zy-wcs.git - Gitblit

			@@ -3,9 +3,9 @@
			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.baomidou.mybatisplus.mapper.Wrapper;
			import com.core.common.Cools;
			import com.core.common.DateUtils;
			import com.core.common.SpringUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.*;
			@@ -21,7 +21,6 @@
			import com.zy.common.utils.CollectionUtils;
			import com.zy.common.utils.HttpHandler;
			import com.zy.common.utils.RedisUtil;
			import com.zy.common.utils.RgvUtils;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			import com.zy.core.cache.MessageQueue;
			@@ -47,6 +46,7 @@
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

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

			/**
			@@ -73,8 +73,6 @@
			@Autowired
			private LocMastService locMastService;
			@Autowired
			private StaDescService staDescService;
			@Autowired
			private BasCrnpService basCrnpService;
			@Autowired
			private BasRgvService basRgvService;
			@@ -93,14 +91,17 @@
			@Autowired
			private BasRgvPathService basRgvPathService;
			@Autowired
			private RedisUtil redisUtil;
			@Autowired
			private WrkMastStaMapper wrkMastStaMapper;
			@Autowired
			private BasRgvMapMapper basRgvMapMapper;
			@Autowired
			private RgvOneSignMapper rgvOneSignMapper;

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

			@Value("${wms.rgvOpen}")
			private boolean rgvOpen;

			/**
			* 组托
			@@ -135,6 +136,47 @@
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

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

			// 入出库模式判断
			@@ -383,8 +425,9 @@
			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && staProtocol.getWorkNo()!=0) {
			// WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"7");
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
			if (wrkMast == null) {
			// 无拣料数据
			@@ -395,64 +438,67 @@
			continue;
			}

			// 获取目标站
			Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			.eq("type_no", wrkMast.getIoType() - 50)
			.eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
			.eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (Cools.isEmpty(staDesc)) {
			log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			continue;
			}

			// 获取库位号
			try {
			// 保存工作明细档历史档
			if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作明细档历史档失败");
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(wrkMast.getBarcode());
			param.setIoType(wrkMast.getIoType());
			param.setSourceStaNo(pickSta.getStaNo()); //作业站点
			param.setLocType1((short)1);
			String response = "";
			log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			try {
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin2/loc/v1")
			.setJson(JSON.toJSONString(param))
			.setTimeout(15, TimeUnit.SECONDS)
			.build()
			.doPost();
			} catch(Exception e){
			log.error("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
			e.printStackTrace();
			continue;
			}
			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作主档历史档失败");
			log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response);
			if(response.equals("")) {
			continue;
			}

			Date now = new Date();
			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			// 更新工作档数据状态
			wrkMast.setIoTime(now);
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
			wrkMast.setStaNo(staNo); // 目标站
			wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档数据状态失败");
			}
			// 更新明细档io_time (历史档关联使用）
			wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
			// 修改库位状态 Q.拣料/盘点/并板再入库
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException("修改库位状态失败");
			JSONObject jsonObject = JSON.parseObject(response);
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			Integer code = jsonObject.getInteger("code");
			if (code == 200) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			if (Cools.isEmpty(dto) \|\| Cools.isEmpty(dto.getStaNo())) {
			log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
			} else {
			log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位成功===>>" + jsonObject.toJSONString());
			try {
			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(dto.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			// ledThread.errorReset();
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
			if (!result) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			log.info("任务号"+wrkMast.getWrkNo()+"盘点/拣料再入库任务下发成功===>>" + staProtocol);
			} catch (Exception e) {
			log.error("盘点再入库失败===>>" + e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			log.error("stnToCrnStnPick2===>>fail", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			continue;
			}

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}

			}
			@@ -483,27 +529,14 @@
			continue;
			}

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

			if (wrkMast == null) {
			// WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
			// if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
			// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 9999L);
			// if (Cools.isEmpty(wrkMastSta)){
			// WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
			// wrkMastSta1.setType(2);
			// wrkMastSta1.setWrkType(1);
			// wrkMastStaMapper.insert(wrkMastSta1);
			// }
			// continue;
			// }
			// log.error("站点号"+staProtocol.getSiteId()+"未查询到工作档案！");
			// 无拣料数据
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()!=0) {//&& staProtocol.isInEnable()
			if (staProtocol.isEmptyMk()){
			log.error("站点号"+staProtocol.getSiteId()+"空板信号异常！");
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());

			if (wrkMast == null \|\| !wrkMast.getSheetNo().equals("3")) {
			continue;
			}
			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			@@ -511,65 +544,137 @@
			continue;
			}

