEmpty()){
                return false;
            }

            if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),7)!=0){
            if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),6)!=0){
                return false;
            }

            BasJarMast jarMastByJarIdMin = basJarMastService.getJarMastByJarIdMin(jarSlave.getId(),14,14);
            BasJarMast jarMastByJarIdMin = basJarMastService.getJarMastByJarIdMinB(jarSlave.getId(),12,12);
            if (Cools.isEmpty(jarMastByJarIdMin)){
                return false;
            }

            //判断小车状态
            if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarOutSte().get(0).getSteNo(),2,SteStatusType.IDLE)){
                return false;
            }
//
//            //判断小车状态
//            if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarOutSte().get(0).getSteNo(),3,SteStatusType.IDLE)){
//                return false;
//            }

            //判断RGV状态
            JarSlave.RgvStn rgvStn = jarSlave.getJarOutRgv().get(0);
@@ -5145,7 +5194,10 @@
                if (jarProtocol.modeType != JarModeType.AUTO){
                    return false;
                }

                if (jarProtocol.getJarTemperature()>50){
                    log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                    return false;
                }
                BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
                if (Cools.isEmpty(basJar)){
                    log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
@@ -5154,8 +5206,8 @@

                //门作业  无
                if (jarProtocol.isAutoing() && jarProtocol.jarErr==0){
                    //关进料门
                    if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByJarIdMin,basJar.getBurial(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),3,1})){
                    //冷却完成上输送线
                    if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByJarIdMin,basJar.getBurial(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),9,1})){
                        log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByJarIdMin));
                    }
                    return true;
@@ -5500,7 +5552,14 @@
            if (jarProtocol.modeType != JarModeType.AUTO){
                return false;
            }

            if (jarProtocol.statusType .equals(JarStatusType.SOS)){
                log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
                return false;
            }
            if (jarProtocol.getJarTemperature()>50){
                log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                return false;
            }
            BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
            if (Cools.isEmpty(basJar)){
                log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
@@ -5621,7 +5680,14 @@
            if (jarProtocol.modeType != JarModeType.AUTO){
                return false;
            }

            if (jarProtocol.statusType .equals(JarStatusType.WAITING2) || jarProtocol.statusType .equals(JarStatusType.SOS)){
                log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
                return false;
            }
            if (jarProtocol.getJarTemperature()>50){
                log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                return false;
            }
            BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
            if (Cools.isEmpty(basJar)){
                log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
@@ -5742,7 +5808,14 @@
            if (jarProtocol.modeType != JarModeType.AUTO){
                return false;
            }

            if (jarProtocol.statusType .equals(JarStatusType.WAITING2) || jarProtocol.statusType .equals(JarStatusType.SOS)){
                log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
                return false;
            }
            if (jarProtocol.getJarTemperature()>50){
                log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                return false;
            }
            BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
            if (Cools.isEmpty(basJar)){
                log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
@@ -5851,7 +5924,14 @@
            if (jarProtocol.modeType != JarModeType.AUTO){
                return false;
            }

            if (jarProtocol.statusType .equals(JarStatusType.WAITING2) || jarProtocol.statusType .equals(JarStatusType.SOS)){
                log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
                return false;
            }
            if (jarProtocol.getJarTemperature()>50){
                log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                return false;
            }
            BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
            if (Cools.isEmpty(basJar)){
                log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
@@ -5960,7 +6040,14 @@
            if (jarProtocol.modeType != JarModeType.AUTO){
                return false;
            }

            if (jarProtocol.statusType .equals(JarStatusType.SOS)){
                log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
                return false;
            }
            if (jarProtocol.getJarTemperature()>50){
                log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                return false;
            }
            BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
            if (Cools.isEmpty(basJar)){
                log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
@@ -6069,6 +6156,14 @@
                return false;
            }

            if (jarProtocol.statusType .equals(JarStatusType.SOS)){
                log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
                return false;
            }
            if (jarProtocol.getJarTemperature()>50){
                log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                return false;
            }
            BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
            if (Cools.isEmpty(basJar)){
                log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
@@ -6119,7 +6214,7 @@

                    if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
                        //判断小车状态
                        if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
                        if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.WAITING2)){
                            return false;
                        }
                        //调车  == > 取货
@@ -6181,7 +6276,10 @@
            if (jarProtocol.modeType != JarModeType.AUTO){
                return false;
            }

            if (jarProtocol.getJarTemperature()>50){
                log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                return false;
            }
            BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
            if (Cools.isEmpty(basJar)){
                log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
@@ -6249,7 +6347,7 @@
                    if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocolOther.getJarNo())){
                        //判断小车状态
                        if (wrkMastExecute.getIoType()==7){  //7  B=>C
                            if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
                            if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
                                //调车  == > 移动
                                if (jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT26.id,SteTaskModeType.STE_MOVE_14,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
                                    log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
@@ -6342,7 +6440,10 @@
//            if (jarProtocol.modeType != JarModeType.AUTO){
//                return false;
//            }

