zy-wcs.git - Gitblit

			@@ -1,54 +1,29 @@
			package com.zy.asrs.service.impl;

			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.baomidou.mybatisplus.mapper.Wrapper;
			import com.core.common.Cools;
			import com.core.common.DateUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.CodeDetectionUtil;
			import com.zy.asrs.utils.RouteUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.VersionUtils;
			import com.zy.common.model.LocTypeDto;
			import com.zy.common.model.MatDto;
			import com.zy.common.model.SearchLocParam;
			import com.zy.common.model.StartupDto;
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.CollectionUtils;
			import com.zy.common.utils.HttpHandler;
			import com.zy.common.utils.RedisUtil;
			import com.zy.common.utils.RgvUtils;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			import com.zy.asrs.service.BasCircularShuttleService;
			import com.zy.asrs.service.BasDevpPositionService;
			import com.zy.asrs.service.BasDevpService;
			import com.zy.asrs.service.WrkMastService;
			import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
			import com.zy.core.cache.MessageQueue;
			import com.zy.core.cache.SlaveConnection;
			import com.zy.core.enums.*;
			import com.zy.core.model.*;
			import com.zy.core.model.command.CrnCommand;
			import com.zy.core.model.command.LedCommand;
			import com.zy.core.model.RgvSlave;
			import com.zy.core.model.Task;
			import com.zy.core.model.command.RgvCommand;
			import com.zy.core.model.cpmmandParam.CrnCommandParam;
			import com.zy.core.model.protocol.CrnProtocol;
			import com.zy.core.model.protocol.JarProtocol;
			import com.zy.core.model.protocol.RgvProtocol;
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.*;
			import com.zy.core.thread.RgvThread;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.beans.factory.annotation.Value;
			import org.springframework.stereotype.Service;
			import org.springframework.transaction.annotation.Transactional;
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

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

			/**
			* 立体仓库WCS系统主流程业务
			@@ -59,3657 +34,164 @@
			@Transactional
			public class MainServiceImpl {

			public static final long COMMAND_TIMEOUT = 5 * 1000;

			@Autowired
			private CommonService commonService;
			@Autowired
			private SlaveProperties slaveProperties;
			@Autowired
			private WrkMastMapper wrkMastMapper;
			@Autowired
			private WrkDetlService wrkDetlService;
			@Autowired
			private WaitPakinMapper waitPakinMapper;
			@Autowired
			private LocMastService locMastService;
			@Autowired
			private StaDescService staDescService;
			@Autowired
			private BasCrnpService basCrnpService;
			@Autowired
			private BasRgvService basRgvService;
			@Autowired
			private BasDevpService basDevpService;
			@Autowired
			private LocDetlService locDetlService;
			private BasRgvServiceImpl basRgvService;
			@Autowired
			private BasErrLogService basErrLogService;
			private BasDevpPositionService basDevpPositionService;
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			private BasCircularShuttleService basCircularShuttleService;
			@Autowired
			private BasRgvErrMapper basRgvErrMapper;
			@Autowired
			private BasRgvErrLogService basRgvErrLogService;
			@Autowired
			private BasRgvPathService basRgvPathService;
			@Autowired
			private RedisUtil redisUtil;
			@Autowired
			private WrkMastStaMapper wrkMastStaMapper;
			@Autowired
			private BasRgvMapMapper basRgvMapMapper;
			@Autowired
			private RgvOneSignMapper rgvOneSignMapper;
			@Autowired
			private WrkMastCrnMapper wrkMastCrnMapper;
			@Autowired
			private WrkMastSplitTwinMapper wrkMastSplitTwinMapper;
			@Autowired
			private WrkMastSplitTwinService wrkMastSplitTwinService;
			@Autowired
			private BasJarMastService basJarMastService;

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


			private WrkMastService wrkMastService;
			/**
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			* 站点任务检测更新小车位置信息
			*/
			public synchronized void generateStoreWrkFile() {
			// 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)) {
			// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| !CodeDetectionUtil.barcodeDetection(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取入库站信息
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 尺寸检测异常
			boolean back = false;
			String errMsg = "异常：";
			if (staProtocol.isFrontErr()) {
			errMsg = errMsg+"前超限；";
			back = true;
			}
			if (staProtocol.isBackErr()) {
			errMsg = errMsg+"后超限";
			back = true;
			}
			if (staProtocol.isHighErr()) {
			errMsg = errMsg+"高超限";
			back = true;
			}
			if (staProtocol.isLeftErr()) {
			errMsg = errMsg+"左超限";
			back = true;
			}
			if (staProtocol.isRightErr()) {
			errMsg = errMsg+"右超限";
			back = true;
			}
			if (staProtocol.isWeightErr()) {
			errMsg = errMsg+"超重";
			back = true;
			}
			if (staProtocol.isBarcodeErr()) {
			errMsg = errMsg+"扫码失败";
			back = true;
			}
			// 退回
			if (back) {
			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
			}
			continue;
			}

			// 入出库模式判断
			// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
			// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
			// continue;
			// }

			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& staProtocol.getWorkNo() == 0
			&& staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {

			// if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			// //条码为空或者不符合，退库到172站点
			// staProtocol.setWorkNo((short)32222);
			// staProtocol.setStaNo((short)172);
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }
			// continue;
			// }

			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			log.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			continue;
			}
			// // 获取入库通知档
			// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
			// if (waitPakins.isEmpty()) {
			// log.error("无此入库条码数据。条码号={}", barcode);
			// continue;
			// }

			try {

			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

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


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

			if(Cools.isEmpty(dto.getRgvNo()) \|\| dto.getRgvNo() <= 0) {
			staProtocol.setStaNo(dto.getStaNo());
			} else {//如果存在RGV编号，说明需要RGV接驳，先下发任务到RGV源站
			staProtocol.setStaNo(dto.getRgvSstaNo());
			}

			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}

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

			}


			}
			}

			}

			/**
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			*/
			public synchronized void generateStoreWrkFileSingle() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSingleSta()) {
			// 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)) {
			// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| !CodeDetectionUtil.barcodeDetection(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取入库站信息
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 尺寸检测异常
			boolean back = false;
			String errMsg = "异常：";
			if (staProtocol.isFrontErr()) {
			errMsg = errMsg+"前超限；";
			back = true;
			}
			if (staProtocol.isBackErr()) {
			errMsg = errMsg+"后超限";
			back = true;
			}
			if (staProtocol.isHighErr()) {
			errMsg = errMsg+"高超限";
			back = true;
			}
			if (staProtocol.isLeftErr()) {
			errMsg = errMsg+"左超限";
			back = true;
			}
			if (staProtocol.isRightErr()) {
			errMsg = errMsg+"右超限";
			back = true;
			}
			if (staProtocol.isWeightErr()) {
			errMsg = errMsg+"超重";
			back = true;
			}
			if (staProtocol.isBarcodeErr()) {
			errMsg = errMsg+"扫码失败";
			back = true;
			}
			// 退回
			if (back) {
			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
			}
			continue;
			}

			// 入出库模式判断
			// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
			// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
			// continue;
			// }

			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& staProtocol.getWorkNo() == 0
			&& staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {

			if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| !CodeDetectionUtil.barcodeDetection(barcode)) {
			log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			// //条码为空或者不符合，退库到172站点
			// staProtocol.setWorkNo((short)32222);
			// staProtocol.setStaNo((short)172);
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }
			continue;
			}

			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			log.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			continue;
			}
			// // 获取入库通知档
			// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
			// if (waitPakins.isEmpty()) {
			// log.error("无此入库条码数据。条码号={}", barcode);
			// continue;
			// }

			try {

			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/pair/station/single/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

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


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

			if(Cools.isEmpty(dto.getRgvNo()) \|\| dto.getRgvNo() <= 0) {
			staProtocol.setStaNo(dto.getStaNo());
			} else {//如果存在RGV编号，说明需要RGV接驳，先下发任务到RGV源站
			staProtocol.setStaNo(dto.getRgvSstaNo());
			}

			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/pair/station/single/loc/v1", JSON.toJSONString(param), response);
			}

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

			}


			}
			}

			}

			/**
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			*/
			public synchronized void generateStoreWrkFileLarge() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInLargeSta()) {
			// 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)) {
			// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| !CodeDetectionUtil.barcodeDetection(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取入库站信息
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 尺寸检测异常
			boolean back = false;
			String errMsg = "异常：";
			if (staProtocol.isFrontErr()) {
			errMsg = errMsg+"前超限；";
			back = true;
			}
			if (staProtocol.isBackErr()) {
			errMsg = errMsg+"后超限";
			back = true;
			}
			if (staProtocol.isHighErr()) {
			errMsg = errMsg+"高超限";
			back = true;
			}
			if (staProtocol.isLeftErr()) {
			errMsg = errMsg+"左超限";
			back = true;
			}
			if (staProtocol.isRightErr()) {
			errMsg = errMsg+"右超限";
			back = true;
			}
			if (staProtocol.isWeightErr()) {
			errMsg = errMsg+"超重";
			back = true;
			}
			if (staProtocol.isBarcodeErr()) {
			errMsg = errMsg+"扫码失败";
			back = true;
			}
			// 退回
			if (back) {
			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
			}
			continue;
			}

