zy-wcs.git - Gitblit

			@@ -8,6 +8,7 @@
			import com.core.common.DateUtils;
			import com.core.common.R;
			import com.core.exception.CoolException;
			import com.zy.asrs.domain.enums.WorkNoType;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			@@ -56,8 +57,9 @@

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

			private static final Integer jarMaxLoc = 6;
			@Autowired
			private CommonService commonService;
			@Autowired
			@@ -224,8 +226,17 @@
			// 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;
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			barcodeThread.setBarcode("");
			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) {
			throw new CoolException("更新plc站点信息失败");
			}
			return;
			}
			// // 获取入库通知档
			// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
			@@ -260,7 +271,7 @@
			staProtocol.setWorkNo(dto.getWorkNo());

			if(Cools.isEmpty(dto.getRgvNo()) \|\| dto.getRgvNo() <= 0) {
			staProtocol.setStaNo(dto.getStaNo());
			staProtocol.setStaNo(607);//607
			} 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());
			}
			@@ -388,6 +399,22 @@
			// throw new CoolException("更新plc站点信息失败");
			// }
			continue;
			}

			// 判断重复工作档
			WrkMast wrkMast111 = wrkMastMapper.selectPakInStep111(inSta.getStaNo(), barcode);
			if (wrkMast111 != null) {
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(wrkMast111.getWrkNo());
			staProtocol.setStaNo(wrkMast111.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");
			}
			return;
			}

			// 判断重复工作档
			@@ -558,12 +585,27 @@
			// }
			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;
			// }
			// 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;
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			barcodeThread.setBarcode("");
			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) {
			throw new CoolException("更新plc站点信息失败");
			}
			return;
			}
			// // 获取入库通知档
			// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
			@@ -606,12 +648,27 @@
			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);
			SearchLocParam param2 = new SearchLocParam();
			param2.setBarcode(barcode);
			param2.setSourceStaNo(inSta.getStaNo());
			param2.setLocType1(locTypeDto.getLocType1());
			String response2 = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/yx/loc/v33")
			.setJson(JSON.toJSONString(param2))
			.build()
			.doPost();
			JSONObject jsonObject2 = JSON.parseObject(response2);
			if (jsonObject2.getInteger("code").equals(200)) {
			log.info("大料箱自动组托成功！！");
			} 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());
			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！"));
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, "入库失败！"));
			}
			}
			}

			@@ -1033,7 +1090,7 @@
			case 3:
			case 4:
			case 5:
			crnStnToOutStnTwo(crnStn,1);
			crnStnToOutStnTwo(crnSlave.getId(),crnStn,1);
			continue;
			case 6:
			case 7:
			@@ -1166,7 +1223,7 @@
			return false;
			}

			public synchronized boolean crnStnToOutStnTwo(CrnSlave.CrnStn crnStn ,Integer conStation) {
			public synchronized boolean crnStnToOutStnTwo(Integer crnNo,CrnSlave.CrnStn crnStn ,Integer conStation) {
			try{
			Date now = new Date();
			// 获取堆垛机出库站信息
			@@ -1177,20 +1234,22 @@
			} 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;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == null \|\| staProtocol.getWorkNo() == 0)) {

			// 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());
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn,crnNo);
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();

			if (conStation==1){
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2345(staProtocol.getSiteId(),crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			return false;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			return false;
			}
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			return false;
			@@ -1236,6 +1295,18 @@
			}
			}
			}else if (conStation==2){
			if (crnProtocol.statusType != CrnStatusType.IDLE){
			return false;
			}
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2345(staProtocol.getSiteId(),crnProtocol.getTaskNoTwo().intValue());
			if (wrkMast == null) {
			return false;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			return false;
			}
			if (crnProtocol.statusTypeTwo == CrnStatusType.FETCHING \|\| crnProtocol.statusTypeTwo == CrnStatusType.PUTTING) {
			// 移动中
			return false;
			@@ -1356,7 +1427,7 @@
			case 3:
			case 4:
			case 5:
			crnStnToOutStnTwo(crnStn,2);
			crnStnToOutStnTwo(crnSlave.getId(),crnStn,2);
			continue;
			default:
			break;
			@@ -1675,7 +1746,7 @@
			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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {

			// long startTime = System.currentTimeMillis();
			@@ -1834,6 +1905,145 @@
			}
			}

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

			// 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.getWorkNo()!=0){
			WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(staProtocolOther.getWorkNo());
			if (Cools.isEmpty(wrkMastOther)){
			log.error("Other查询工作档案无数据--工作号{},站点号：{}", staProtocolOther.getWorkNo(),staProtocolOther.getSiteId());
			continue;
			}
			// 获取库位信息
			LocMast locMastOther = locMastService.selectById(wrkMastOther.getLocNo());
			if (locMastOther == null) {
			log.error("查询库存无数据--库位号{}", locMastOther.getLocNo());
			continue;
			}
			if (!locMastOther.getLocSts().equals("S") && !locMastOther.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={}", wrkMastOther.getLocNo(), locMastOther.getLocSts());
			continue;
			}
			if (locMastOther.getBay1()!=81){
			if (staProtocolOther.isAutoing() && staProtocolOther.isLoading()
			&& staProtocolOther.isInEnable() && staDetlOther.getCanining() != null && staDetlOther.getCanining().equals("Y")) {
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommandParam crnCommandParam = new CrnCommandParam();
			crnCommandParam.setCrnNo(slave.getId()); // 堆垛机编号

			crnCommandParam.setTaskNo2(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommandParam.setAckFinish2((short) 0); // 任务完成确认位
			crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommandParam.setSourcePosX2(crnStn.getRow().shortValue()); // 源库位排
			crnCommandParam.setSourcePosY2(crnStn.getBay().shortValue()); // 源库位列
			crnCommandParam.setSourcePosZ2(crnStn.getLev().shortValue()); // 源库位层
			crnCommandParam.setDestinationPosX2((short)0); // 目标库位排
			crnCommandParam.setDestinationPosY2((short)0); // 目标库位列
			crnCommandParam.setDestinationPosZ2((short)0); // 目标库位层

			crnCommandParam.setTaskNo(wrkMastOther.getWrkNo().shortValue()); // 工作号
			crnCommandParam.setAckFinish((short) 0); // 任务完成确认位
			crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommandParam.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommandParam.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommandParam.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommandParam.setDestinationPosX((short)0); // 目标库位排
			crnCommandParam.setDestinationPosY((short)0); // 目标库位列
			crnCommandParam.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(99, crnCommandParam.getCrnNo()-2))) {
			log.error("输送线锁定命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), crnCommandParam.getCrnNo()-2);
			continue;
			}
			if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommandParam));
			} 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,2,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);

			wrkMastOther.setWrkSts(3L);
			wrkMastOther.setCrnStrTime(now);
			wrkMastOther.setModiTime(now);
			WrkMastSplitTwin wrkMastSplitTwinOther = new WrkMastSplitTwin(wrkMastOther,1,now);
			wrkMastSplitTwinOther.setWrkSts(1);
			wrkMastSplitTwinOther.setWrkStart(wrkMastOther.getStaNo().toString());
			wrkMastSplitTwinOther.setWrkEnd(wrkMastOther.getLocNo());
			wrkMastSplitTwinOther.setStartRow(crnStn.getRow());
			wrkMastSplitTwinOther.setStartBay(crnStn.getBay());
			wrkMastSplitTwinOther.setStartLev(crnStn.getLev());
			wrkMastSplitTwinOther.setEndRow(locMastOther.getRow1());
			wrkMastSplitTwinOther.setEndBay(locMastOther.getBay1());
			wrkMastSplitTwinOther.setEndLev(locMastOther.getLev1());
			wrkMastSplitTwinOther.setWrkType(1);
			wrkMastSplitTwinOther.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());
			}

			if (wrkMastMapper.updateById(wrkMastOther) == 0) {
			log.error("Other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(wrkMastSplitTwinOther)==0){
			log.error("Other创建堆垛机执行任务失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
			}
			return;
			}
			}
			}
			return;
			}
			StaProtocol staProtocolOther1 = devpThread.getStation().get(crnStn.getStaNoOther1());
			if (staProtocolOther1 == null) {
			continue;
			} else {
			staProtocolOther1 = staProtocolOther1.clone();
			}

			if (staProtocolOther1.isAutoing() && staProtocolOther1.getWorkNo()!=0){
			return;
			}