//            if (jarProtocol.getJarTemperature()>50){
//                log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
//                return false;
//            }
            BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
            if (Cools.isEmpty(basJar)){
                log.error("{}号冷却槽查询设备档案无信息！！！",wrkMastExecute.getJarId());
@@ -6471,7 +6572,7 @@
                log.error("9：出冷却槽Two==>任务下发===>行={}",6468);
                // 下发站点信息
                staProtocol.setWorkNo(wrkMastExecute.getWrkNo().intValue());
                staProtocol.setStaNo(staProtocol.getStaNo());
                staProtocol.setStaNo(wrkMastExecute.getOutStaNo());
                if (!MessageQueue.offer(SlaveType.Devp, 2, new Task(2, staProtocol))) {
                    return false;
                }
@@ -6511,6 +6612,14 @@
                return false;
            }

            if (jarProtocol.statusType .equals(JarStatusType.SOS)){
                log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
                return false;
            }
            if (jarProtocol.getJarTemperature()>50){
                log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                return false;
            }
            BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
            if (Cools.isEmpty(basJar)){
                log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
@@ -6549,7 +6658,7 @@
                    //移走  == > 2
                    if (!jarRgvMoveTake(wrkMastExecute,2)){
                        log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                    }
                    return true;
                }
@@ -6566,20 +6675,20 @@
                                //调车  == > 移动
                                if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT23.id,SteTaskModeType.STE_MOVE_14,false,wrkMastExecute.getJarId())){
                                    log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                }
                                wrkMastExecute.setWrkType(1);
                                wrkMastExecute.setWrkSts(3);
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                }
                            } else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
                                wrkMastExecute.setWrkType(1);
                                wrkMastExecute.setWrkSts(4);
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                }
                            }
                        } else {//11:B=>A
@@ -6587,20 +6696,20 @@
                                //调车  == > 移动
                                if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT20.id,SteTaskModeType.STE_MOVE_14,false,wrkMastExecute.getJarId())){
                                    log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                }
                                wrkMastExecute.setWrkType(1);
                                wrkMastExecute.setWrkSts(3);
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                }
                            } else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
                                wrkMastExecute.setWrkType(1);
                                wrkMastExecute.setWrkSts(4);
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                }
                            }
                        }
@@ -6609,13 +6718,13 @@
                        //调车  == > endRow
                        if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                            log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                        }
                        wrkMastExecute.setWrkType(1);
                        wrkMastExecute.setWrkSts(2);
                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                            log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                        }
                    }
                    return true;
@@ -6802,7 +6911,7 @@
                                    if (wrkMastExecute.getWrkSts()==3){//==>4
                                        //1：RGV小车移动、2：RGV小车到位、3：Ste穿梭版取货、4：取货完成等待下一步、5：Ste穿梭版放货至冷却池、6：放货完成、7：更新完成   //io_type = 6
                                        //ste任务等待完成
                                        if (steProtocol.statusType.equals(SteStatusType.WAITING2)){
                                        if (steProtocol.statusType.equals(SteStatusType.WAITING)){
                                            //ste任务完成
                                            if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
                                                wrkMastExecute.setWrkSts(4);
@@ -6911,6 +7020,10 @@
                }
                if (jarProtocol.modeType != JarModeType.AUTO){
                    continue;
                }
                if (jarProtocol.getJarTemperature()>50){
                    log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                    return false;
                }
                BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
                if (Cools.isEmpty(basJar)){
@@ -7188,8 +7301,8 @@
                    } else if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),3,SteStatusType.IDLE)){
                        List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null);
                        if (wrkMastExecutes.isEmpty()){
                            List<WrkMastExecute> wrkMastExecutesB = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null);
                            List<WrkMastExecute> wrkMastExecutesA = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null);
                            List<WrkMastExecute> wrkMastExecutesB = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null);
                            List<WrkMastExecute> wrkMastExecutesA = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null);
                            if (!wrkMastExecutesB.isEmpty() || !wrkMastExecutesA.isEmpty()){
                                WrkMastExecute wrkMastExecute = !wrkMastExecutesB.isEmpty() ? wrkMastExecutesB.get(0) : wrkMastExecutesA.get(0);
                                BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());