*

lsh

2025-03-20 20d07cb3380f9fc6553b710fa35f6bc969a95445

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

@@ -529,14 +529,14 @@
                    continue;
                }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");

                    if (wrkMast == null) {
                        continue;
                    }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()!=0) {//&& staProtocol.isInEnable()
                    if (staProtocol.isEmptyMk()){
                        log.error("站点号"+staProtocol.getSiteId()+"空板信号异常！");
                        continue;
                    }
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());

                    if (wrkMast == null || !wrkMast.getSheetNo().equals("3")) {
                        continue;
                    }
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
@@ -572,12 +572,12 @@
                                    .doPost();
                        } catch(Exception e){
                            log.error("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
                            log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
                            e.printStackTrace();
//                            log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
//                            e.printStackTrace();
                            continue;
                        }
                        log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
                        log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response);
//                        log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
//                        log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response);
                        if(response.equals("")) {
                            continue;
                        }
@@ -585,35 +585,35 @@
//                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                        Integer code = jsonObject.getInteger("code");
                        if (code == 200) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                            if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
                                log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
                            } else {
//                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
//                            if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
//                                log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
//                            } else {
                                log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位成功===>>" + jsonObject.toJSONString());
                                try {
                                    // 更新站点信息 且 下发plc命令
                                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                                    staProtocol.setStaNo(dto.getStaNo());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
//                                    ledThread.errorReset();
                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    if (!result) {
                                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                                    }
                                    log.info("任务号"+wrkMast.getWrkNo()+"盘点/拣料再入库任务下发成功===>>" + staProtocol);
                                } catch (Exception e) {
                                    log.error("盘点再入库失败===>>" + e);
                                    e.printStackTrace();
                                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                                }
                            }
//                                try {
//                                    // 更新站点信息 且 下发plc命令
//                                    staProtocol.setWorkNo(wrkMast.getWrkNo());
//                                    staProtocol.setStaNo(dto.getStaNo());
//                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
////                                    ledThread.errorReset();
//                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                                    if (!result) {
//                                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
//                                    }
//                                    log.info("任务号"+wrkMast.getWrkNo()+"盘点/拣料再入库任务下发成功===>>" + staProtocol);
//                                } catch (Exception e) {
//                                    log.error("盘点再入库失败===>>" + e);
//                                    e.printStackTrace();
//                                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
//                                }
//                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        log.error("stnToCrnStnPick2===>>fail", e);
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
//                        e.printStackTrace();
//                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }

//                    // 获取目标站
@@ -862,9 +862,25 @@
                    continue;
                }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
                    if (wrkMast == null) {
//                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0) {
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
//                    if (wrkMast == null) {
//                        WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
//                        if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
//                            WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
//                            if (Cools.isEmpty(wrkMastSta)){
//                                WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
//                                wrkMastSta1.setType(2);
//                                wrkMastSta1.setWrkType(1);
//                                wrkMastStaMapper.insert(wrkMastSta1);
//                            }
//                        }
//                    }
//                } else
                if (staProtocol.isAutoing() && staProtocol.isLoading()  && staProtocol.isEmptyMk() && staProtocol.isPakMk() && staProtocol.getWorkNo()>0) {
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
                    if (wrkMast == null || (wrkMast.getSheetNo().equals("3") && wrkMast.getIoType()==101)) {
                        WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
                        if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
                            WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
@@ -1195,11 +1211,16 @@
                } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                    // 此标记避免多次执行移库任务
                    if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                        wrkMast.setUpdMk("Y");
                        wrkMast.setIoPri(14D);
                        wrkMastMapper.updateById(wrkMast);
                        // 生成工作档,将浅库位移转到新的库位中
                        moveLocForDeepLoc(slave, shallowLoc);
//                        wrkMast.setUpdMk("Y");
//                        wrkMast.setIoPri(14D);
//                        wrkMastMapper.updateById(wrkMast);
//                        // 生成工作档,将浅库位移转到新的库位中
//                        moveLocForDeepLoc(slave, shallowLoc);
                        if (moveLocForDeepLoc(slave, shallowLoc)){
                            wrkMast.setUpdMk("Y");
                            wrkMast.setIoPri(14D);
                            wrkMastMapper.updateById(wrkMast);
                        }
                        // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
//                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
                    }
@@ -1339,11 +1360,17 @@
                } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                    // 此标记避免多次执行移库任务
                    if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                        wrkMast.setUpdMk("Y");
                        wrkMast.setIoPri(14D);
                        wrkMastMapper.updateById(wrkMast);
                        // 生成工作档,将浅库位移转到新的库位中
                        moveLocForDeepLoc(slave, shallowLoc);
//                        wrkMast.setUpdMk("Y");
//                        wrkMast.setIoPri(14D);
//                        wrkMastMapper.updateById(wrkMast);
//                        // 生成工作档,将浅库位移转到新的库位中
//                        moveLocForDeepLoc(slave, shallowLoc);