			// 入出库模式判断
			// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
			// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
			// continue;
			// }

			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& staProtocol.getWorkNo() == 0
			&& staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {

			if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| !CodeDetectionUtil.barcodeDetection(barcode)) {
			log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			// //条码为空或者不符合，退库到172站点
			// staProtocol.setWorkNo((short)32222);
			// staProtocol.setStaNo((short)172);
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }
			continue;
			}

			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			log.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			continue;
			}
			// // 获取入库通知档
			// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
			// if (waitPakins.isEmpty()) {
			// log.error("无此入库条码数据。条码号={}", barcode);
			// continue;
			// }

			try {

			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

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

			if(Cools.isEmpty(dto.getRgvNo()) \|\| dto.getRgvNo() <= 0) {
			staProtocol.setStaNo(dto.getStaNo());
			} else {//如果存在RGV编号，说明需要RGV接驳，先下发任务到RGV源站
			staProtocol.setStaNo(dto.getRgvSstaNo());
			}

			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);

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

			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, "入库失败！"));
			}
			}

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

			/**
			* wms入库
			* 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
			*/
			public synchronized void generateStoreWrkFile0() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInWmsSta()) {
			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// // 入出库模式判断
			// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) {
			// continue;
			// }

			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
			&& staProtocol.isPakMk()) {
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			if (wrkMast == null) {
			continue;
			}

			// 命令下发区 --------------------------------------------------------------------------

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			Integer staNo = wrkMast.getStaNo();
			if (wrkMast.getSourceStaNo()==145){
			staNo = 147;
			}
			staProtocol.setStaNo(staNo);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (result) {
			// 更新工作主档
			wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			}
			} else {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}

			}


			}
			}

			}

			/**
			* 拣料、并板、盘点再入库
			*/
			public synchronized void stnToCrnStnPick() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta()) {
			// // 获取条码扫描仪信息
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			// if (barcodeThread == null) {
			// continue;
			// }
			// String barcode = barcodeThread.getBarcode();
			// if(!Cools.isEmpty(barcode)) {
			// log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			// if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			// continue;
			// }
			// } else {
			// continue;
			// }

			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
			// WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"7");
			if (wrkMast == null) {
			// 无拣料数据
			continue;
			}
			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			continue;
			}

			// 获取库位号
			try {
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(wrkMast.getBarcode());
			param.setIoType(wrkMast.getIoType());
			param.setSourceStaNo(pickSta.getStaNo()); //作业站点
			param.setLocType1((short)1);
			String response = "";
			log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			try {
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin2/loc/v1")
			.setJson(JSON.toJSONString(param))
			.setTimeout(15, TimeUnit.SECONDS)
			.build()
			.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();
			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);
			if(response.equals("")) {
			continue;
			}
			JSONObject jsonObject = JSON.parseObject(response);
			// 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 {
			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();
			}
			}
			} 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();
			}

			}

			}

			}
			}

			/**
			* 拣料、并板、盘点再入库拆垛位置
			*/
			public synchronized void stnToCrnStnPick2() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta2()) {

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

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

			if (wrkMast == null) {
			continue;
			}
			if (staProtocol.isEmptyMk()){
			log.error("站点号"+staProtocol.getSiteId()+"空板信号异常！");
			continue;
			}
			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			continue;
			}

			String barcode = wrkMast.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取库位号
			try {
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(wrkMast.getIoType());
			param.setSourceStaNo(pickSta.getStaNo()); //作业站点
			param.setLocType1((short)1);
			String response = "";
			log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			try {
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin2/loc/v1")
			.setJson(JSON.toJSONString(param))
			.setTimeout(15, TimeUnit.SECONDS)
			.build()
			.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();
			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);
			if(response.equals("")) {
			continue;
			}
			JSONObject jsonObject = JSON.parseObject(response);
			// 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 {
			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();
			}
			}
			} 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();
			}

			// // 获取目标站
			// Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			// .eq("type_no", wrkMast.getIoType() - 50)
			// .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
			// .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
			// StaDesc staDesc = staDescService.selectOne(wrapper);
			// if (Cools.isEmpty(staDesc)) {
			// log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			// continue;
			// }
			//
			// try {
			// // 保存工作明细档历史档
			// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			// throw new CoolException("保存工作明细档历史档失败");
			// }
			// // 保存工作主档历史档
			// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			// throw new CoolException("保存工作主档历史档失败");
			// }
			//
			// Date now = new Date();
			// // 堆垛机站点(目标站)
			// Integer staNo = staDesc.getCrnStn();
			// // 更新工作档数据状态
			// wrkMast.setIoTime(now);
			// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			// wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
			// wrkMast.setStaNo(staNo); // 目标站
			// wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			// wrkMast.setSourceLocNo(""); // 源库位清空
			// wrkMast.setModiTime(now);
			// if (wrkMastMapper.updateById(wrkMast) == 0) {
			// throw new CoolException("更新工作档数据状态失败");
			// }
			// // 更新明细档io_time (历史档关联使用）
			// wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
			// // 修改库位状态 Q.拣料/盘点/并板再入库
			// LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			// locMast.setLocSts("Q");
			// locMast.setModiTime(new Date());
			// if (!locMastService.updateById(locMast)) {
			// throw new CoolException("修改库位状态失败");
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// continue;
			// }
			//
			// // 更新站点信息且下发plc命令
			// staProtocol.setWorkNo(wrkMast.getWrkNo());
			// staProtocol.setStaNo(wrkMast.getStaNo());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// 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());
			// }

			}

			}

			}
			}

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

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

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

			/**
			* 堆垛机站出库到出库站
			*/
			public synchronized void crnStnToOutStn() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			switch (crnSlave.getId()){
			case 1:
			case 2:
			crnStnToOutStnOne(crnStn);
			continue;
			case 3:
			case 4:
			case 5:
			crnStnToOutStnTwo(crnStn,1);
			continue;
			case 6:
			case 7:
			crnStnToOutStnThree(crnStn);
			continue;
			default:
			break;
			}
			}
			}
			}
			/**
			* 堆垛机站出库到出库站
			*/
			public synchronized boolean crnStnToOutStnOne(CrnSlave.CrnStn crnStn ) {
			public synchronized void updateStePosition() {
			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());
			if (staProtocol == null) {
			return false;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
			if (wrkMast == null) {
			return false;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			return false;
			}
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			return false;
			}

			WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(crnProtocol.getTaskNo().intValue());
			if (!Cools.isEmpty(wrkMastCrn) && wrkMastCrn.getWrkSts().equals(12L)){
			wrkMast = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNo().intValue());
			boolean sign = false;
			Integer rgvNo = 0;
			List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
			for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			sign = true;
			} else if (rgvProtocol.modeType != RgvModeType.AUTO \|\| (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.ROAM) ){
			sign = true;
			} else {
			return false;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {

			// 命令下发区 --------------------------------------------------------------------------
			StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
			if (staProtocolOther == null) {
			return false;
			} else {
			staProtocolOther = staProtocolOther.clone();
			}
			if (staProtocolOther.isAutoing() && staProtocolOther.isLoading() && (staProtocolOther.getWorkNo() == 0 \|\| staProtocolOther.getStaNo() == null)) {
			// WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(wrkMast.getWrkNo());


			WrkMast wrkMastOne = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoOne().intValue());
			WrkMast wrkMastTwo = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());
			WrkMast wrkMast1 = null;
			WrkMast wrkMast2 = null;
			if (Utils.getRow(wrkMastOne.getSourceLocNo()) == wrkMast.getCrnNo()*4){
			wrkMast1 = wrkMastTwo;
			wrkMast2 = wrkMastOne;
			}else {
			wrkMast2 = wrkMastTwo;
			wrkMast1 = wrkMastOne;
			}

			// 下发站点信息
			staProtocolOther.setWorkNo(Cools.isEmpty(wrkMast1.getWorkNoOther())? wrkMast1.getWrkNo():wrkMast1.getWorkNoOther());
			staProtocolOther.setStaNo(wrkMast1.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocolOther))) {
			return false;
			}

			// 下发站点信息
			staProtocol.setWorkNo(Cools.isEmpty(wrkMast2.getWorkNoOther())? wrkMast2.getWrkNo():wrkMast2.getWorkNoOther());
			// staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
			staProtocol.setStaNo(wrkMast2.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			return false;
			}
			boolean sign = true;

			// 更新工作档状态为14失败
			wrkMastCrn.setWrkSts(14L);
			if (wrkMastCrnMapper.updateById(wrkMastCrn) != 0) {
			} else {
			sign = false;
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}