			StaProtocol staProtocolOther2 = devpThread.getStation().get(crnStn.getStaNoOther2());
			if (staProtocolOther2 == null) {
			continue;
			} else {
			staProtocolOther2 = staProtocolOther2.clone();
			}
			if (staProtocolOther2.isAutoing() && staProtocolOther2.getWorkNo()!=0){
			return;
			}
			crnStation = 2;
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			@@ -1846,8 +2056,18 @@
			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));

			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());

			devpThread.setPakMk(staProtocol.getSiteId(), false);

			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(99, crnCommand.getCrnNo()-2))) {
			log.error("输送线锁定命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), crnCommand.getCrnNo()-2);
			continue;
			}
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			@@ -1988,7 +2208,7 @@
			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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			@@ -2145,7 +2365,7 @@
			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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			@@ -2280,7 +2500,7 @@
			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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(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();
			@@ -2446,7 +2666,7 @@
			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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(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();
			@@ -2566,7 +2786,7 @@
			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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastCrn.getCrnNo(), JSON.toJSONString(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();
			@@ -2767,7 +2987,7 @@
			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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(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();
			@@ -2811,7 +3031,7 @@
			// 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));
			// log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(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();
			@@ -2899,7 +3119,7 @@
			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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(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();
			@@ -3517,6 +3737,46 @@
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (emptyInSta.getStaNo()==607 && staProtocol.getStaNo()==607 && staProtocol.getWorkNo()>20000 && staProtocol.isLoading() && staProtocol.isAutoing()){
			try {
			BasDevp basDevp = basDevpService.selectById(staProtocol.getStaNo());
			if (basDevp.getReportSign()==0){
			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)) {
			basDevp.setReportSign(1);
			basDevpService.updateById(basDevp);
			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(607);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, 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();
			}
			return;
			}

			// 站点条件判断
			@@ -4294,6 +4554,39 @@
			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) {
			//双
			if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE
			&& crnProtocol.getTaskNo() == 0
			&& crnProtocol.getLoaded() == 1
			&& crnProtocol.getForkPos() == 0) {
			if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE
			&& crnProtocol.getTaskNoTwo() == 0
			&& crnProtocol.getLoadedTwo() == 1
			&& crnProtocol.getForkPosTwo() == 0){
			List<WrkMastSplitTwin> wrkMastSplitTwinList1 = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),1,2,2,0);
			List<WrkMastSplitTwin> wrkMastSplitTwinList2 = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),2,2,2,0);
			if (!wrkMastSplitTwinList1.isEmpty() && !wrkMastSplitTwinList2.isEmpty() ){
			if (wrkMastSplitTwinList1.size()>1 \|\| wrkMastSplitTwinList2.size()>1 ){
			log.error("Pair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;
			}
			WrkMastSplitTwin wrkMastSplitTwin1 = wrkMastSplitTwinList1.get(0);
			WrkMastSplitTwin wrkMastSplitTwin2 = wrkMastSplitTwinList2.get(0);
			boolean ack = crnExecutePutFullPair(crn.getId(), wrkMastSplitTwin1,wrkMastSplitTwin2, sign[1]);
			if (ack){
			wrkMastSplitTwin1.setWrkSts(wrkMastSplitTwin1.getWrkType()==1? 1:3);
			wrkMastSplitTwinService.updateById(wrkMastSplitTwin1);
			wrkMastSplitTwin2.setWrkSts(wrkMastSplitTwin2.getWrkType()==1? 1:3);
			wrkMastSplitTwinService.updateById(wrkMastSplitTwin2);
			}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);
			}

			return false;
			}

			}
			}
			// 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:
			@@ -4377,7 +4670,7 @@
			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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSONString(crnCommand));
			return false;
			} else {
			return true;
			@@ -4406,7 +4699,85 @@
			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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSONString(crnCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			}

			/*
			* 堆垛机取货至工位任务
			* */
			public synchronized boolean crnExecuteTakeFullPair(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwinOne,WrkMastSplitTwin wrkMastSplitTwinTwo, Integer crnStation){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			// 1.堆垛机开始移动
			CrnCommandParam crnCommandParam = new CrnCommandParam();
			crnCommandParam.setCrnNo(crnNo); // 堆垛机编号
			crnCommandParam.setTaskNo(wrkMastSplitTwinOne.getWrkNo().shortValue()); // 工作号
			crnCommandParam.setAckFinish((short) 0); // 任务完成确认位
			crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommandParam.setSourcePosX(wrkMastSplitTwinOne.getStartRow().shortValue()); // 源库位排
			crnCommandParam.setSourcePosY(wrkMastSplitTwinOne.getStartBay().shortValue()); // 源库位列
			crnCommandParam.setSourcePosZ(wrkMastSplitTwinOne.getStartLev().shortValue()); // 源库位层
			crnCommandParam.setDestinationPosX((short)0); // 目标库位排
			crnCommandParam.setDestinationPosY((short)0); // 目标库位列
			crnCommandParam.setDestinationPosZ((short)0); // 目标库位层

			crnCommandParam.setTaskNo2(wrkMastSplitTwinTwo.getWrkNo().shortValue()); // 工作号
			crnCommandParam.setAckFinish2((short) 0); // 任务完成确认位
			crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommandParam.setSourcePosX2(wrkMastSplitTwinTwo.getStartRow().shortValue()); // 源库位排
			crnCommandParam.setSourcePosY2(wrkMastSplitTwinTwo.getStartBay().shortValue()); // 源库位列
			crnCommandParam.setSourcePosZ2(wrkMastSplitTwinTwo.getStartLev().shortValue()); // 源库位层
			crnCommandParam.setDestinationPosX2((short)0); // 目标库位排
			crnCommandParam.setDestinationPosY2((short)0); // 目标库位列
			crnCommandParam.setDestinationPosZ2((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnCommandParam.getCrnNo(), JSON.toJSONString(crnCommandParam));
			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 crnExecutePutFullPair(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwinOne,WrkMastSplitTwin wrkMastSplitTwinTwo, Integer crnStation){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			// 1.堆垛机开始移动
			CrnCommandParam crnCommandParam = new CrnCommandParam();
			crnCommandParam.setCrnNo(crnNo); // 堆垛机编号
			crnCommandParam.setTaskNo(wrkMastSplitTwinOne.getWrkNo().shortValue()); // 工作号
			crnCommandParam.setAckFinish((short) 0); // 任务完成确认位
			crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_PUT); // 任务模式: 单放货
			crnCommandParam.setSourcePosX((short)0); // 源库位排
			crnCommandParam.setSourcePosY((short)0); // 源库位列
			crnCommandParam.setSourcePosZ((short)0); // 源库位层
			crnCommandParam.setDestinationPosX(wrkMastSplitTwinOne.getEndRow().shortValue()); // 目标库位排
			crnCommandParam.setDestinationPosY(wrkMastSplitTwinOne.getEndBay().shortValue()); // 目标库位列
			crnCommandParam.setDestinationPosZ(wrkMastSplitTwinOne.getEndLev().shortValue()); // 目标库位层