                        if (moveLocForDeepLoc(slave, shallowLoc)){
                            wrkMast.setUpdMk("Y");
                            wrkMast.setIoPri(14D);
                            wrkMastMapper.updateById(wrkMast);
                        }
                        // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
//                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
                    }
@@ -1471,10 +1498,16 @@
//                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
//                                || Cools.isEmpty(waitWrkMast)) {
                            if (Cools.isEmpty(waitWrkMast)) {
                                wrkMast.setUpdMk("Y");
                                wrkMastMapper.updateById(wrkMast);
                                // 生成工作档,将浅库位移转到新的库位中
                                moveLocForDeepLoc(slave, shallowLoc);
//                                wrkMast.setUpdMk("Y");
//                                wrkMastMapper.updateById(wrkMast);
//                                // 生成工作档,将浅库位移转到新的库位中
//                                moveLocForDeepLoc(slave, shallowLoc);

                                if (moveLocForDeepLoc(slave, shallowLoc)){
                                    wrkMast.setUpdMk("Y");
//                                    wrkMast.setIoPri(14D);
                                    wrkMastMapper.updateById(wrkMast);
                                }
                            }
                            log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                            continue;
@@ -1625,10 +1658,16 @@
//                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
//                                || Cools.isEmpty(waitWrkMast)) {
                        if (Cools.isEmpty(waitWrkMast)) {
                            wrkMast.setUpdMk("Y");
                            wrkMastMapper.updateById(wrkMast);
                            // 生成工作档,将浅库位移转到新的库位中
                            moveLocForDeepLoc(slave, shallowLoc);
//                            wrkMast.setUpdMk("Y");
//                            wrkMastMapper.updateById(wrkMast);
//                            // 生成工作档,将浅库位移转到新的库位中
//                            moveLocForDeepLoc(slave, shallowLoc);

                            if (moveLocForDeepLoc(slave, shallowLoc)){
                                wrkMast.setUpdMk("Y");
//                                wrkMast.setIoPri(14D);
                                wrkMastMapper.updateById(wrkMast);
                            }
                        }
                        log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                        continue;
@@ -2428,9 +2467,10 @@
                        continue;
                    }
                    Integer count1 = wrkDetlService.count1();
                    Integer count11 = wrkDetlService.count11();
                    Integer count2 = wrkDetlService.count2(wrkDetls.get(0).getOrderNo());
                    Integer count3 = wrkDetlService.count3();
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl,count1,count2,count3)));
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl,count1+count11,count2,count3)));
                }
                commands.add(ledCommand);
            }
@@ -2606,7 +2646,7 @@
     * 因双深库位阻塞，对浅库位进行移转（立即执行版)
     * tip：同步
     */
    private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
    private synchronized boolean moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
        try {
            List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
            LocMast loc = null;
@@ -2650,74 +2690,90 @@

            if (null == loc) {
                log.error("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
                throw new CoolException("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
            }