			// 更新工作档状态为14失败
			wrkMastOne.setWrkSts(14L);
			wrkMastOne.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMastOne) != 0) {
			} else {
			sign = false;
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}

			// 更新工作档状态为14失败
			wrkMastTwo.setWrkSts(14L);
			wrkMastTwo.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMastTwo) != 0) {
			} else {
			sign = false;
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}

			if (sign){
			// 复位堆垛机
			crnThread.setResetFlag(true);
			return true;
			}
			}
			}
			}
			}catch (Exception e){
			log.error("更新工作档的工作状态为14失败！！！ [出库站:{}]", crnStn.getStaNo());
			}
			return false;
			}
			public synchronized boolean crnStnToOutStnTwo(CrnSlave.CrnStn crnStn ,Integer conStation) {
			try{
			Date now = new Date();
			// 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());
			if (staProtocol == null) {
			return false;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
			if (wrkMast == null) {
			return false;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			return false;
			}
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (conStation==1){
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			return false;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME
			&& crnProtocol.getLoaded()==0) {
			List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(wrkMast.getCrnNo(), conStation, null, 2, 3);
			if (wrkMastSplitTwinList.size()!=1){
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",conStation,2,3);
			}
			for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
			if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",wrkMast.getCrnNo(),"工作任务与执行任务不匹配",conStation,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo());
			return false;
			}
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			return false;
			}
			// 更新工作档状态为14失败
			wrkMast.setWrkSts(14L);
			wrkMast.setCrnEndTime(now);
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
			wrkMastSplitTwin.setUpdateTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			return true;
			}else {
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"修改执行档案失败",conStation,2,3);
			}
			} else {
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			}
			}
			}else if (conStation==2){
			if (crnProtocol.statusTypeTwo == CrnStatusType.FETCHING \|\| crnProtocol.statusTypeTwo == CrnStatusType.PUTTING) {
			// 移动中
			return false;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNoTwo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusTypeTwo == CrnStatusType.WAITING
			&& crnProtocol.forkPosTypeTwo == CrnForkPosType.HOME
			&& crnProtocol.getLoadedTwo()==0) {
			List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(wrkMast.getCrnNo(), conStation, null, 2, 3);
			if (wrkMastSplitTwinList.size()!=1){
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",conStation,2,3);
			}
			for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
			if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",wrkMast.getCrnNo(),"工作任务与执行任务不匹配",conStation,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo());
			return false;
			}
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			return false;
			}
			// 更新工作档状态为14失败
			wrkMast.setWrkSts(14L);
			wrkMast.setCrnEndTime(now);
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
			wrkMastSplitTwin.setUpdateTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
			// 堆垛机复位
			crnThread.setResetFlagTwo(true);
			return true;
			}else {
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"修改执行档案失败",conStation,2,3);
			}
			} else {
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			}
			}
			}
			}
			}catch (Exception e){
			log.error("更新工作档的工作状态为14失败！！！ [出库站:{}]", crnStn.getStaNo());
			}
			return false;
			}
			public synchronized boolean crnStnToOutStnThree(CrnSlave.CrnStn crnStn ) {
			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());
			if (staProtocol == null) {
			return false;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
			if (wrkMast == null) {
			return false;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			return false;
			}
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			return false;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			return false;
			}

			// 更新工作档状态为14失败
			wrkMast.setWrkSts(14L);
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位堆垛机
			crnThread.setResetFlag(true);
			return true;
			} else {
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			}
			}
			}catch (Exception e){
			log.error("更新工作档的工作状态为14失败！！！ [出库站:{}]", crnStn.getStaNo());
			}
			return false;
			}

			/**
			* 堆垛机站出库到出库站
			*/
			public synchronized void crnStnToOutStnTwo() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			switch (crnSlave.getId()){
			case 3:
			case 4:
			case 5:
			crnStnToOutStnTwo(crnStn,2);
			continue;
			default:
			break;
			}
			}
			}
			}

			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			public synchronized void crnIoExecute() {
			try{
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}

			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE
			&& crnProtocol.getTaskNo() == 0
			&& crnProtocol.getModeType() == CrnModeType.AUTO
			&& crnProtocol.getLoaded() == 0
			&& crnProtocol.getForkPos() == 0) {
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			switch (crn.getId()){
			case 1:
			case 2:
			this.crnStnToLoc1Single(crn, crnProtocol); // 入库
			break;
			case 3:
			case 4:
			case 5:
			continue;
			default:
			this.crnStnToLoc1(crn, crnProtocol,1); // 入库
			}
			crnProtocol.setLastIo("O");
			} else if (basCrnp.getOutEnable().equals("Y")) {
			switch (crn.getId()){
			case 1:
			case 2:
			this.locToCrnStn1Single(crn, crnProtocol); // 出库
			break;
			case 3:
			case 4:
			case 5:
			continue;
			default:
			this.locToCrnStn1(crn, crnProtocol,1); // 出库
			}
			crnProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			switch (crn.getId()){
			case 1:
			case 2:
			this.locToCrnStn1Single(crn, crnProtocol); // 出库
			break;
			case 3:
			case 4:
			case 5:
			continue;
			default:
			this.locToCrnStn1(crn, crnProtocol,1); // 出库
			}
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {
			switch (crn.getId()){
			case 1:
			case 2:
			this.crnStnToLoc1Single(crn, crnProtocol); // 入库
			break;
			case 3:
			case 4:
			case 5:
			continue;
			default:
			this.crnStnToLoc1(crn, crnProtocol,1); // 入库
			}
			crnProtocol.setLastIo("O");
			}
			}
			}
			// 库位移转
			this.locToLoc(crn, crnProtocol);
			// this.crnRebackHp(crnProtocol, crnThread);

			}
			}catch (Exception e){
			log.error("堆垛机出入库下发报错"+e);
			}
			}

			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			public synchronized void crnIoExecuteTwo() {
			try{
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}


			int[] sign = new int[]{0,0};
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 只有当堆垛机工位空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE
			&& crnProtocol.getTaskNo() == 0
			&& crnProtocol.getLoaded() == 0
			&& crnProtocol.getForkPos() == 0) {
			/*
			* 任务拆分特殊处理
			* */
			if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
			&& crnProtocol.getTaskNoTwo() == 0
			&& crnProtocol.getLoadedTwo() == 0
			&& crnProtocol.getForkPosTwo() == 0){
			sign[0] = 1;
			sign[1] = 1;
			}
			}
			}

			if (sign[0]==1){
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			switch (crn.getId()){
			case 3:
			case 4:
			case 5:
			this.crnStnToLoc1Big(crn, crnProtocol, sign[1]); // 入库
			break;
			default:
			continue;
			}
			crnProtocol.setLastIo("O");
			} else if (basCrnp.getOutEnable().equals("Y")) {
			switch (crn.getId()){
			case 3:
			case 4:
			case 5:
			this.locToCrnStn1Big(crn, crnProtocol, sign[1]); // 出库
			break;
			default:
			continue;
			}
			crnProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			switch (crn.getId()){
			case 3:
			case 4:
			case 5:
			this.locToCrnStn1Big(crn, crnProtocol, sign[1]); // 出库
			break;
			default:
			continue;
			}
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {
			switch (crn.getId()){
			case 3:
			case 4:
			case 5:
			this.crnStnToLoc1Big(crn, crnProtocol, sign[1]); // 入库
			break;
			default:
			continue;
			}
			crnProtocol.setLastIo("O");
			}
			}
			}

			// 库位移转
			this.locToLoc(crn, crnProtocol);
			// this.crnRebackHp(crnProtocol, crnThread);

			}
			}catch (Exception e){
			log.error("堆垛机出入库下发报错"+e);
			}
			}


			/**
			* 入库 ===>> 堆垛机站到库位
			*/
			public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			boolean flag = false;
			// 获取堆垛机入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			continue;
			}
			// 获取工作状态为2（设备上走）的入库工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
			if (null == wrkMast) {
			// log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			// 获取库位信息
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			if (locMast == null) {
			log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
			continue;
			}
			if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
			log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
			continue;
			}

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			continue;
			}

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

			// 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, wrkMast.getLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			}

			} 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);
			// 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);
			}
			continue;
			} else if (shallowLoc.getLocSts().equals("Q")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			}
			}

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.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
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {

			// long startTime = System.currentTimeMillis();
			// while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
			//
			// if (true) {
			// break;
			// }
			//
			// try{
			// Thread.sleep(500);
			// }catch(Exception ignore){}
			// }

			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			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={}", wrkMast.getWrkNo());
			}
			}
			}
			}

			/**
			* 入库 ===>> 堆垛机站到库位
			* 2024-06-05
			*/
			public synchronized void crnStnToLoc1Big(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
			Integer crnStation1 = crnStation;//记录
			for(WrkMast wrkMast : wrkMasts){
			if (wrkMast == null) {
			continue;
			}

			crnStation=crnStation1;//刷新

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
			if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
			crnStn = crnStn1;
			rgvNo = basCircularShuttle.getRgvNo();
			break;
			}
			}
			if(Cools.isEmpty(crnStn)){
			continue;
			}

			boolean flag = false;
			// 获取堆垛机入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo().equals(wrkMast.getWrkNo())
			&& staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			continue;
			}