			crnCommandParam.setTaskNo2(wrkMastSplitTwinTwo.getWrkNo().shortValue()); // 工作号
			crnCommandParam.setAckFinish2((short) 0); // 任务完成确认位
			crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_PUT); // 任务模式: 单放货
			crnCommandParam.setSourcePosX2((short)0); // 源库位排
			crnCommandParam.setSourcePosY2((short)0); // 源库位列
			crnCommandParam.setSourcePosZ2((short)0); // 源库位层
			crnCommandParam.setDestinationPosX2(wrkMastSplitTwinTwo.getEndRow().shortValue()); // 目标库位排
			crnCommandParam.setDestinationPosY2(wrkMastSplitTwinTwo.getEndBay().shortValue()); // 目标库位列
			crnCommandParam.setDestinationPosZ2(wrkMastSplitTwinTwo.getEndLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnCommandParam.getCrnNo(), JSON.toJSONString(crnCommandParam));
			return false;
			} else {
			return true;
			@@ -4421,6 +4792,9 @@
			*/
			public synchronized void jarMastGenerate() {
			for (JarSlave jarSlave : slaveProperties.getJar()) {
			if (jarSlave.getId()>4){
			continue;
			}
			try{
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			continue;
			@@ -4442,10 +4816,10 @@
			if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),3)!=0){
			break;
			}
			if (basJarMastService.getJarMastByJarIdCount(jarSlave.getId())>=14){
			if (basJarMastService.getJarMastByJarIdCount(jarSlave.getId())>=jarMaxLoc*2){
			break;
			}
			if (basJarMastService.selectJarMastOperation(jarSlave.getId(),0,9)>=7){
			if (basJarMastService.selectJarMastOperation(jarSlave.getId(),0,9)>=jarMaxLoc){
			break;
			}
			if (!Objects.equals
			@@ -4464,7 +4838,7 @@
			break;
			}
			jarLocDigit = 1;
			} else if (jarMastByJarIdMax.getJarLocDigit()<7){
			} else if (jarMastByJarIdMax.getJarLocDigit()<jarMaxLoc){
			jarLocDigit = jarMastByJarIdMax.getJarLocDigit()+1;
			} else {
			continue;
			@@ -4481,11 +4855,12 @@
			if (!Cools.isEmpty(wrkMastExecute)){
			continue;
			}
			log.error("Jar任务创建初始===>行={}",4484);
			if (jarMastGenerateExecute(jarSlave,wrkMast,jarLocDigit,staStn.getStaNo())){
			return;
			}
			}catch (Exception e){
			log.error(jarSlave.getId()+"号小车复位线程报错！"+e);
			log.error(jarSlave.getId()+"号硫化罐Jar任务创建异常！"+e);
			}
			break;
			}
			@@ -4510,6 +4885,14 @@
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}

			JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
			JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
			@@ -4532,7 +4915,8 @@
			//自动、空闲、右门关闭、 Other左门关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			if (jarProtocol.statusType == JarStatusType.IDLE \|\| jarProtocol.statusType == JarStatusType.MOVING){
			if (jarProtocol.statusType != JarStatusType.SOS){
			log.error("Jar任务创建===》执行===>行={}",4537);
			BasJarMast basJarMast = new BasJarMast(basJar, wrkMast, jarLocDigit);
			basJarMast.setJarEnterStaNo(staNo);//入硫化罐站点
			basJarMastService.insert(basJarMast);
			@@ -4559,10 +4943,26 @@
			wrkMastExecuteSou.setWrkType(1);
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
			jarMastByWrkNo.setStatus(jarMastByWrkNo.getStatusComplete());
			if (!basJarMastService.updateById(jarMastByWrkNo)){
			log.error("硫化区域分段任务完成异常,BasJarMast={},异常信息={}",JSON.toJSONString(jarMastByWrkNo),"更新basJarMast失败");
			log.error("Jar任务完成===>行={}",4564);
			if (wrkMastExecute.getIoType()<7 \|\| wrkMastExecute.getIoType()==9){
			BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
			jarMastByWrkNo.setStatus(jarMastByWrkNo.getStatusComplete(wrkMastExecute.getIoType()));
			if (wrkMastExecute.getIoType()==3 && jarMastByWrkNo.getStatus()==8){
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarMastByWrkNo.getJarId(), new ArrayList<Integer>() {{
			add(6);//硫化完成
			}});
			if (basJarMastList.isEmpty()){
			continue;
			}
			Integer integer = basJarMastService.updateStatus(jarMastByWrkNo.getJarId(), 6, 8);
			if (basJarMastList.size()!=integer){
			log.error("{}号硫化罐硫化完成后开门完成修改硫化档案状态结果数量不一致！！！查询资料数量={}，更新返回数量={}",jarMastByWrkNo.getJarId(),basJarMastList.size(),integer);
			}
			} else {
			if (!basJarMastService.updateById(jarMastByWrkNo)){
			log.error("硫化区域分段任务完成异常,BasJarMast={},异常信息={}",JSON.toJSONString(jarMastByWrkNo),"更新basJarMast失败");
			}
			}
			}
			wrkMastExecute.setWrkSts(wrkMastExecute.getWrkStsComplete());
			wrkMastExecute.setWrkType(2);
			@@ -4621,6 +5021,10 @@
			continue;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			continue;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			continue;
			}

			@@ -4698,6 +5102,10 @@
			signExecute[jarSlave.getId()-5] = true;
			continue;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			continue;
			}

			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			@@ -4707,13 +5115,11 @@
			//门作业无
			//自动、空闲、右门关闭、 Other左门关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0){
			switch (sign){
			case 5:
			if (jarWrkMastExecuteGenerate5(jarSlave,sign)){
			signExecute[jarSlave.getId()-5] = true;
			break;//出硫化罐 ===》入冷却槽
			}
			if (jarWrkMastExecuteGenerate5(jarSlave,sign)){
			signExecute[jarSlave.getId()-5] = true;
			//出硫化罐 ===》入冷却槽
			}
			return signExecute;
			}
			} catch (Exception e){
			log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			@@ -4742,6 +5148,10 @@
			continue;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			continue;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			continue;
			}

			@@ -4835,7 +5245,13 @@
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			if (jarProtocol.statusType .equals(JarStatusType.WAITING2) \|\| jarProtocol.statusType .equals(JarStatusType.SOS)){
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			continue;
			}
			JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
			JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
			if (jarOtherProtocol == null) {
			@@ -4861,15 +5277,16 @@
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			}
			return true;
			} else if ((jarProtocol.statusType == JarStatusType.WAITING3 \|\| jarProtocol.statusType == JarStatusType.MOVING) && jarProtocol.isLeftDoor()){
			} else if (jarProtocol.isLeftDoor()){
			//生成入硫化罐任务
			if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,basJar.getJarNo(),new int[]{basJar.getEnterSteNo(),basJar.getEnterRgvNo(),5,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			}
			return true;
			} else if (jarProtocol.statusType == JarStatusType.IDLE && jarProtocol.isLeftDoor()){
			log.error("JarWrkMastExecute任务创建===>执行异常===》硫化罐空闲但是门未关===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			}
			// else if (jarProtocol.statusType == JarStatusType.IDLE && jarProtocol.isLeftDoor()){
			// log.error("JarWrkMastExecute任务创建===>执行异常===》硫化罐空闲但是门未关===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			// }
			}
			return false;
			} else {
			@@ -4897,7 +5314,7 @@
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
			add(4);
			}});
			if (basJarMastList.size() != 7){
			if (basJarMastList.size() != jarMaxLoc){
			return false;
			}

			@@ -4923,18 +5340,26 @@
			return false;
			}

			if (jarProtocol.statusType .equals(JarStatusType.WAITING2) \|\| jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}
			if (basJar.getJarCount()!=7){
			if (!basJar.getJarCount().equals(jarMaxLoc)){
			log.error("{}号硫化罐查询设备库存数异常！！！库存待入数：{}",jarProtocol.getJarNo(),basJar.getJarCount());
			return false;
			}

			//门作业无
			if (jarProtocol.isAutoing() && jarProtocol.statusType == JarStatusType.WAITING3 && jarProtocol.jarErr==0
			if (jarProtocol.isAutoing() && jarProtocol.statusType != JarStatusType.SOS && jarProtocol.jarErr==0
			&& jarProtocol.isRightDoor() && jarProtocol.isLeftDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			//关进料门
			@@ -4966,7 +5391,7 @@
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
			add(6);
			}});
			if (basJarMastList.size() != 7){
			if (basJarMastList.size() != jarMaxLoc){
			return false;
			}
			if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),5)!=0){
			@@ -4996,6 +5421,14 @@
			return false;
			}

