#

lsh

2024-01-17 298adfe254be9a5976a28dfd63f915842886d588

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

@@ -148,13 +148,13 @@
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9999)
                        && 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)29999);
//                        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));
@@ -196,6 +196,9 @@
                        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());

@@ -228,6 +231,62 @@
    }

    /**
     * 组托
     * 入库站，根据条码扫描通知桁架码垛
     */
    public synchronized void generateStoreWrkFileFull2LouM() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历码垛口
            for (DevpSlave.Sta driveSta : devp.getDriveSta()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, driveSta.getBarcode());
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();

                if (!Cools.isEmpty(barcode) && !barcode.equals("") && !barcode.equals("      ")) {
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
                } else {
                    continue;
                }

                // 获取码垛口信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(driveSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                // 判断是否满足入库条件
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) )
                ) {
                    try {
                        BasDevp basDevp = basDevpService.selectById(driveSta.getStaNo());
                        if (basDevp.getReportSign()>0){
                            continue;
                        }
                        basDevp.setBarcode(barcode);
                        basDevp.setReportSign(1);
                        basDevpService.updateById(basDevp);
                    } 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
     */
@@ -235,7 +294,7 @@
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta()) {
            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());
@@ -246,13 +305,13 @@
                }

//                // 入出库模式判断
                if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) {
                    continue;
                }
//                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.getWorkNo() == 29999)
                        && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
                        && staProtocol.isPakMk()) {
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
@@ -433,17 +492,17 @@
                    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() + 9999L);
                            if (Cools.isEmpty(wrkMastSta)){
                                WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
                                wrkMastSta1.setType(2);
                                wrkMastSta1.setWrkType(1);
                                wrkMastStaMapper.insert(wrkMastSta1);
                            }
                            continue;
                        }
//                        WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
//                        if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
//                            WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 9999L);
//                            if (Cools.isEmpty(wrkMastSta)){
//                                WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
//                                wrkMastSta1.setType(2);
//                                wrkMastSta1.setWrkType(1);
//                                wrkMastStaMapper.insert(wrkMastSta1);
//                            }
//                            continue;
//                        }
//                        log.error("站点号"+staProtocol.getSiteId()+"未查询到工作档案！");
                        // 无拣料数据
                        continue;
@@ -521,6 +580,46 @@

            }

        }
    }

    /**
     * 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);
                            }
                        }
                    }
                }
            }
        }
    }

@@ -1347,7 +1446,7 @@
            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
            crnCommand.setTaskNo((short) 29999); // 工作号
            crnCommand.setTaskNo((short) 63333); // 工作号
            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  回原点
            crnCommand.setSourcePosX((short) 0);     // 源库位排
@@ -1512,8 +1611,6 @@
                if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
                    crnStn = crnStn1;
                    break;
                } else {
                    continue;
                }
            }
            if(Cools.isEmpty(crnStn)){
@@ -1784,8 +1881,6 @@
                if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){
                    crnStn = crnStn1;
                    break;
                } else {
                    continue;
                }
            }
            if(Cools.isEmpty(crnStn)){
@@ -2676,7 +2771,7 @@
            }
            //  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() == 9999) {
                if (crnProtocol.getTaskNo() == 32222) {
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
                } else {
@@ -2977,7 +3072,7 @@

                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 29990 && staProtocol.getWorkNo() <= 29999) || staProtocol.getWorkNo()==0)  && staProtocol.isPakMk()) {
                        && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0)  && staProtocol.isPakMk()) {

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -3035,9 +3130,9 @@

                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 29990 && staProtocol.getWorkNo() <= 29999) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
                        && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
                    try {
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 9999L);
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
                        if (Cools.isEmpty(wrkMastSta)){
                            WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
                            wrkMastSta1.setType(2);
@@ -3073,9 +3168,16 @@
                // 只有当RGV空闲、自动,工位二有物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && 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
                ) {
                    try {
                        WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122);
                        if (!Cools.isEmpty(wrkMast1)){
                            continue;
                        }
                        // 获取空板入库站信息

                        SearchLocParam param = new SearchLocParam();
@@ -3096,7 +3198,7 @@
                            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(),0);
                                    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
@@ -3151,6 +3253,7 @@
                // 出库模式
                switch (wrkMast.getIoType()) {
                    case 1:
                    case 202:
                        ledCommand.setTitle("全板入库");
                        break;
                    case 10:
@@ -3182,34 +3285,35 @@
//                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.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())));
                    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;
            }
//            // 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 (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);
                    }
                }
//                }
//                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);
//                    }
//                }

            }

@@ -3928,7 +4032,10 @@
            int[] staNos=new int[]{131,135};//(2个入库站点，1楼2个出库码垛站,根据现场修改)
            for (int staNo : staNos){
                BasDevp basDevp = basDevpService.selectById(staNo);
                if (basDevp.getWrkNo()!=0){
                if (Cools.isEmpty(basDevp) || basDevp.getReportSign()!=1){
                    continue;
                }
                if (basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 || basDevp.getWrkNo()>9999)){
                    continue;
                }
                WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
@@ -3958,7 +4065,7 @@
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && staProtocol.getWorkNo() == 0
                        && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000))
                ) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {

                    //任务完成
@@ -4052,7 +4159,7 @@
            int[] staNos=new int[]{144};//(1楼1个贴标位,根据现场修改)
            for (int staNo : staNos){
                BasDevp basDevp = basDevpService.selectById(staNo);
                if (basDevp.getWrkNo()<9990){
                if ((basDevp.getWrkNo()<9900 || basDevp.getWrkNo()>9999) && basDevp.getWrkNo()!=32222){
                    continue;
                }
                WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
@@ -4078,7 +4185,7 @@
                    log.info("{}站点无物，异常！",staNo);
                    continue;
                }
                if (!staProtocol.getWorkNo().equals(wrkMast.getWrkNo().shortValue())){
                if (!staProtocol.getWorkNo().equals(wrkMast.getWrkNo())){
                    log.info("站点工作号={} 与贴标工作号={} 不一致，异常！",staProtocol.getWorkNo(),wrkMast.getWrkNo().shortValue());
                }
                // 判断是否满足入库条件
@@ -4095,6 +4202,84 @@
                    }
                    wrkMast.setWrkSts(55L);
                    wrkMastMapper.updateById(wrkMast);

                }
            }
        }catch (Exception e){
//            e.printStackTrace();
//            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
            log.error("其他  ===>> 贴标完成驱动托盘进入下一步"+e);
        }
    }

    /**
     * 其他  ===>> 拆垛完成继续下一步  运行途中自动避让空板
     */
    public synchronized void stackingCompletionDriveTray4() {
        try {
            int[] staNos=new int[]{134};//(134有任务，135空闲，则避让)
            for (int staNo : staNos){
                BasDevp basDevp = basDevpService.selectById(staNo);
                BasDevp basDevp135 = basDevpService.selectById(135);
                if (basDevp.getWrkNo()==0 || (basDevp.getWrkNo()<10000 && basDevp.getWrkNo()>9899) ){
                    continue;
                }
                if (basDevp135.getReportSign()!=0){
                    continue;
                }
                WrkMast wrkMast131 = wrkMastMapper.selectWrkMastUnstackingOne202Two(131);
                if (Cools.isEmpty(wrkMast131)){
                    continue;
                }
                // 获取站点信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                StaProtocol staProtocol135 = devpThread.getStation().get(135);
                if (staProtocol135 == null) {
                    continue;
                } else {
                    staProtocol135 = staProtocol135.clone();
                }
                if (staProtocol135.getWorkNo()<9900 || staProtocol135.getWorkNo()>9999 || staProtocol135.getWorkNo()==0
                        || !staProtocol135.isLoading() || !staProtocol135.isAutoing()){
                    continue;
                }
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                if (!staProtocol.isLoading()){
                    continue;
                }
//                if (!staProtocol.getWorkNo().equals(wrkMast131.getWrkNo())){
//                    log.info("站点工作号={} 与贴标工作号={} 不一致，异常！",staProtocol.getWorkNo(),wrkMast131.getWrkNo().shortValue());
//                }
                // 判断是否满足入库条件
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && basDevp.getReportSign()==0
                ) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
                    if (true){
                        return;
                    }

                    //任务完成
                    boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol135));
                    try{
                        Thread.sleep(100);
                    }catch (Exception e){ }
                    basDevp135.setReportSign(2);
                    basDevpService.updateById(basDevp135);
                    staProtocol135.setWorkNo(32222);
                    staProtocol135.setStaNo(144);
                    devpThread.setPakMk(staProtocol135.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol135));
                    if (!result) {
                        throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
                    }
                    boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol135));

                }
            }
@@ -4130,7 +4315,7 @@
                ) {
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    if (rgvProtocol.getTaskNo1()!=0 && (rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)){
                        if (rgvProtocol.getTaskNo1()==29999){
                        if (rgvProtocol.getTaskNo1()==(short)32222){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
@@ -4156,7 +4341,7 @@
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast)){
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMastSta.getWrkNo().intValue());
                            staProtocol.setWorkNo(wrkMast.getWrkNo());
                            staProtocol.setStaNo(wrkMast.getStaNo());
                            if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
                                continue;
@@ -4168,7 +4353,7 @@
                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                    }else if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){
                        if (rgvProtocol.getTaskNo2()==29999){
                        if (rgvProtocol.getTaskNo2()==(short)32222){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
@@ -4193,7 +4378,7 @@
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast)){
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMastSta.getWrkNo().intValue());
                            staProtocol.setWorkNo(wrkMast.getWrkNo());
                            staProtocol.setStaNo(wrkMast.getStaNo());
                            if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
                                continue;
@@ -4376,7 +4561,7 @@
                            continue;
                        }
                        boolean sign = false;
                        if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//满放
                        if ( wrkMastSta.getStaEnd()!=0){//满放
                            sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
                        }else {
                            continue;
@@ -4602,10 +4787,10 @@
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && (rgvProtocol.getTaskNo1()==0 || rgvProtocol.getTaskNo1()==9999)
                        && (rgvProtocol.getTaskNo2()==0 || rgvProtocol.getTaskNo2()==9999)
                        && rgvProtocol.getTaskNo1()==0
                        && rgvProtocol.getTaskNo2()==0
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvSlave.getId());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                }
@@ -4627,7 +4812,7 @@
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                rgvCommand.setTaskNo1((short)29999); // 工位1工作号
                rgvCommand.setTaskNo1((short)32222); // 工位1工作号
                rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  回原点
                //basRgvMap.getLockStartRoute().shortValue()
                rgvCommand.setSourceStaNo1( (short)101);
@@ -4650,7 +4835,7 @@
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                rgvCommand.setTaskNo2((short)29999); // 工位2工作号
                rgvCommand.setTaskNo2((short)32222); // 工位2工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点
                rgvCommand.setSourceStaNo2((short)117);
                rgvCommand.setCommand((short) 2);   //工位2任务确认