			// 获取库位信息
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			if (locMast == null) {
			log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
			continue;
			}
			if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
			log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
			continue;
			}

			//工位
			if (crnStation == 1){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			break;
			if (sign && rgvNo!=0){
			int[][] ints = new int[basCircularShuttleList.size()][2];
			for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
			ints[basCircularShuttle.getRgvNo()-1] = new int[]{basCircularShuttle.getRgvNo(),basCircularShuttle.getRgvId()};
			}
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNoTwo() != 0) {
			break;
			String[] oldList = new String[ints.length];
			for (int[] rgv : ints){
			oldList[rgv[0]-1] = Arrays.toString(rgv);
			}
			}else if(crnStation == 2){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNoTwo() != 0) {
			break;
			int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
			String[] newList = new String[rgvList.length];
			for (int[] rgv : rgvList){
			newList[rgv[0]-1] = Arrays.toString(rgv);
			}
			}else {
			break;
			}

			if (locMast.getBay1()==81){
			crnStation=2;
			}


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

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastSplitTwinMapper.selectCount(new EntityWrapper<WrkMastSplitTwin>().eq("wrk_no", wrkMast.getWrkNo().longValue())) != 0) {
			break;
			// return;
			}

			// 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, wrkMast.getLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			}

			} 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);
			// 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);
			}
			continue;
			} else if (shallowLoc.getLocSts().equals("Q")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			log.info("更新小车排序信息：原始小车号rgvNo={},小车重新排序信息={},小车原始排序信息={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
			for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
			int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
			basCircularShuttle.setRgvId(rgv[1]);
			basCircularShuttleService.updateById(basCircularShuttle);
			}
			}

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX((short)0); // 目标库位排
			crnCommand.setDestinationPosY((short)0); // 目标库位列
			crnCommand.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
			wrkMastSplitTwin.setWrkSts(1);
			wrkMastSplitTwin.setWrkStart(wrkMast.getStaNo().toString());
			wrkMastSplitTwin.setWrkEnd(wrkMast.getLocNo());
			wrkMastSplitTwin.setStartRow(crnStn.getRow());
			wrkMastSplitTwin.setStartBay(crnStn.getBay());
			wrkMastSplitTwin.setStartLev(crnStn.getLev());
			wrkMastSplitTwin.setEndRow(locMast.getRow1());
			wrkMastSplitTwin.setEndBay(locMast.getBay1());
			wrkMastSplitTwin.setEndLev(locMast.getLev1());
			wrkMastSplitTwin.setWrkType(1);
			wrkMastSplitTwin.setIoType(1);

			if (wrkMastMapper.updateById(wrkMast) == 0) {
			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={}", wrkMast.getWrkNo());
			}

			if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
			log.error("创建堆垛机执行任务失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
			}
			break;
			}
			}
			}

			/**
			* 入库 ===>> 堆垛机站到库位
			* 2024-01-15 煜星小料箱
			*/
			public synchronized void crnStnToLoc1Single(CrnSlave slave, CrnProtocol crnProtocol) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
			for(WrkMast wrkMast : wrkMasts){
			if (wrkMast == null) {
			continue;
			}

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
			if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
			crnStn = crnStn1;
			break;
			}
			}
			if(Cools.isEmpty(crnStn)){
			continue;
			}

			boolean flag = false;
			boolean flagOther = false;
			// 获取堆垛机入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
			if (staProtocolOther == null) {
			continue;
			} else {
			staProtocolOther = staProtocolOther.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo().equals(wrkMast.getWrkNo())
			&& staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}

			if (staProtocol.getWorkNo().equals(staProtocolOther.getWorkNo())){
			continue;
			}

			// 查询站点详细信息
			BasDevp staDetlOther = basDevpService.selectById(crnStn.getStaNoOther());
			if (staDetlOther == null) {
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNoOther());
			continue;
			}
			if (staProtocolOther.isAutoing() && staProtocolOther.isLoading() && staProtocolOther.getWorkNo() > 0 && staProtocolOther.isInEnable()
			&& staDetlOther.getCanining() != null && staDetlOther.getCanining().equals("Y")) {
			flagOther = true;
			}
			if (!flag \|\| !flagOther) {
			continue;
			}

			//查询堆垛机任务
			WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(wrkMast.getWrkNo());
			if (Cools.isEmpty(wrkMastCrn)){
			continue;
			}

			WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());

			// 获取库位信息
			LocMast locMast = locMastService.selectById(Utils.getRow(wrkMastCrn.getLocNo())%4>2? wrkMastCrn.getLocNoTwo():wrkMastCrn.getLocNoOne());
			if (locMast == null) {
			log.error("查询库存无数据--库位号{}", wrkMastCrn.getLocNo());
			continue;
			}
			if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
			log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", locMast.getLocNo(), locMast.getLocSts());
			continue;
			}

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			continue;
			}

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

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.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
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			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={}", wrkMast.getWrkNo());
			}

			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			wrkMastOther.setWrkSts(3L);
			wrkMastOther.setCrnStrTime(now);
			wrkMastOther.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMastOther) == 0) {
			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={}", wrkMastOther.getWrkNo());
			}

			wrkMastCrn.setWrkSts(3L);
			wrkMastCrn.setModiTime(now);
			if (wrkMastCrnMapper.updateById(wrkMastCrn) == 0) {
			log.error("修改堆垛机工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMastCrn.getWrkNo());
			}
			}
			}

			}

			/**
			* 入库 ===>> 堆垛机站到库位
			* 2024-01-15 优化双工位
			*/
			public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
			for(WrkMast wrkMast : wrkMasts){
			if (wrkMast == null) {
			continue;
			}

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
			if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
			crnStn = crnStn1;
			break;
			}
			}
			if(Cools.isEmpty(crnStn)){
			continue;
			}

			boolean flag = false;
			// 获取堆垛机入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo().equals(wrkMast.getWrkNo())
			&& staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			continue;
			}

			// 获取库位信息
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			if (locMast == null) {
			log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
			continue;
			}
			if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
			log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
			continue;
			}

			//工位
			if (crnStation == 1){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			break;
			}
			}else if(crnStation == 2){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNoTwo() != 0) {
			break;
			}
			}else {
			break;
			}


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

			// 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, wrkMast.getLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			}

			} 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);
			// 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);
			}
			continue;
			} else if (shallowLoc.getLocSts().equals("Q")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			}
			}

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.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
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			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={}", wrkMast.getWrkNo());
			}
			}
			}
			}

			/**
			* 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 synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast == null) {
			continue;
			}
			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null) {
			log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
			continue;
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getSourceLocNo(), sourceSta.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			break;
			// continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
			if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
			continue;
			}

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}

			// 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, wrkMast.getSourceLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			if (waitWrkMast.getWrkSts() == 11) {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			} else {

			}
			}
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			//2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			// 此标记避免多次执行移库任务
			// 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);
			}
			log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			}
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}

			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.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
			crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 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={}", wrkMast.getWrkNo());
			}
			break;
			}
			}
			}
			}
			}

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2024-01-15 优化双工位
			*/
			public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast == null) {
			continue;
			}

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
			if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){
			crnStn = crnStn1;
			break;
			}
			}
			if(Cools.isEmpty(crnStn)){
			continue;
			}

			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null) {
			log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
			continue;
			}
			//退库模式跳过118、119出库任务
			if (wrkMast.getStaNo()==118 \|\| wrkMast.getStaNo()==119){
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
			if (Cools.isEmpty(rgvOneSign) \|\| rgvOneSign.getRgvOneSign()==1){
			continue;
			}
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getSourceLocNo(), sourceSta.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			break;
			// continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
			if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
			continue;
			}

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// 命令下发区 --------------------------------------------------------------------------


			//工位
			if (crnStation == 1){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}
			}else if(crnStation == 2){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNoTwo() != 0) {
			// continue;
			break;
			}
			}else {
			break;
			}

			// 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, wrkMast.getSourceLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			if (waitWrkMast.getWrkSts() == 11) {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			} else {

			}
			}
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			//2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			// 此标记避免多次执行移库任务
			// 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);
			}
			log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			}
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}

			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.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
			crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 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={}", wrkMast.getWrkNo());
			}
			break;
			}
			}
			}

			}

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2024-01-15 煜星小料箱
			*/
			public synchronized void locToCrnStn1Single(CrnSlave slave, CrnProtocol crnProtocol) {
			List<WrkMastCrn> wrkMastCrnList = wrkMastCrnMapper.selectList(new EntityWrapper<WrkMastCrn>()
			.eq("crn_no", crnProtocol.getCrnNo()).eq("wrk_sts", 11L));
			for (WrkMastCrn wrkMastCrn : wrkMastCrnList) {
			if (wrkMastCrn == null) {
			continue;
			}