			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			@@ -5043,7 +5476,7 @@
			return false;
			}

			BasJarMast jarMastByJarIdMin = basJarMastService.getJarMastByJarIdMax(jarSlave.getId(),8,8);
			BasJarMast jarMastByJarIdMin = basJarMastService.getJarMastByJarIdMin(jarSlave.getId(),8,8);
			if (Cools.isEmpty(jarMastByJarIdMin)){
			return false;
			}
			@@ -5066,6 +5499,11 @@
			return false;
			}

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

			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			@@ -5073,12 +5511,18 @@
			}

			//门作业无
			if (jarProtocol.isAutoing() && jarProtocol.statusType == JarStatusType.WAITING4 && jarProtocol.jarErr==0
			&& !jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
			// if (jarProtocol.isAutoing() && jarProtocol.statusType == JarStatusType.WAITING4 && jarProtocol.jarErr==0
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			//关进料门
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByJarIdMin,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),3,1})){
			//入冷却槽
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByJarIdMin,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),6,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByJarIdMin));
			}
			jarMastByJarIdMin.setStatus(jarMastByJarIdMin.getStatusComplete());

			if (!basJarMastService.updateById(jarMastByJarIdMin)){
			log.error("JarWrkMastExecute任务创建===>jarMastByJarIdMin更新失败===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByJarIdMin));
			}
			return true;
			}
			@@ -5102,26 +5546,26 @@
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			return false;
			}
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
			add(14);//冷却完成
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusListB(jarSlave.getId(), new ArrayList<Integer>() {{
			add(12);//冷却完成
			}});
			if (basJarMastList.isEmpty()){
			return false;
			}

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

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

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

			//判断RGV状态
			JarSlave.RgvStn rgvStn = jarSlave.getJarOutRgv().get(0);
			@@ -5136,7 +5580,10 @@
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			@@ -5145,8 +5592,8 @@

			//门作业无
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0){
			//关进料门
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByJarIdMin,basJar.getBurial(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),3,1})){
			//冷却完成上输送线
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByJarIdMin,basJar.getBurial(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),9,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByJarIdMin));
			}
			return true;
			@@ -5168,7 +5615,7 @@
			* 2：B面出料面
			* 3：冷却槽B面上输送线
			*/
			public synchronized boolean jarWrkMastExecuteGenerateSteStatus(Integer steNo,Integer type,SteStatusType steStatusType) {
			public synchronized boolean jarWrkMastExecuteGenerateSteStatus(Integer steNo,Integer type,SteStatusType steStatusType,boolean chargeSign) {
			try{
			//判断小车状态
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			@@ -5185,6 +5632,61 @@
			}
			if (steProtocol.getChargeStatus()!=0){
			log.error(steNo + "号小车在充电，等待....");
			return false;
			}
			if (steProtocol.getCharge()<31.0F && chargeSign){
			log.error(steNo + "号小车当前电量过低，准备充电...当前电量"+steProtocol.getCharge().toString());
			return false;
			}
			if (!steProtocol.getStatusType().equals(steStatusType)) {
			log.error(steNo + "号小车状态不是"+JSON.toJSONString(steStatusType)+"，等待....");
			return false;
			}
			switch (type){
			case 1:
			if (!steProtocol.getLocaType().equals(SteLocaType.POINT20)) {
			log.error(steNo + "号小车不在A面平移车，无法操作");
			return false;
			}
			break;
			case 2:
			if (!steProtocol.getLocaType().equals(SteLocaType.POINT23)) {
			log.error(steNo + "号小车不在B面平移车，无法操作");
			return false;
			}
			break;
			case 3:
			if (!steProtocol.getLocaType().equals(SteLocaType.POINT26) && !steProtocol.getLocaType().equals(SteLocaType.POINT25)) {
			log.error(steNo + "号小车不在水槽B端，无法操作");
			return false;
			}
			break;
			default: return false;
			}
			return true;
			} catch (Exception e){
			log.error("{}号小车状态判断状态异常,异常原因={}",steNo,e.getMessage());
			}
			return false;
			}

			public synchronized boolean jarWrkMastExecuteGenerateSteStatusCharge(Integer steNo,Integer type,SteStatusType steStatusType,boolean chargeSign) {
			try{
			//判断小车状态
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			if (steThread == null) {
			return false;
			}
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) {
			return false;
			}
			if (steProtocol.getMode() != (short)1) {
			log.error(steNo + "号小车离线，无法操作");
			return false;
			}
			if (steProtocol.getCharge()<31.0F && chargeSign){
			log.error(steNo + "号小车当前电量过低，准备充电...当前电量"+steProtocol.getCharge().toString());
			return false;
			}
			if (!steProtocol.getStatusType().equals(steStatusType)) {
			@@ -5260,7 +5762,7 @@
			wrkMastExecute.setSteId(digit[0]);//穿梭板ID
			wrkMastExecute.setRgvId(basJar.getEnterRgvNo());//RGV ID enter
			wrkMastExecute.setRgvEndId(basJar.getOutRgvNo());//RGV ID out
			wrkMastExecute.setIoType(digit[2]);//任务类型 0: 未知 1: 开进料门 2: 关进料门 3: 开出料门 4: 关出料门 5: 入硫化罐 6: 入冷却槽 7: 穿梭车进冷却槽 8: 穿梭车离开冷却槽 9: 出冷却槽 10：A=>B 11:B=>A
			wrkMastExecute.setIoType(digit[2]);//任务类型 0: 未知 1: 开进料门 2: 关进料门 3: 开出料门 4: 关出料门 5: 入硫化罐 6: 入冷却槽 7: 穿梭车进冷却槽 8: 穿梭车离开冷却槽 9: 出冷却槽 10：A=>B 11:B=>A 100:小车充电任务
			wrkMastExecute.setType(digit[3]);//设备 0: 未知 1: 硫化罐 2: 冷却槽 3: 硫化罐==>冷却槽
			return wrkMastExecuteService.insert(wrkMastExecute);
			} catch (Exception e) {
			@@ -5305,6 +5807,9 @@
			try{
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, null,0);
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			if (wrkMastExecute.getWrkSts()!=0){
			continue;
			}
			/*
			* 任务类型 0: 未知
			* 1: 开进料门 2: 关进料门 3: 开出料门 4: 关出料门
			@@ -5313,7 +5818,9 @@
			* 7: 穿梭车进冷却槽 8: 穿梭车离开冷却槽
			* 9: 出冷却槽
			* 10：A=>B 11:B=>A
			* 100：充电任务
			* */
			log.error("JarWrkMastExecute任务创建==>下发===>行={}",5326);
			switch (wrkMastExecute.getIoType()){
			case 1://1: 开进料门
			case 3://3: 开出料门
			@@ -5351,6 +5858,11 @@
			case 10:
			case 11:
			if (jarWrkMastExecuteActionExecute10(wrkMastExecute,sign)){
			break;
			}
			continue;
			case 100:
			if (jarWrkMastExecuteActionExecute100(wrkMastExecute,sign)){
			break;
			}
			continue;
			@@ -5472,10 +5984,12 @@
			public synchronized boolean jarWrkMastExecuteActionExecute1(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1 \|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			@@ -5485,7 +5999,14 @@
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			@@ -5523,7 +6044,7 @@
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			return true;
			}
			@@ -5531,31 +6052,32 @@
			//自动、空闲、进料们关闭需打开
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			log.error("1、3开进料门==>任务下发===>行={}",5546);
			if (!jarProtocol.isLeftDoor() && !jarProtocol.isRightDoor()){
			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else {
			//直接开门/关门
			if (!jarDoorTake(wrkMastExecute,JarTaskModeType.OPEN_THE_DOOR)){
			log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);

			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			}else if (jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()){
			@@ -5564,7 +6086,7 @@
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}