            // 获取工作号
            int workNo = commonService.getWorkNo(0);
            // 保存工作档
            WrkMast wrkMast = new WrkMast();
            wrkMast.setWrkNo(workNo);
            wrkMast.setIoTime(new Date());
            wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
            wrkMast.setIoType(11); // 入出库状态： 11.库格移载
            wrkMast.setIoPri(13D);
            wrkMast.setCrnNo(crn.getId());
            wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
            wrkMast.setLocNo(loc.getLocNo()); // 目标库位
            wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
            wrkMast.setPicking("N"); // 拣料
            wrkMast.setExitMk("N"); // 退出
            wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
            wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
            wrkMast.setLinkMis("N");
            wrkMast.setAppeTime(new Date());
            wrkMast.setModiTime(new Date());
            int res = wrkMastMapper.insert(wrkMast);
            if (res == 0) {
                throw new CoolException("保存工作档失败");
            }
            // 工作档明细保存
            if (shallowLoc.getLocSts().equals("F")) {
                List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
                for (LocDetl locDetl : locDetls) {
                    WrkDetl wrkDetl = new WrkDetl();
                    wrkDetl.setWrkNo(workNo);
                    wrkDetl.setIoTime(new Date());
                    wrkDetl.setAnfme(locDetl.getAnfme());
                    VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
                    wrkDetl.setAppeTime(new Date());
                    wrkDetl.setModiTime(new Date());
                    if (!wrkDetlService.insert(wrkDetl)) {
                        throw new CoolException("保存工作档明细失败");
                return false;
//                throw new CoolException("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
            } else {
                // 获取工作号
                int workNo = commonService.getWorkNo(0);
                // 保存工作档
                WrkMast wrkMast = new WrkMast();
                wrkMast.setWrkNo(workNo);
                wrkMast.setIoTime(new Date());
                wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
                wrkMast.setIoType(11); // 入出库状态： 11.库格移载
                wrkMast.setIoPri(13D);
                wrkMast.setCrnNo(crn.getId());
                wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
                wrkMast.setLocNo(loc.getLocNo()); // 目标库位
                wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
                wrkMast.setPicking("N"); // 拣料
                wrkMast.setExitMk("N"); // 退出
                wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
                wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
                wrkMast.setLinkMis("N");
                wrkMast.setAppeTime(new Date());
                wrkMast.setModiTime(new Date());
                int res = wrkMastMapper.insert(wrkMast);
                if (res == 0) {
                    log.error("双深库位 --- 浅库位阻塞异常！ ====>保存工作档失败");
                    return true;
//                    throw new CoolException("保存工作档失败");
                }
                // 工作档明细保存
                if (shallowLoc.getLocSts().equals("F")) {
                    List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
                    for (LocDetl locDetl : locDetls) {
                        WrkDetl wrkDetl = new WrkDetl();
                        wrkDetl.setWrkNo(workNo);
                        wrkDetl.setIoTime(new Date());
                        wrkDetl.setAnfme(locDetl.getAnfme());
                        VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
                        wrkDetl.setAppeTime(new Date());
                        wrkDetl.setModiTime(new Date());
                        if (!wrkDetlService.insert(wrkDetl)) {
                            log.error("双深库位 --- 浅库位阻塞异常！ ====>保存工作档明细失败");
                            return true;
//                            throw new CoolException("保存工作档明细失败");
                        }
                    }
                }
            }
            // 修改源库位状态
            if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
                shallowLoc.setLocSts("R"); // R.出库预约
                shallowLoc.setModiTime(new Date());
                if (!locMastService.updateById(shallowLoc)) {
                    throw new CoolException("更新源库位状态失败");
                // 修改源库位状态
                if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
                    shallowLoc.setLocSts("R"); // R.出库预约
                    shallowLoc.setModiTime(new Date());
                    if (!locMastService.updateById(shallowLoc)) {
                        log.error("双深库位 --- 浅库位阻塞异常！ ====>更新源库位状态失败");
                        return true;
//                        throw new CoolException("更新源库位状态失败");
                    }
                } else {
                    log.error("双深库位 --- 浅库位阻塞异常！ ====>源库位出库失败");
                    return true;
//                    throw new CoolException("源库位出库失败");
                }
            } else {
                throw new CoolException("源库位出库失败");
            }
            // 修改目标库位状态
            if (loc.getLocSts().equals("O")) {
                loc.setLocSts("S"); // S.入库预约
                loc.setModiTime(new Date());
                if (!locMastService.updateById(loc)) {
                    throw new CoolException("更新目标库位状态失败");
                // 修改目标库位状态
                if (loc.getLocSts().equals("O")) {
                    loc.setLocSts("S"); // S.入库预约
                    loc.setModiTime(new Date());
                    if (!locMastService.updateById(loc)) {
                        log.error("双深库位 --- 浅库位阻塞异常！ ====>更新目标库位状态失败");
                        return true;
//                        throw new CoolException("更新目标库位状态失败");
                    }
                } else {
                    log.error("双深库位 --- 浅库位阻塞异常！ ====>移转失败");
                    return true;
//                    throw new CoolException("移转失败");
                }
            } else {
                throw new CoolException("移转失败");
            }

        } catch (Exception e) {
            log.error("双深库位阻塞，对浅库位进行移转失败", e);
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
            return true;
//            e.printStackTrace();
//            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
        return true;
    }

//    /**
@@ -3150,7 +3206,7 @@
    }

    /**
     * 其他  ===>> 码垛完成驱动托盘进入下一步
     * 其他  ===>> 码垛完成驱动托盘进入下一步  2===》3
     */
    public synchronized void stackingCompletionDriveTrayOk2() {
        for (DevpSlave devp : slaveProperties.getDevp()) {
@@ -3166,7 +3222,7 @@
                    staProtocol = staProtocol.clone();
                }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk()  && staProtocol.getWorkNo()!=0 && staProtocol.isOutEnable()) {//
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk()  && staProtocol.getWorkNo()!=0) {//
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());

                    if (wrkMast == null) {
@@ -3179,7 +3235,7 @@
                    }
                    if (wrkMast.getIoType()==101){
                        //任务完成
                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
//                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
                        wrkMast.setSheetNo("3");
                        wrkMastMapper.updateById(wrkMast);
                    }else {
@@ -3188,17 +3244,17 @@
                            continue;
                        }
                        //任务完成
                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
//                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
                        wrkMast.setSheetNo("3");
                        wrkMastMapper.updateById(wrkMast);

                        try{
                            Thread.sleep(100);
                        }catch (Exception e){
//                        try{
//                            Thread.sleep(100);
//                        }catch (Exception e){
//
//                        }

                        }

                        boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol));
//                        boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol));

                    }
                }
@@ -3483,7 +3539,7 @@
                            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());
                       /* 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);
@@ -3519,7 +3575,7 @@
//                            }catch (Exception e){
//
//                            }
                        }
                        }*/
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
@@ -3546,7 +3602,7 @@
                            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());
                        /*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);
@@ -3577,7 +3633,7 @@
//                            }catch (Exception e){
//
//                            }
                        }
                        }*/
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());