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
			if(crnStn1.getStaNo().equals(wrkMastCrn.getSourceStaNo())){
			crnStn = crnStn1;
			break;
			}
			}
			if(Cools.isEmpty(crnStn)){
			continue;
			}

			// 工作档状态判断
			if (wrkMastCrn.getIoType() < 100 \|\| wrkMastCrn.getSourceStaNo() == null) {
			log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMastCrn.getWrkNo(), wrkMastCrn.getSourceLocNo(), wrkMastCrn.getIoType());
			continue;
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMastCrn.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMastCrn.getSourceLocNo(), sourceSta.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			break;
			// continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
			if (staProtocolOther == null) {
			continue;
			} else {
			staProtocolOther = staProtocolOther.clone();
			}

			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
			// if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
			// continue;
			// }

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}

			// 查询站点详细信息
			BasDevp staDetlOther = basDevpService.selectById(crnStn.getStaNoOther());
			if (staDetlOther == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNoOther());
			break;
			// continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			if (staProtocolOther.isAutoing() && !staProtocolOther.isLoading() && staDetlOther.getCanouting() != null && staDetlOther.getCanouting().equals("Y")
			&& staProtocolOther.getWorkNo() == 0 && staProtocolOther.isOutEnable()){
			// 命令下发区 --------------------------------------------------------------------------
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}

			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMastCrn.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
			crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMastCrn.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastCrn.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMastCrn.setWrkSts(12L);
			wrkMastCrn.setModiTime(now);
			if (wrkMastCrnMapper.updateById(wrkMastCrn) == 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={}", wrkMastCrn.getWrkNo());
			}

			WrkMast wrkMastOne = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoOne().intValue());
			wrkMastOne.setWrkSts(12L);
			wrkMastOne.setCrnStrTime(now);
			wrkMastOne.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMastOne) == 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={}", wrkMastOne.getWrkNo());
			}

			WrkMast wrkMastTwo = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());
			wrkMastTwo.setWrkSts(12L);
			wrkMastTwo.setCrnStrTime(now);
			wrkMastTwo.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMastTwo) == 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={}", wrkMastTwo.getWrkNo());
			}
			break;
			}
			}
			}
			}

			}

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2024-06-05 煜星大料箱
			*/
			public synchronized void locToCrnStn1Big(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
			Integer crnStation1 = crnStation;
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast == null) {
			continue;
			}

			crnStation = crnStation1;

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
			if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){
			crnStn = crnStn1;
			break;
			}
			}
			if(Cools.isEmpty(crnStn)){
			continue;
			}

			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null) {
			log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
			continue;
			}
			//退库模式跳过118、119出库任务
			if (wrkMast.getStaNo()==118 \|\| wrkMast.getStaNo()==119){
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
			if (Cools.isEmpty(rgvOneSign) \|\| rgvOneSign.getRgvOneSign()==1){
			continue;
			}
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getSourceLocNo(), sourceSta.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			break;
			// continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
			if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
			continue;
			}

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// 命令下发区 --------------------------------------------------------------------------


			//工位
			if (crnStation == 1){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNoTwo() != 0) {
			// continue;
			break;
			}
			}else if(crnStation == 2){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNoTwo() != 0) {
			// continue;
			break;
			}
			}else {
			break;
			}

			if (sourceSta.getBay1().shortValue()==81){
			crnStation = 2;
			}

			// 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, wrkMast.getSourceLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			if (waitWrkMast.getWrkSts() == 11) {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			} else {

			}
			}
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			//2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			// 此标记避免多次执行移库任务
			// 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);
			}
			log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			}
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastSplitTwinMapper.selectCount(new EntityWrapper<WrkMastSplitTwin>().eq("wrk_no", wrkMast.getWrkNo().longValue())) != 0) {
			break;
			// return;
			}

			if (true){
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX((short)0); // 目标库位排
			crnCommand.setDestinationPosY((short)0); // 目标库位列
			crnCommand.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
			wrkMastSplitTwin.setWrkSts(1);
			wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo());
			wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString());
			wrkMastSplitTwin.setStartRow(sourceSta.getRow1());
			wrkMastSplitTwin.setStartBay(sourceSta.getBay1());
			wrkMastSplitTwin.setStartLev(sourceSta.getLev1());
			wrkMastSplitTwin.setEndRow(crnStn.getRow());
			wrkMastSplitTwin.setEndBay(crnStn.getBay());
			wrkMastSplitTwin.setEndLev(crnStn.getLev());
			wrkMastSplitTwin.setWrkType(1);
			wrkMastSplitTwin.setIoType(2);
			if (wrkMastMapper.updateById(wrkMast) == 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={}", wrkMast.getWrkNo());
			}

			if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
			log.error("创建堆垛机执行任务失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
			}
			break;
			}
			}
			// else {
			// // 1.堆垛机开始移动
			// CrnCommandParam crnCommandParam = new CrnCommandParam();
			// CrnCommand crnCommand = new CrnCommand();
			// crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			// crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			// crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			// crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			// crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			// crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			// crnCommand.setDestinationPosX((short)0); // 目标库位排
			// crnCommand.setDestinationPosY((short)0); // 目标库位列
			// crnCommand.setDestinationPosZ((short)0); // 目标库位层
			// if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			// log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			// } else {
			// // 修改工作档状态 11.生成出库ID => 12.吊车出库中
			// Date now = new Date();
			// wrkMast.setWrkSts(12L);
			// wrkMast.setCrnStrTime(now);
			// wrkMast.setModiTime(now);
			// WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
			// wrkMastSplitTwin.setWrkSts(1);
			// wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo());
			// wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString());
			// wrkMastSplitTwin.setStartRow(sourceSta.getRow1());
			// wrkMastSplitTwin.setStartBay(sourceSta.getBay1());
			// wrkMastSplitTwin.setStartLev(sourceSta.getLev1());
			// wrkMastSplitTwin.setEndRow(crnStn.getRow());
			// wrkMastSplitTwin.setEndBay(crnStn.getBay());
			// wrkMastSplitTwin.setEndLev(crnStn.getLev());
			// wrkMastSplitTwin.setWrkType(1);
			// wrkMastSplitTwin.setIoType(2);
			// if (wrkMastMapper.updateById(wrkMast) == 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={}", wrkMast.getWrkNo());
			// }
			//
			// if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
			// log.error("创建堆垛机执行任务失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
			// }
			// break;
			// }
			// }
			}
			}

			}

			/**
			* 库位移转
			*/
			public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
			// 获取工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
			if (null == wrkMast) {
			return;
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (null == sourceSta) {
			log.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			return;
			}
			// 源库位库位状态判断
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) {
			return;
			}
			// 获取目标库位信息
			LocMast sta = locMastService.selectById(wrkMast.getLocNo());
			if (null == sta) {
			log.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
			return;
			}
			// 获取堆垛机信息并判断是否可入出
			BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
			if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
			return;
			}

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			return;
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			return;
			}

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.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
			crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("【库位移转】修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}

			}

			/**
			* 执行对工作档的完成操作
			*/

			public synchronized void storeFinished() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			switch (crn.getId()){
			case 1:
			case 2:
			storeFinishedExecuteOne(crn);
			continue;
			case 3:
			case 4:
			case 5:
			storeFinishedExecuteTwo(crn);
			continue;
			case 6:
			case 7:
			storeFinishedExecuteThree(crn);
			continue;
			default:
			continue;
			}
			}
			}
			public synchronized boolean storeFinishedExecuteOne(CrnSlave crn) {
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			return false;
			}
			if (crnProtocol.modeType != CrnModeType.AUTO){
			return false;
			}
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			if (crnProtocol.getTaskNo() == 32222) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			// 获取入库待确认工作档
			WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(crnProtocol.getTaskNo().intValue());
			if (wrkMastCrn == null) {
			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());
			return false;
			}
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			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());
			return false;
			}