			@@ -5589,7 +6111,10 @@
			public synchronized boolean jarWrkMastExecuteActionExecute2(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1 \|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}

			@@ -5602,7 +6127,14 @@
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			if (jarProtocol.statusType .equals(JarStatusType.WAITING2) \|\| jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			@@ -5640,7 +6172,7 @@
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			return true;
			}
			@@ -5648,32 +6180,33 @@
			//自动、空闲、进料们打开需关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			log.error("2、4:关门==>任务下发===>行={}",5667);
			if (jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()){
			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(2);

			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else {
			//直接关门
			if (!jarDoorTake(wrkMastExecute,JarTaskModeType.CLOSE_THE_DOOR)){
			log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);

			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			} else if (!jarProtocol.isLeftDoor() && !jarProtocol.isRightDoor()){
			@@ -5682,7 +6215,7 @@
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			return true;
			@@ -5706,7 +6239,10 @@
			public synchronized boolean jarWrkMastExecuteActionExecute5(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1 \|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}

			@@ -5719,7 +6255,14 @@
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			if (jarProtocol.statusType .equals(JarStatusType.WAITING2) \|\| jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			@@ -5751,7 +6294,7 @@
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			return true;
			}
			@@ -5759,8 +6302,9 @@
			//自动、空闲、进料们打开需关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			//判断小车状态
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
			log.error("5:入硫化罐==>任务下发===>行={}",5667);
			//判断小车状态 //入硫化罐小车可临时屏蔽
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE,true)){
			return false;
			}
			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
			@@ -5770,26 +6314,26 @@
			,SteAndJarUtil.getRgvStaRow(wrkMastExecute.getJarEnterStaNo())==1
			,SteAndJarUtil.getRgvStaRow(wrkMastExecute.getJarEnterStaNo())==3)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			return true;
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else {
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			return true;
			@@ -5813,7 +6357,7 @@
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute5Three(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecute);
			if (wrkMastExecuteByJarNo.size()!=1 \|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
			return false;
			}
			@@ -5827,7 +6371,14 @@
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			if (jarProtocol.statusType .equals(JarStatusType.WAITING2) \|\| jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			@@ -5860,13 +6411,13 @@
			return false;
			}

			// if (staProtocolRGV.rgvBoolean(2) && staProtocolRGVOther.rgvBoolean(1)){
			if (staProtocolRGV.rgvBoolean(2)){
			if (staProtocolRGV.rgvBoolean(2) && staProtocolRGVOther.rgvBoolean(1)){//临时
			// if (staProtocolRGV.rgvBoolean(2)){
			if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			return true;
			}
			@@ -5874,28 +6425,29 @@
			//自动、空闲、进料们打开需关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			log.error("io_type==>5:入硫化罐 : wrkSts ==>4：rgv取货完成==>任务下发===>行={}",5898);

			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
			//判断小车状态
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE,true)){
			return false;
			}
			//调车 == > 取货
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT22.id,SteTaskModeType.STE_WFFH_13,false)){
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT22.id,SteTaskModeType.STE_WFFH_13,false,wrkMastExecute.getJarId())){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(5);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else {
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			return true;
			@@ -5919,7 +6471,10 @@
			public synchronized boolean jarWrkMastExecuteActionExecute6(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1 \|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}

			@@ -5932,7 +6487,14 @@
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			@@ -5960,12 +6522,13 @@
			return false;
			}

			if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
			if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){ //临时
			// if ( staProtocolRGVOther.rgvBoolean(1)){
			if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			return true;
			}
			@@ -5973,35 +6536,36 @@
			//自动、空闲、
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			log.error("6:入冷却槽==>任务下发===>行={}",6002);
			//判断小车状态
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE,true)){
			return false;
			}

			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){

			//调车 == > 取货
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT21.id,SteTaskModeType.STE_WFQH_12,false)){
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT21.id,SteTaskModeType.STE_WFQH_12,false,wrkMastExecute.getJarId())){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else {
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			return true;
			@@ -6024,7 +6588,7 @@
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute6Three(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecute);
			if (wrkMastExecuteByJarNo.size()!=1 \|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
			return false;
			}
			@@ -6039,6 +6603,14 @@
			return false;
			}

			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			@@ -6071,12 +6643,13 @@
			return false;
			}

			if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
			if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){ //临时
			// if (staProtocolRGVOther.rgvBoolean(1)){
			if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			return true;
			}
			@@ -6084,35 +6657,36 @@
			//自动、空闲、
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			log.error("6:入冷却槽 Three==>任务下发===>行={}",6115);

			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
			//判断小车状态
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.WAITING2,false)){
			return false;
			}
			//调车 == > 取货
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT21.id,SteTaskModeType.STE_WFQH_12,false)){
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT25.id,SteTaskModeType.STE_WFFH_13,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			wrkMastExecute.setWrkSts(5);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else {
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
			if (!jarRgvMoveTake(wrkMastExecute,1)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			}
			// wrkMastExecute.setWrkType(1);
			// wrkMastExecute.setWrkSts(2);
			// if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			// log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			// wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			// }
			}
			return true;
			}
			@@ -6149,7 +6723,10 @@
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			@@ -6203,7 +6780,7 @@
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			return true;
			}
			@@ -6213,64 +6790,64 @@
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0
			&& jarProtocolOther.isLeftDoor() && jarProtocolOther.isRightDoor()
			){

			log.error("7：穿梭车进冷却槽 7 B=>C//8：穿梭车离开冷却槽 8 C=>B Three==>任务下发===>行={}",6245);
			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocolOther.getJarNo())){
			//判断小车状态
			if (wrkMastExecute.getIoType()==7){ //7 B=>C
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE,true)){
			//调车 == > 移动
			if (jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT26.id,SteTaskModeType.STE_MOVE_14,false)){
			if (jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT26.id,SteTaskModeType.STE_MOVE_14,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE)){
			} else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE,false)){
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			} else { //8 C=>B
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE)){
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE,false)){
			//调车 == > 移动
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT26.id,SteLocaType.POINT23.id,SteTaskModeType.STE_MOVE_14,false)){
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT26.id,SteLocaType.POINT23.id,SteTaskModeType.STE_MOVE_14,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
			} else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE,false)){
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			}

			} else {
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
			if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(jarProtocolOther.getJarNo()))){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			return true;
			@@ -6294,7 +6871,10 @@
			public synchronized boolean jarWrkMastExecuteActionExecute9(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1 \|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}

			@@ -6307,7 +6887,10 @@
			// if (jarProtocol.modeType != JarModeType.AUTO){
			// return false;
			// }

			// if (jarProtocol.getJarTemperature()>50){
			// log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			// return false;
			// }
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			if (Cools.isEmpty(basJar)){
			log.error("{}号冷却槽查询设备档案无信息！！！",wrkMastExecute.getJarId());
			@@ -6364,7 +6947,7 @@
			// //移走 == > 2
			// if (jarRgvTake(wrkMastExecute,2)){
			// log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			// wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			// wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			// }
			// return true;
			// }
			@@ -6374,17 +6957,19 @@
			// && jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0
			// ){
			//判断小车状态
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE)){
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE,true)){
			log.error("9：出冷却槽==>任务下发===>行={}",6410);

			//调车 == > 取货
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT26.id,SteLocaType.POINT24.id,SteTaskModeType.STE_WFQH_12,false)){
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT26.id,SteLocaType.POINT24.id,SteTaskModeType.STE_WFQH_12,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},冷却槽数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(basJar),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(basJar),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(1);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},冷却槽数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(basJar),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(basJar),sign);
			}
			}
			return true;
			@@ -6408,7 +6993,10 @@
			public synchronized boolean jarWrkMastExecuteActionExecute9Two(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1 \|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}

			@@ -6427,10 +7015,11 @@
			}

			//判断STE小车状态
			if (jarWrkMastExecuteGenerateSteStatus(wrkMastExecute.getSteId(),3,SteStatusType.IDLE)){
			if (jarWrkMastExecuteGenerateSteStatus(wrkMastExecute.getSteId(),3,SteStatusType.IDLE,false)){
			log.error("9：出冷却槽Two==>任务下发===>行={}",6468);
			// 下发站点信息
			staProtocol.setWorkNo(wrkMastExecute.getWrkNo().intValue());
			staProtocol.setStaNo(staProtocol.getStaNo());
			staProtocol.setStaNo(wrkMastExecute.getOutStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, 2, new Task(2, staProtocol))) {
			return false;
			}
			@@ -6438,7 +7027,7 @@
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("输送线出库目标站命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},放货站点数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocol),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(staProtocol),sign);
			}
			}
			return true;
			@@ -6470,6 +7059,14 @@
			return false;
			}

			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			@@ -6502,12 +7099,13 @@
			return false;
			}

			if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
			if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){ //临时
			// if ( staProtocolRGVOther.rgvBoolean(1)){
			if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			return true;
			}
			@@ -6516,49 +7114,49 @@
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0
			){

			log.error("10：A=>B\\11：B=>A==>任务下发===>行={}",6558);
			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
			//判断小车状态
			if (wrkMastExecute.getIoType()==10){//10：A=>B
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE,true)){
			//调车 == > 移动
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT23.id,SteTaskModeType.STE_MOVE_14,false)){
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT23.id,SteTaskModeType.STE_MOVE_14,false,wrkMastExecute.getJarId())){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
			} else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE,false)){
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			} else {//11:B=>A
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE,false)){
			//调车 == > 移动
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT20.id,SteTaskModeType.STE_MOVE_14,false)){
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT20.id,SteTaskModeType.STE_MOVE_14,false,wrkMastExecute.getJarId())){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
			} else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE,false)){
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			}
			@@ -6567,13 +7165,13 @@
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			return true;
			@@ -6585,6 +7183,59 @@
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 100：充电任务
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute100(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			// 获取硫化罐信息
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",wrkMastExecute.getJarId());
			return false;
			}

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
			if (staProtocolRGV == null) {
			return false;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV == null) {
			return false;
			}

			if (staProtocolRGV.rgvBoolean(1) \|\| staProtocolRGV.rgvBoolean(2)){
			//门作业无
			//自动、空闲、
			log.error("100:充电任务==>任务下发===>行={}",6899);
			//判断小车状态
			if (!jarWrkMastExecuteGenerateSteStatusCharge(basJar.getEnterSteNo(),1,SteStatusType.IDLE,false)){
			return false;
			}
			//调车 == > 取货
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT20.id,SteTaskModeType.START_CHARGE,false,wrkMastExecute.getJarId())){
			log.error("穿梭板Ste充电命令下发失败，ste号={},任务数据={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute));
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(99);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste充电命令下发失败===>更新wrkMastExecute失败，ste号={},任务数据={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute));
			}
			return true;
			}
			return false;
			} catch (Exception e){
			log.error("穿梭板Ste充电命令下发失败,异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}
			@@ -6653,7 +7304,7 @@
			/*
			* Ste 动作
			* */
			public synchronized boolean jarSteTake(WrkMastExecute wrkMastExecute,Integer startLoad,Integer endLoad,SteTaskModeType steTaskModeType,boolean complete){
			public synchronized boolean jarSteTake(WrkMastExecute wrkMastExecute,Integer startLoad,Integer endLoad,SteTaskModeType steTaskModeType,boolean complete,Integer siteId){
			try {
			SteCommand steCommand = new SteCommand();
			steCommand.setTaskNo(wrkMastExecute.getWrkNo().intValue());
			@@ -6665,7 +7316,7 @@
			if (!complete){
			steCommand.setTaskMode(steTaskModeType.id.shortValue());
			}
			steCommand.setJarNo(wrkMastExecute.getJarId().shortValue());
			steCommand.setJarNo(siteId.shortValue());
			if (!MessageQueue.offer(SlaveType.Ste, steCommand.getSteNo(), new Task(2, steCommand))) {
			log.error("穿梭车Ste命令下发失败，堆垛机号={},任务数据={},下发数据={},complete={}", steCommand.getSteNo(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steCommand),complete);
			return false;
			@@ -6730,7 +7381,7 @@
			return;
			}
			}catch (Exception e){
			log.error("小车复位线程报错！"+e);
			log.error("JarWrkMastExecute任务完成报错！"+e);
			}
			}

			@@ -6760,19 +7411,19 @@
			if (wrkMastExecute.getWrkSts()==3){//==>4
			//1：RGV小车移动、2：RGV小车到位、3：Ste穿梭版取货、4：取货完成等待下一步、5：Ste穿梭版放货至冷却池、6：放货完成、7：更新完成 //io_type = 6
			//ste任务等待完成
			if (steProtocol.statusType.equals(SteStatusType.WAITING2)){
			if (steProtocol.statusType.equals(SteStatusType.WAITING)){
			//ste任务完成
			if (jarSteTake(wrkMastExecute,null,null,null,true)){
			if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭车Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			}
			return true;
			}
			}
			log.error("穿梭车Ste命令下发失败===>下发异常，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(steProtocol),sign);
			return true;
			}
			case 5:
			@@ -6781,7 +7432,7 @@
			//ste任务完成
			if (steProtocol.statusType.equals(SteStatusType.WAITING)){
			//ste任务完成
			if (jarSteTake(wrkMastExecute,null,null,null,true)){
			if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			wrkMastExecute.setWrkSts(6);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭车Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},穿梭车数据={},sign={}",
			@@ -6804,7 +7455,7 @@
			//ste任务完成
			if (steProtocol.statusType.equals(SteStatusType.WAITING)){
			//ste任务完成
			if (jarSteTake(wrkMastExecute,null,null,null,true)){
			if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭车Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},穿梭车数据={},sign={}",
			@@ -6824,7 +7475,7 @@
			//ste任务完成
			if (steProtocol.statusType.equals(SteStatusType.WAITING)){
			//ste任务完成
			if (jarSteTake(wrkMastExecute,null,null,null,true)){
			if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			wrkMastExecute.setWrkSts(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭车Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},穿梭车数据={},sign={}",
			@@ -6846,7 +7497,7 @@
			}
			return true;
			}catch (Exception e){
			log.error("小车复位线程报错！"+e);
			log.error("JarWrkMastExecute任务完成 ===>Ste报错！"+e);
			}
			return false;
			}
			@@ -6870,6 +7521,10 @@
			if (jarProtocol.modeType != JarModeType.AUTO){
			continue;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			@@ -6877,7 +7532,7 @@
			}
			//WAITING2(4, "硫化完成"),
			if (jarProtocol.getJarErr()==0 && jarProtocol.getStatusType().equals(JarStatusType.WAITING2)
			&& jarProtocol.isRightDoor() && jarProtocol.isLeftDoor()
			&& !jarProtocol.isRightDoor() && !jarProtocol.isLeftDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0
			){
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
			@@ -6925,7 +7580,7 @@
			}
			}
			} else if (jarProtocol.getJarErr()==0
			&& jarProtocol.isRightDoor() && jarProtocol.isLeftDoor()
			&& !jarProtocol.isRightDoor() && !jarProtocol.isLeftDoor()
			&& jarProtocol.leftDoorClose!=1 && jarProtocol.leftDoorClose!=3
			&& jarProtocol.rightDoorClose!=1 && jarProtocol.rightDoorClose!=3
			&& (jarProtocol.leftDoorClose==2 \|\| jarProtocol.rightDoorClose==2)){
			@@ -6962,7 +7617,7 @@
			}
			return true;
			}catch (Exception e){
			log.error("小车复位线程报错！"+e);
			log.error("//硫化完成修改任务状态报错！"+e);
			}
			return false;
			}
			@@ -7012,7 +7667,7 @@
			}
			return true;
			}catch (Exception e){
			log.error("小车复位线程报错！"+e);
			log.error("JarWrkMastExecute任务完成 ===>RGV移动！异常"+e);
			}
			return false;
			}
			@@ -7058,7 +7713,7 @@
			}
			return true;
			}catch (Exception e){
			log.error("小车复位线程报错！"+e);
			log.error(" JarWrkMastExecute任务完成 ===>RGV取货异常！"+e);
			}
			return false;
			}
			@@ -7087,11 +7742,12 @@
			}