			// 获取入库待确认工作档
			WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());
			if (wrkMastOther == null) {
			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());
			return false;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMastCrn.getWrkSts() == 3 \|\| (wrkMastCrn.getWrkSts() == 12 && wrkMastCrn.getIoType() == 11)) {
			wrkMastCrn.setWrkSts(4L);
			} else {
			return false;
			}
			Date now = new Date();
			wrkMastCrn.setModiTime(now);

			wrkMast.setCrnEndTime(now);
			wrkMast.setWrkSts(4L);
			wrkMast.setModiTime(now);

			wrkMastOther.setCrnEndTime(now);
			wrkMastOther.setWrkSts(4L);
			wrkMastOther.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastCrnMapper.updateById(wrkMastCrn) > 0 && wrkMastMapper.updateById(wrkMast) > 0 && wrkMastMapper.updateById(wrkMastOther) > 0 ) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			return true;
			}
			}
			}
			}catch (Exception e){
			log.error("堆垛机工位一完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),1);
			}
			return false;
			}
			public synchronized boolean storeFinishedExecuteTwo(CrnSlave crn) {
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			return false;
			}
			if (crnProtocol.modeType != CrnModeType.AUTO){
			return false;
			}
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			if (crnProtocol.getTaskNo() == 32222) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			return true;
			} else {
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			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());
			return false;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			wrkMast.setWrkSts(4L);
			} else {
			return false;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 堆垛机复位
			List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 1, null, 2, 3);
			if (wrkMastSplitTwinList.size()!=1){
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",1,2,3);
			}
			for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
			if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",crn.getId(),"工作任务与执行任务不匹配",1,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo());
			return false;
			}
			wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
			wrkMastSplitTwin.setUpdateTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 修改成功后复位堆垛机
			if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			return true;
			}else {
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",1,2,3);
			}
			}else {
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改工作档案失败！",1,2,3);
			}
			}
			return false;
			}
			}else if (crnProtocol.statusType == CrnStatusType.SEPARATE_WAITING && crnProtocol.getTaskNo() != 0 && crnProtocol.getLoaded()==1){
			if (crnProtocol.getTaskNo() == 32222) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			return true;
			} else {
			List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 1, null, 1, 1);
			if (wrkMastSplitTwinList.size()!=1){
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",1,1,1);
			}
			for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
			Date now = new Date();
			wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
			wrkMastSplitTwin.setUpdateTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			return true;
			}else {
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",1,2,3);
			}
			}
			}
			}
			}catch (Exception e){
			log.error("堆垛机工位一完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),1);
			}
			return false;
			}
			public synchronized boolean storeFinishedExecuteThree(CrnSlave crn) {
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			return false;
			}
			if (crnProtocol.modeType != CrnModeType.AUTO){
			return false;
			}
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			if (crnProtocol.getTaskNo() == 32222) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			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());
			return false;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			wrkMast.setWrkSts(4L);
			} else {
			return false;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			return true;
			}
			}
			}
			}catch (Exception e){
			log.error("堆垛机工位一完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),1);
			}
			return false;
			}

			/**
			* 执行对工作档的完成操作
			*/
			public synchronized void storeFinishedTwo() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			switch (crn.getId()){
			case 3:
			case 4:
			case 5:
			storeFinishedTwoExecute(crn);
			continue;
			default:
			continue;
			}
			}
			}

			public synchronized boolean storeFinishedTwoExecute(CrnSlave crn) {
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			return false;
			}
			if (crnProtocol.modeType != CrnModeType.AUTO){
			return false;
			}
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusTypeTwo == CrnStatusType.WAITING && crnProtocol.getTaskNoTwo() != 0) {
			if (crnProtocol.getTaskNoTwo() == 32222) {
			// 堆垛机复位
			crnThread.setResetFlagTwo(true);
			} else {
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNoTwo().intValue());
			if (wrkMast == null) {
			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.getTaskNoTwo());
			return false;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			wrkMast.setWrkSts(4L);
			} else {
			return false;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 堆垛机复位
			List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 2, null, 2, 3);
			if (wrkMastSplitTwinList.size()!=1){
			log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",2,2,3);
			}
			for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
			if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
			log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",crn.getId(),"工作任务与执行任务不匹配",1,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo());
			return false;
			}
			wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
			wrkMastSplitTwin.setUpdateTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 修改成功后复位堆垛机
			if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
			// 堆垛机复位
			crnThread.setResetFlagTwo(true);
			return true;
			}else {
			log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",2,2,3);
			}
			}else {
			log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改工作档案失败！",2,2,3);
			}
			}
			return false;
			}
			}else if (crnProtocol.statusTypeTwo == CrnStatusType.SEPARATE_WAITING && crnProtocol.getTaskNoTwo() != 0 && crnProtocol.getLoadedTwo()==1){
			if (crnProtocol.getTaskNoTwo() == 32222) {
			// 堆垛机复位
			crnThread.setResetFlagTwo(true);
			} else {
			List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 2, null, 1, 1);
			if (wrkMastSplitTwinList.size()!=1){
			log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",2,1,1);
			}
			for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
			Date now = new Date();
			wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
			wrkMastSplitTwin.setUpdateTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
			// 堆垛机复位
			crnThread.setResetFlagTwo(true);
			return true;
			}else {
			log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",2,2,3);
			}
			}
			}
			}
			}catch (Exception e){
			log.error("堆垛机工位二完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),2);
			}
			return false;
			}

			/**
			* 异常信息记录
			*/
			public synchronized void recErr() {
			try {
			this.recCrnErr();
			this.recRgvErr();
			} catch (Exception e) {
			log.error("recErr fail", e);
			log.error("自动更新小车排序信息失败，异常："+e);
			}
			}

			/**
			* RGV异常信息记录
			* 站点任务检测下发小车取放任务
			*/
			public synchronized void recRgvErr() {
			Date now = new Date();
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			public synchronized void DevpTaskNoRun() {
			try{
			BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1));
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			if (true) {
			// 有任务
			if (rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getTaskNo2() != 0) {
			Integer taskNo = rgvProtocol.getTaskNo1() > 0 ? rgvProtocol.getTaskNo1().intValue() : rgvProtocol.getTaskNo2().intValue();
			BasRgvErrLog latest = basRgvErrLogService.findLatestByTaskNo(rgv.getId(), taskNo);
			// 有异常
			if (latest == null) {
			if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(taskNo);
			if (wrkMast == null) {
			continue;
			}
			BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
			String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName();
			BasRgvErrLog basRgvErrLog = new BasRgvErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			rgv.getId(), // 堆垛机
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			(int) rgvProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			);

			if (!basRgvErrLogService.insert(basRgvErrLog)) {
			log.error("RGV异常记录失败 ===>> [id:{}] [error:{}]", rgv.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (rgvProtocol.getAlarm() == null \|\| rgvProtocol.getAlarm() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basRgvErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", rgv.getId(), latest.getId());
			}
			}
			}
			// 无任务
			} else {
			BasRgvErrLog latest = basRgvErrLogService.findLatest(rgv.getId());
			// 有异常
			if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != rgvProtocol.getAlarm().intValue())) {
			BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
			String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName();
			BasRgvErrLog basRgvErrLog = new BasRgvErrLog(
			null, // 编号
			null, // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			rgv.getId(), // 堆垛机
			null, // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int) rgvProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			);

			if (!basRgvErrLogService.insert(basRgvErrLog)) {
			log.error("RGV异常记录失败 ===>> [id:{}] [error:{}]", rgv.getId(), errName);
			}
			}
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basRgvErrLogService.updateById(latest)) {
			log.error("RGV异常记录修复失败 ===>> [id:{}] [errLogId:{}]", rgv.getId(), latest.getId());
			}
			}
			}
			}
			}

			}
			}

			/**
			* 堆垛机异常信息记录
			*/
			public synchronized void recCrnErr() {
			Date now = new Date();
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			if (true) {
			// if (crnProtocol.getModeType() != CrnModeType.STOP) {
			// 有任务
			if (crnProtocol.getTaskNo() != 0) {
			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			crn.getId(), // 堆垛机
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (crnProtocol.getAlarm() == null \|\| crnProtocol.getAlarm() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			// 无任务
			} else {
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			// 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();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			null, // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			crn.getId(), // 堆垛机
			null, // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			}
			}

			}
			}

			// -------------------------------------------------------------------------------

			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			public synchronized void storeEmptyPlt() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			if (devp.getId()==1) continue;
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			// 获取空板入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 站点条件判断
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) \|\| staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			param.setSourceStaNo(emptyInSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setStaNo(dto.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			}
			}

			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			public synchronized void storeEmptyPltSingle() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSingleSta()) {
			// 获取空板入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 站点条件判断
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) \|\| staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			param.setSourceStaNo(emptyInSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/pair/station/single/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setStaNo(dto.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/pair/station/single/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			}
			}
			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			public synchronized void storeEmptyPltLarge() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInLargeSta()) {
			// 获取空板入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 站点条件判断
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) \|\| staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			param.setSourceStaNo(emptyInSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setStaNo(dto.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			}
			}

			/**
			* 入库 ===>> 空栈板初始化入库,1楼叠盘机叠盘
			*/
			public synchronized void storeEmptyPlt2() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			if (devp.getId()==2) continue;
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			// 获取空板入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 站点条件判断
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) \|\| staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
			try {
			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);//工作类型 1:取（叠盘） 2：拆盘 3：取放 5：满取 6：满放
			wrkMastStaMapper.insert(wrkMastSta1);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			}
			}

			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			public synchronized void storeEmptyPlt3() {
			try{
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
			if (Cools.isEmpty(rgvOneSign) \|\| rgvOneSign.getRgvOneSign()==1){
			return;
			}
			List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position",false));
			Integer devNo = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPositions, rgvProtocol.getRgvPos());
			BasDevpPosition[] basDevpPositionsList = SortTheExecutionOfTheCarUtil.devpNoSort(basDevpPositions, devNo);
			BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
			List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
			//下发任务
			taskDown(wrkMastLists);
			} catch (Exception e){
			log.error("自动下发小车取放任务失败，异常："+e);
			}
			}

			//获取小车取放任务列表失败
			public synchronized List<List<WrkMast>> getWrkMastLists(BasDevpPosition[] basDevpPositionsListUN) {
			List<List<WrkMast>> wrkMastLists = new ArrayList<>();
			try{
			List<WrkMast> wrkMastlistA = new ArrayList<>();
			List<WrkMast> wrkMastlistB = new ArrayList<>();
			for (BasDevpPosition basDevpPosition : basDevpPositionsListUN){
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts",1L));
			if (!Cools.isEmpty(wrkMast)){
			if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN,wrkMast.getSourceStaNo(),wrkMast.getStaNo())){
			wrkMastlistA.add(wrkMast);
			} else {
			wrkMastlistB.add(wrkMast);
			}
			}
			}
			wrkMastLists.add(wrkMastlistA);
			wrkMastLists.add(wrkMastlistB);
			return wrkMastLists;
			} catch (Exception e){
			log.error("获取小车取放任务列表失败，异常："+e);
			return wrkMastLists;
			}
			}

			public synchronized void taskDown(List<List<WrkMast>> wrkMastLists) {
			long rgvId = 0;
			runRgv:
			for (List<WrkMast> wrkMastList : wrkMastLists){
			for (WrkMast wrkMast: wrkMastList){
			log.error("存在任务，RGV号={}，任务数据={}", rgvId, JSON.toJSON(wrkMast));

			rgvId++;
			BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1L));
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol != null
			&& rgvProtocol.modeType == RgvModeType.AUTO
			&& (rgvProtocol.getStatusType() == RgvStatusType.IDLE \|\| rgvProtocol.getStatusType() == RgvStatusType.ROAM)
			&& rgvProtocol.getTaskNo1()==0
			&& rgvProtocol.getAlarm() == 0){
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货
			rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue()); //工位1起点
			rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
			//
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			break runRgv;
			}
			log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));

			wrkMast.setWrkSts(2L);
			wrkMast.setRgvNo(rgvProtocol.getRgvNo());
			wrkMast.setAppeTime(new Date());
			try{
			wrkMastService.updateById(wrkMast);
			continue ;
			}catch (Exception e){
			log.error("更新小车任务失败,任务号："+wrkMast.getWrkNo());
			}
			break runRgv;
			} else {
			break runRgv;
			}
			}
			}
			}

			//任务完成
			public synchronized void rgvCompleteWrkMastSta() {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			@@ -3721,903 +203,51 @@
			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,工位二有物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			if (rgvProtocol.getStatusType() == RgvStatusType.WAITING){
			log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
			}
			// 只有当RGV等待WCS确认、自动
			if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			// && (rgvProtocol.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			&& 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
			&& rgvProtocol.getTaskNo1()!=0
			) {
			try {
			WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122);
			if (!Cools.isEmpty(wrkMast1)){
			continue;
			}
			// 获取空板入库站信息

			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			param.setSourceStaNo(122);
			param.setLocType1((short)1);
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/empty/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			// 更新站点信息且下发plc命令
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(dto.getWorkNo());
			if (!Cools.isEmpty(wrkMast) && wrkMast.getIoType()==10 && wrkMast.getWrkSts()==2){
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
			if (Cools.isEmpty(wrkMastSta)){
			WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),wrkMast.getStaNo());
			wrkMastSta1.setWrkNo(wrkMast.getWrkNo().longValue());
			wrkMastSta1.setType(2);
			wrkMastSta1.setWrkType(6);//工作类型 1:取（叠盘） 2：拆盘 3：取放 5：满取 6：满放
			wrkMastStaMapper.insert(wrkMastSta1);
			}
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/empty/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			}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);
			}
			}

			/**
			* 出库 ===>> 工作档信息写入led显示器
			*/
			public synchronized void ledExecute() {
			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
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			// if (null == wrkMast \|\| wrkMast.getWrkSts() < 14 \|\| wrkMast.getIoType() < 100) { continue; }
			if (null == wrkMast) {
			continue;
			}
			wrkMasts.add(wrkMast);
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(wrkMast.getWrkNo());
			ledCommand.setIoType(wrkMast.getIoType());
			// 出库模式
			switch (wrkMast.getIoType()) {
			case 1:
			case 202:
			ledCommand.setTitle("全板入库");
			break;
			case 10:
			ledCommand.setTitle("空板入库");
			break;
			case 101:
			ledCommand.setTitle("全板出库");
			break;
			case 103:
			ledCommand.setTitle("拣料出库");
			break;
			case 104:
			ledCommand.setTitle("并板出库");
			break;
			case 107:
			ledCommand.setTitle("盘点出库");
			break;
			case 110:
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			case 212:
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			default:
			log.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			break;
			}
			ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			ledCommand.setLocNo(wrkMast.getLocNo());
			ledCommand.setStaNo(wrkMast.getStaNo());
			// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
			if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl)));
			}
			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 (led.getId() == 7) {
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			} else {
			ledThread.setLedMk(false);
			}
			// }
			// else {
			// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
			// log.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) {
			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();
			}

			}
			}

			/**
			* 其他 ===>> LED显示器复位，显示默认信息
			*/
			public synchronized void ledReset() {
			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()) {
			if (led.getId() == 7) {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			} else {

			}
			} else {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			} else {

			}
			}
			}
			}
			}

			/**
			* 因双深库位阻塞，对浅库位进行移转（入库版)
			* tip：同步
			*/
			@Transactional
			public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast) {
			LocMast loc = locMastService.selectById(pakinWrkMast.getLocNo());

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			Date now = new Date();
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(now);
			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(15D);
			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.setCtnNo("Y"); // 入库阻塞库位移转标记
			wrkMast.setAppeTime(now);
			wrkMast.setModiTime(now);
			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(now);
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(now);
			wrkDetl.setModiTime(now);
			if (!wrkDetlService.insert(wrkDetl)) {
			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("S"); // S.入库预约，入库阻塞库位移转
			shallowLoc.setModiTime(now);
			if (!locMastService.updateById(shallowLoc)) {
			throw new CoolException("更新源库位状态失败");
			}
			} 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");
			// }
			// } else {
			// throw new CoolException("移转失败");
			// }
			wrkMast.setLocNo(shallowLoc.getLocNo());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("修改阻塞入库任务失败");
			}
			}

			/**
			* 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) {
			try {
			List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
			LocMast loc = null;
			for (Integer row : rows) {
			if (Utils.isDeepLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

			if (loc != null) {
			if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
			LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
			if (!shallowLoc1.getLocSts().equals("O")) {
			loc = null;
			}
			}
			}
			if (null != loc) {
			break;
			}
			}
			}
			if (null == loc) {
			for (Integer row : rows) {
			if (Utils.isShallowLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

			if (null != loc) {//对应深库位非在库状态,不能移库
			String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
			LocMast deepLoc1 = locMastService.selectById(deepLoc);
			if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) {
			loc = null;
			}
			}

			if (null != loc) {
			break;
			}
			}
			}
			}

			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");
			}
			}
			}
			// 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");
			}
			} 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");
			}
			} 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();
			}
			}

			/**
			* 堆垛机演示 ===>> 库位移转
			*/
			public synchronized void crnDemoOfLocMove1() {
			try {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			if (!crn.getDemo()) {
			continue;
			} // 必须为演示状态

			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}

			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 获取移库工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
			if (null != wrkMast) {
			log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
			if (Cools.isEmpty(wrkMast) \|\| !wrkMast.getWrkSts().equals(2L)){
			log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMast);
			continue;
			}

			LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
			LocMast loc = locMastService.queryDemoLoc(crn.getId());
			if (null == sourceLoc \|\| null == loc) {
			continue;
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}

			String sourceLocNo = sourceLoc.getLocNo();
			String locNo = loc.getLocNo();