			try{
			if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),1,SteStatusType.IDLE)){
			List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null);
			if (wrkMastExecutes.isEmpty()){
			List<WrkMastExecute> wrkMastExecutesB = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null);
			List<WrkMastExecute> wrkMastExecutesC = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null);
			if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),1,SteStatusType.IDLE,false)){
			List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null,steProtocol.getSteNo().intValue());
			List<WrkMastExecute> wrkMastExecutes100 = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 100, null,steProtocol.getSteNo().intValue());
			if (wrkMastExecutes.isEmpty() && wrkMastExecutes100.isEmpty()){
			List<WrkMastExecute> wrkMastExecutesB = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null,steProtocol.getSteNo().intValue());
			List<WrkMastExecute> wrkMastExecutesC = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null,steProtocol.getSteNo().intValue());

			if (!wrkMastExecutesB.isEmpty() \|\| !wrkMastExecutesC.isEmpty()){
			WrkMastExecute wrkMastExecute = !wrkMastExecutesB.isEmpty() ? wrkMastExecutesB.get(0) : wrkMastExecutesC.get(0);
			@@ -7108,11 +7764,31 @@
			continue;
			}
			}
			} else if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),2,SteStatusType.IDLE)){
			List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null);
			} else if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),2,SteStatusType.IDLE,false)){
			List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null,steProtocol.getSteNo().intValue());
			if (wrkMastExecutes.isEmpty()){
			List<WrkMastExecute> wrkMastExecutesA = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null);
			List<WrkMastExecute> wrkMastExecutesC = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null);
			List<WrkMastExecute> wrkMastExecutesA = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null,steProtocol.getSteNo().intValue());
			List<WrkMastExecute> wrkMastExecutesC = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null,steProtocol.getSteNo().intValue());
			List<WrkMastExecute> wrkMastExecutes100 = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 100, null,steProtocol.getSteNo().intValue());
			if (!wrkMastExecutes100.isEmpty()){
			WrkMastExecute wrkMastExecute = wrkMastExecutes100.get(0);
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",wrkMastExecute.getJarId());
			return false;
			}

			BasJarMast jarMastByWrkNo = new BasJarMast(basJar);
			jarMastByWrkNo.setWrkNo(Integer.toUnsignedLong(wrkMastExecute.getWrkNo().intValue()));//工作号
			jarMastByWrkNo.setJarEnterStaNo(basJar.getEnterRgvNo());
			jarMastByWrkNo.setEnterStaNo(basJar.getEnterRgvNo());
			jarMastByWrkNo.setOutStaNo(basJar.getOutRgvNo());
			//B==>A
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),11,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
			}
			continue;
			}
			if (!wrkMastExecutesA.isEmpty()){
			WrkMastExecute wrkMastExecute = wrkMastExecutesA.get(0);
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			@@ -7143,11 +7819,31 @@
			continue;
			}
			}
			} else if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),3,SteStatusType.IDLE)){
			List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null);
			} else if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),3,SteStatusType.IDLE,false)){
			List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null,steProtocol.getSteNo().intValue());
			if (wrkMastExecutes.isEmpty()){
			List<WrkMastExecute> wrkMastExecutesB = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null);
			List<WrkMastExecute> wrkMastExecutesA = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null);
			List<WrkMastExecute> wrkMastExecutesB = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null,steProtocol.getSteNo().intValue());
			List<WrkMastExecute> wrkMastExecutesA = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null,steProtocol.getSteNo().intValue());
			List<WrkMastExecute> wrkMastExecutes100 = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 100, null,steProtocol.getSteNo().intValue());
			if (!wrkMastExecutes100.isEmpty()){
			WrkMastExecute wrkMastExecute = wrkMastExecutes100.get(0);
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",wrkMastExecute.getJarId());
			return false;
			}

			BasJarMast jarMastByWrkNo = new BasJarMast(basJar);
			jarMastByWrkNo.setWrkNo(Integer.toUnsignedLong(wrkMastExecute.getWrkNo().intValue()));//工作号
			jarMastByWrkNo.setJarEnterStaNo(basJar.getEnterRgvNo());
			jarMastByWrkNo.setEnterStaNo(basJar.getEnterRgvNo());
			jarMastByWrkNo.setOutStaNo(basJar.getOutRgvNo());
			//C==>B
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),8,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
			}
			continue;
			}
			if (!wrkMastExecutesB.isEmpty() \|\| !wrkMastExecutesA.isEmpty()){
			WrkMastExecute wrkMastExecute = !wrkMastExecutesB.isEmpty() ? wrkMastExecutesB.get(0) : wrkMastExecutesA.get(0);
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			@@ -7177,5 +7873,296 @@
			}
			return false;
			}
			/**
			* ste充电任务创建 //完成
			*/
			public synchronized boolean jarChargeGenerate() {
			try{
			//80%电量无任务充电 >50电量有任务断电
			//30%电量不接取任务无进行中任务充电 >50电量有任务断电
			for (SteSlave steSlave : slaveProperties.getSte()){
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steSlave.getId());
			if (steThread == null) {
			continue;
			}
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null \|\| steProtocol.getChargeStatus()!=0) {
			continue;
			}
			WrkMastExecute wrkMastExecuteByCharge = wrkMastExecuteService.getWrkMastExecuteByCharge(steSlave.getId());
			if (!Cools.isEmpty(wrkMastExecuteByCharge)){
			continue;
			}

			if (steProtocol.getCharge()<30.0F){
			if (wrkMastExecuteService.selectMoveStartCharge(steSlave.getId())!=0){
			continue;
			}
			} else if (steProtocol.getCharge()<80.0F){
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusListCharge(steSlave.getId(), new ArrayList<Integer>() {{
			add(5);
			add(11);
			add(17);
			}});
			if(!basJarMastList.isEmpty()){
			continue;
			}
			if (wrkMastExecuteService.selectNoStart(steSlave.getId())!=0){
			continue;
			}
			if (wrkMastExecuteService.selectMoveStart(steSlave.getId())!=0){
			continue;
			}
			} else {
			continue;
			}

			try{
			boolean jarIDLESign = false;
			if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),1,SteStatusType.IDLE,false)){
			//生成充电任务
			//A
			BasJar basJar = basJarMapper.selectById(steSlave.getId()==1? 1:3);
			int workNo = commonService.getWorkNo(WorkNoType.getWorkNoType(7));//充电工作号
			BasJarMast basJarMast = new BasJarMast(basJar);
			basJarMast.setWrkNo(Integer.toUnsignedLong(workNo));//工作号
			basJarMast.setJarEnterStaNo(basJar.getEnterRgvNo());
			basJarMast.setEnterStaNo(basJar.getEnterRgvNo());
			basJarMast.setOutStaNo(basJar.getOutRgvNo());
			if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),100,1})){
			log.error("JarWrkMastExecute充电任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			}
			continue;
			} else if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),2,SteStatusType.IDLE,false)){
			jarIDLESign =true;
			} else if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),3,SteStatusType.IDLE,false)){
			jarIDLESign =true;
			}
			if (jarIDLESign){
			//生成充电任务
			//C==>A
			BasJar basJar = null;
			List<BasJar> basJarList = basJarMapper.selectList(new EntityWrapper<BasJar>().eq("region", steSlave.getId()));
			for (BasJar basJarNow : basJarList){
			// 获取硫化罐信息0.0
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, basJarNow.getJarNo());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			continue;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			continue;
			}
			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			continue;
			}
			if (jarProtocol.getJarTemperature()>50){
			continue;
			}
			if (jarProtocol.leftDoorOpen != 0 \|\| jarProtocol.rightDoorOpen != 0){
			continue;
			}
			basJar = basJarNow;
			break;
			}
			if (basJar == null){
			continue;
			}
			int workNo = commonService.getWorkNo(WorkNoType.getWorkNoType(7));//充电工作号
			BasJarMast basJarMast = new BasJarMast(basJar);
			basJarMast.setWrkNo(Integer.toUnsignedLong(workNo));//工作号
			basJarMast.setJarEnterStaNo(basJar.getEnterRgvNo());
			basJarMast.setEnterStaNo(basJar.getEnterRgvNo());
			basJarMast.setOutStaNo(basJar.getOutRgvNo());
			if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),100,1})){
			log.error("JarWrkMastExecute充电任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			}
			}
			}catch (Exception e){
			log.error("充电任务创建异常,steProtocol={},异常信息={}",JSON.toJSONString(steProtocol),e.getMessage());
			}
			}
			} catch (Exception e){
			log.error("硫化区域分段任务完成异常,异常信息={}",e.getMessage());
			}
			return false;
			}
			/**
			* Ste充电任务完成 //完成
			*/
			public synchronized boolean jarChargeComplete() {
			try{
			//80%电量无任务充电 >50电量有任务断电
			//30%电量不接取任务无进行中任务充电 >50电量有任务断电
			for (SteSlave steSlave : slaveProperties.getSte()){
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steSlave.getId());
			if (steThread == null) {
			continue;
			}
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null \|\| steProtocol.getChargeStatus()!=1) {
			continue;
			}