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			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(sourceLocNo); // 源库位
			wrkMast.setLocNo(locNo); // 目标库位
			wrkMast.setFullPlt("N"); // 满板：Y
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setWrkSts(3L);
			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
			// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
			// 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");
			// }
			// }
			// 修改源库位状态
			if (sourceLoc.getLocSts().equals("D")) {
			sourceLoc.setLocSts("R"); // R.出库预约
			sourceLoc.setModiTime(new Date());
			if (!locMastService.updateById(sourceLoc)) {
			throw new CoolException("更新源库位状态失败");
			}
			} 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");
			}
			} else {
			throw new CoolException("移转失败");
			}

			wrkMastService.updateById(wrkMast);
			}
			}
			} catch (Exception e) {
			log.error("堆垛机演示 ===>> 库位移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			/**
			* 入出库 ===>> 小车作业下发
			*/
			public synchronized boolean steIoExecute(Integer sign) {
			return false;
			}
			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			public synchronized void crnIoExecuteTwoExecute(Integer i) {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			try{
			switch (crn.getId()){
			case 3:
			case 4:
			case 5:
			crnWrkMastSplitTwinExecute(crn,i);
			continue;
			default:
			continue;
			}
			}catch (Exception e){
			log.error("堆垛机出入库执行任务下发报错,堆垛机号={},异常信息={}",crn.getId(),e.getMessage());
			}
			}
			}


			public synchronized boolean crnWrkMastSplitTwinExecute(CrnSlave crn,Integer i){
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			return false;
			}
			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());
			return false;
			}


			int[] sign = new int[]{0,0};
			// 只有当堆垛机自动时才继续执行
			if (crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 只有当堆垛机工位1取货或者有物并且工位2无任务时才继续执行
			switch (i){
			case 1:
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE
			&& crnProtocol.getTaskNo() == 0
			&& crnProtocol.getLoaded() == 0
			&& crnProtocol.getForkPos() == 0) {
			sign[0] = 1;
			sign[1] = 1;
			}
			break;
			case 2:
			if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE
			&& crnProtocol.getTaskNo() == 0
			&& crnProtocol.getLoaded() == 1
			&& crnProtocol.getForkPos() == 0) {
			sign[0] = 2;
			sign[1] = 1;
			}
			break;
			case 3:
			if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
			&& crnProtocol.getTaskNoTwo() == 0
			&& crnProtocol.getLoadedTwo() == 0
			&& crnProtocol.getForkPosTwo() == 0){
			sign[0] = 1;
			sign[1] = 2;
			}
			break;
			case 4:
			if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE
			&& crnProtocol.getTaskNoTwo() == 0
			&& crnProtocol.getLoadedTwo() == 1
			&& crnProtocol.getForkPosTwo() == 0){
			sign[0] = 2;
			sign[1] = 2;
			}
			break;
			default:
			}
			}

			if (sign[0]!=0){
			List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),sign[1],null,sign[0],0);
			if (wrkMastSplitTwinList.size()>1){
			log.error("堆垛机出入库下发异常,堆垛机号={},异常信息={},工位号={},工作类型={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",sign[1],sign[0]);
			return false;
			}
			for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
			boolean ack = sign[0] == 1 ? crnExecuteTakeFull(crn.getId(), wrkMastSplitTwin, sign[1]) : crnExecutePutFull(crn.getId(), wrkMastSplitTwin, sign[1]);
			if (ack){
			wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkType()==1? 1:3);
			wrkMastSplitTwinService.updateById(wrkMastSplitTwin);
			}else {
			log.error("堆垛机出入库下发报错,堆垛机号={},异常信息={}",crn.getId(),"下发任务返回值为："+ack);
			}
			}
			}
			}catch (Exception e){
			log.error("堆垛机出入库下发报错,堆垛机号={},异常信息={}",crn.getId(),e.getMessage());
			}
			return false;
			}

			/*
			* 堆垛机取货至工位任务
			* */
			public synchronized boolean crnExecuteTakeFull(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwin, Integer crnStation){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnNo); // 堆垛机编号
			crnCommand.setTaskNo(wrkMastSplitTwin.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommand.setSourcePosX(wrkMastSplitTwin.getStartRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(wrkMastSplitTwin.getStartBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(wrkMastSplitTwin.getStartLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX((short)0); // 目标库位排
			crnCommand.setDestinationPosY((short)0); // 目标库位列
			crnCommand.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSON(crnCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			}

			/*
			* 堆垛机放货货至出库站点任务
			* */
			public synchronized boolean crnExecutePutFull(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwin, Integer crnStation){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnNo); // 堆垛机编号
			crnCommand.setTaskNo(wrkMastSplitTwin.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_PUT); // 任务模式: 单放货
			crnCommand.setSourcePosX((short)0); // 源库位排
			crnCommand.setSourcePosY((short)0); // 源库位列
			crnCommand.setSourcePosZ((short)0); // 源库位层
			crnCommand.setDestinationPosX(wrkMastSplitTwin.getEndRow().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(wrkMastSplitTwin.getEndBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(wrkMastSplitTwin.getEndLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSON(crnCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			}

			/**
			* Jar任务创建
			*/
			public synchronized void jarGenerateWrkMastSta() {
			for (JarSlave jarSlave : slaveProperties.getJar()) {
			try{
			Integer count = basJarMastService.getJarMastByJarIdCount(jarSlave.getId().longValue());
			if (count>=7){
			continue;
			}
			BasJarMast jarMastByJarIdMax = basJarMastService.getJarMastByJarIdMax(jarSlave.getId().longValue());
			if (!Cools.isEmpty(jarMastByJarIdMax) && jarMastByJarIdMax.getJarLocDigit()==7){
			continue;
			}
			jarGenerateWrkMastStaExecute(jarSlave);
			}catch (Exception e){
			log.error(jarSlave.getId()+"号小车复位线程报错！"+e);
			}
			}
			}

			/**
			* Jar任务创建执行
			*/
			public synchronized boolean jarGenerateWrkMastStaExecute(JarSlave jarSlave) {
			try{
			// 获取堆垛机信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
			JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
			if (jarOtherProtocol == null) {
			return false;
			}
			if (jarOtherProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			//自动、空闲、右门关闭、
			if (jarProtocol.isAutoing() && !jarProtocol.isRightDoor() && jarProtocol.jarErr==0 && !jarOtherProtocol.isLeftDoor() && jarOtherProtocol.jarErr==0){

			}

			} catch (Exception e){
			// log.error("堆垛机工位二完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),2);
			}
			return false;
			}

			/**
			* Jar任务创建执行
			*/
			public synchronized boolean jarGenerateWrkMastStaExecuteOne(JarSlave jarSlave) {
			try{
			// 获取堆垛机信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
			JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
			if (jarOtherProtocol == null) {
			return false;
			}
			if (jarOtherProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			//自动、空闲、右门关闭、
			if (jarProtocol.isAutoing() && !jarProtocol.isRightDoor() && jarProtocol.jarErr==0 && !jarOtherProtocol.isLeftDoor() && jarOtherProtocol.jarErr==0){

			}

			} catch (Exception e){
			// log.error("堆垛机工位二完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),2);
			}
			return false;
			}

			/**
			* Jar任务创建执行
			*/
			public synchronized boolean jarGenerateWrkMastStaExecuteTwo(JarSlave jarSlave) {
			try{
			// 获取堆垛机信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
			JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
			if (jarOtherProtocol == null) {
			return false;
			}
			if (jarOtherProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			//自动、空闲、右门关闭、
			if (jarProtocol.isAutoing() && !jarProtocol.isRightDoor() && jarProtocol.jarErr==0 && !jarOtherProtocol.isLeftDoor() && jarOtherProtocol.jarErr==0){

			}

			} catch (Exception e){
			// log.error("堆垛机工位二完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),2);
			}
			return false;
			}

			/**
			* Jar任务执行
			*/
			public synchronized void jarExecuteWrkMastSta() {
			try{

			}catch (Exception e){
			log.error("小车复位线程报错！"+e);
			}
			}

			/**
			* Jar完成
			*/
			public synchronized void jarCompleteWrkMastSta() {
			try{

			}catch (Exception e){
			log.error("小车复位线程报错！"+e);
			}
			}

			/*
			* 小车取空板至工位任务满取
			* 小车复位
			* */
			public synchronized boolean jarRgvTake1(Integer rgvId,WrkMastSta wrkMastSta){
			public synchronized boolean rgvComplete(Integer rgvId){
			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));
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
			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){
			}catch (Exception e){
			log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
			return false;
			}
			}
			/*
			* Rgv 移动
			* */
			public synchronized boolean jarRgvTake2(Integer rgvId,BasJarMast basJarMast){
			return false;
			}
			/*
			* 小车取空板至工位任务满取
			* */
			public synchronized boolean jarRgvTake3(Integer rgvId,BasJarMast basJarMast){
			return false;
			}
			/*
			* 小车取空板至工位任务满取
			* */
			public synchronized boolean jarRgvTake4(Integer rgvId,BasJarMast basJarMast){
			return false;
			}
			/*
			* 小车取空板至工位任务满取
			* */
			public synchronized boolean jarRgvTake5(Integer rgvId,BasJarMast basJarMast){
			return false;
			}
			/*
			* 小车取空板至工位任务满取
			* */
			public synchronized boolean jarRgvTake6(Integer rgvId,BasJarMast basJarMast){
			return false;
			}
			/*
			* 小车取空板至工位任务满取
			* */
			public synchronized boolean jarRgvTake7(Integer rgvId,BasJarMast basJarMast){
			return false;
			}
			/*
			* 穿梭板移动
			* */
			public synchronized boolean jarRgvTake8(Integer rgvId,BasJarMast basJarMast){
			return false;
			}
			}