			if (steProtocol.getCharge()>95.0F \|\| steProtocol.getFullCharge()){
			} else if (steProtocol.getCharge()>50.0F){
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusListCharge(steSlave.getId(), new ArrayList<Integer>() {{
			add(5);
			add(11);
			add(17);
			}});
			if(basJarMastList.isEmpty()){
			if (wrkMastExecuteService.selectNoStartCharge(steSlave.getId())==0){
			if (wrkMastExecuteService.selectMoveStart(steSlave.getId())==0){
			continue;
			}
			}
			}
			} else {
			continue;
			}

			WrkMastExecute wrkMastExecuteByCharge = wrkMastExecuteService.getWrkMastExecuteByCharge(steSlave.getId());
			if (Cools.isEmpty(wrkMastExecuteByCharge)){
			BasJar basJar = basJarMapper.selectById(steSlave.getId()==1? 1:3);
			int workNo = commonService.getWorkNo(WorkNoType.getWorkNoType(7));//充电工作号
			BasJarMast basJarMast = new BasJarMast(basJar);
			basJarMast.setWrkNo(Integer.toUnsignedLong(workNo));//工作号
			basJarMast.setJarEnterStaNo(basJar.getEnterRgvNo());
			basJarMast.setEnterStaNo(basJar.getEnterRgvNo());
			basJarMast.setOutStaNo(basJar.getOutRgvNo());
			wrkMastExecuteByCharge = new WrkMastExecute(basJarMast);
			wrkMastExecuteByCharge.setJarId(basJar.getJarNo());
			wrkMastExecuteByCharge.setSteId(steSlave.getId());//穿梭板ID
			wrkMastExecuteByCharge.setRgvId(basJar.getEnterRgvNo());//RGV ID enter
			wrkMastExecuteByCharge.setRgvEndId(basJar.getOutRgvNo());//RGV ID out
			wrkMastExecuteByCharge.setIoType(100);//任务类型 0: 未知 1: 开进料门 2: 关进料门 3: 开出料门 4: 关出料门 5: 入硫化罐 6: 入冷却槽 7: 穿梭车进冷却槽 8: 穿梭车离开冷却槽 9: 出冷却槽 10：A=>B 11:B=>A 100:小车充电任务
			wrkMastExecuteByCharge.setType(1);//设备 0: 未知 1: 硫化罐 2: 冷却槽 3: 硫化罐==>冷却槽
			}

			try{
			if (jarWrkMastExecuteGenerateSteStatusCharge(steSlave.getId(),1,SteStatusType.CHARGE,true)){
			//完成充电任务
			//调车 == > 断开充电
			if (!jarSteTake(wrkMastExecuteByCharge,SteLocaType.POINT20.id,SteLocaType.POINT20.id,SteTaskModeType.CLOSE_CHARGE,true,wrkMastExecuteByCharge.getJarId())){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={}",
			wrkMastExecuteByCharge.getSteId(), JSON.toJSONString(wrkMastExecuteByCharge));
			}
			wrkMastExecuteByCharge.setWrkType(2);
			wrkMastExecuteByCharge.setWrkSts(100);
			if (!wrkMastExecuteService.updateById(wrkMastExecuteByCharge)){
			log.error("充电任务完成命令下发失败===>更新wrkMastExecute失败，ste号={},任务数据={}",
			wrkMastExecuteByCharge.getSteId(), JSON.toJSONString(wrkMastExecuteByCharge));
			}
			}
			}catch (Exception e){
			log.error("充电任务完成异常,steProtocol={},异常信息={}",JSON.toJSONString(steProtocol),e.getMessage());
			}
			}
			} catch (Exception e){
			log.error("硫化区域分段任务完成异常,异常信息={}",e.getMessage());
			}
			return false;
			}
			/**
			* 其他 ===>> 607分配硫化罐
			*/
			public synchronized void stackingCompletionDriveTray() {
			Integer staNo1 = jarGetStartStaNo(607);
			if (staNo1!=0){
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol607 = devpThread.getStation().get(607);
			if (staProtocol607.getWorkNo()<9001 && staProtocol607.getWorkNo()!=0 && staProtocol607.isLoading() && staProtocol607.isAutoing() && staProtocol607.getStaNo() == 607){
			staProtocol607.setStaNo(staNo1);
			boolean result2 = MessageQueue.offer(SlaveType.Devp, 2, new Task(5, staProtocol607));
			}
			}
			}
			public synchronized Integer jarGetStartStaNo(Integer staNo) {
			try {
			int[] jarNos=new int[]{4,2,3,1};//(607分配硫化罐)
			ArrayList<Integer> staNos = new ArrayList<Integer>() {{
			add(607);add(608);add(609);add(610);add(611);add(612);
			add(613);add(614);add(615);add(616);add(617);add(618);
			add(619);add(620);add(621);add(622);
			}};
			ArrayList<Integer> jarNoList = new ArrayList<>();
			ArrayList<Integer> jarNoListNow = new ArrayList<>();
			for (int jarNo : jarNos) {
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarNo, new ArrayList<Integer>() {{
			add(0);
			add(1);
			add(2);
			add(3);
			add(4);
			}});
			if (basJarMastList.isEmpty()){
			continue;
			}
			if (basJarMastList.size()>0 && basJarMastList.size()<jarMaxLoc){
			jarNoList.add(jarNo);
			}
			}
			jarNoList.add(4);
			jarNoList.add(2);
			jarNoList.add(3);
			jarNoList.add(1);
			for (int jarNo : jarNoList) {
			if (jarNoListNow.contains(jarNo)){
			continue;
			}
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarNo);
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			continue;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			continue;
			}
			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			continue;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			continue;
			}

			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			continue;
			}
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarNo, new ArrayList<Integer>() {{
			add(0);
			add(1);
			add(2);
			add(3);
			add(4);
			}});
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			Integer count = basJarMastList.size();
			ArrayList<Integer> wrkNoList = new ArrayList<>();

			for (Integer staNoEnt : staNos){
			StaProtocol staProtocolEnt = devpThread.getStation().get(staNoEnt);
			if (staProtocolEnt != null && staProtocolEnt.getWorkNo()!=0 && !wrkNoList.contains(staProtocolEnt.getWorkNo())){
			if (staProtocolEnt.getStaNo().equals(basJar.getEntStaNo$())){
			count++;
			wrkNoList.add(staProtocolEnt.getWorkNo());
			}
			}
			}
			if (count<jarMaxLoc){
			return basJar.getEntStaNo$();
			}
			}
			}catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 分配硫化罐进入下一步"+e);
			}
			return 0;
			}

			}