			// 获取目标站
			Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			.eq("type_no", wrkMast.getIoType() - 50)
			.eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
			.eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (Cools.isEmpty(staDesc)) {
			log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			String barcode = wrkMast.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取库位号
			try {
			// 保存工作明细档历史档
			if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作明细档历史档失败");
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(wrkMast.getIoType());
			param.setSourceStaNo(pickSta.getStaNo()); //作业站点
			param.setLocType1((short)1);
			String response = "";
			log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			try {
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin2/loc/v1")
			.setJson(JSON.toJSONString(param))
			.setTimeout(15, TimeUnit.SECONDS)
			.build()
			.doPost();
			} catch(Exception e){
			log.error("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			// log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
			// e.printStackTrace();
			continue;
			}
			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作主档历史档失败");
			// log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			// log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response);
			if(response.equals("")) {
			continue;
			}

			Date now = new Date();
			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			// 更新工作档数据状态
			wrkMast.setIoTime(now);
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
			wrkMast.setStaNo(staNo); // 目标站
			wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档数据状态失败");
			}
			// 更新明细档io_time (历史档关联使用）
			wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
			// 修改库位状态 Q.拣料/盘点/并板再入库
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException("修改库位状态失败");
			JSONObject jsonObject = JSON.parseObject(response);
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			Integer code = jsonObject.getInteger("code");
			if (code == 200) {
			// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			// if (Cools.isEmpty(dto) \|\| Cools.isEmpty(dto.getStaNo())) {
			// log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
			// } else {
			log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位成功===>>" + jsonObject.toJSONString());
			// try {
			// // 更新站点信息且下发plc命令
			// staProtocol.setWorkNo(wrkMast.getWrkNo());
			// staProtocol.setStaNo(dto.getStaNo());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			//// ledThread.errorReset();
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			// }
			// log.info("任务号"+wrkMast.getWrkNo()+"盘点/拣料再入库任务下发成功===>>" + staProtocol);
			// } catch (Exception e) {
			// log.error("盘点再入库失败===>>" + e);
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			// }
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			continue;
			log.error("stnToCrnStnPick2===>>fail", e);
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

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

			}

			@@ -578,6 +683,164 @@
			}
			}

			/**
			* 2楼212呼叫空板
			*/
			public synchronized void stnToCrnStnPick3Auto(Integer sign) {
			try{
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol = devpThread.getStation().get(212);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo()==0 ){
			switch (sign){
			//执行小车货物搬运任务
			case 1:
			case 4:
			stnToCrnStnPick3();
			return;
			//执行小车空板搬运任务
			case 2://放//拆盘
			case 5://放//拆盘
			stnToCrnStnPick4();
			return;
			default:
			return;
			}
			} else if (staProtocol.isAutoing() && staProtocol.isLoading()){
			switch (sign){
			case 3://满放
			case 6://满放
			stnToCrnStnPick5();
			return;
			default:
			return;
			}
			}
			}catch (Exception e){
			log.error("2楼212呼叫空板"+e);
			}
			}
			/**
			* 2楼212呼叫空板
			*/
			public synchronized void stnToCrnStnPick3() {
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
			if (Cools.isEmpty(wrkMast) \|\| wrkMast.getWrkSts()!=61){//61、等待空板
			return;
			}
			for (DevpSlave devp : slaveProperties.getDevp()) {
			for (DevpSlave.Sta driveSta : devp.getDriveSta()) {
			if (driveSta.getStaNo()!=215){
			continue;
			}
			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(driveSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo()==0
			\|\| (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000)) ){
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));

			staProtocol.setWorkNo(wrkMast.getWrkNo()-1);
			staProtocol.setStaNo(driveSta.getStaNo()==215? 217:221);
			boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result2) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			wrkMast.setWrkSts(62L);
			wrkMastMapper.updateById(wrkMast);

			boolean result3 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
			return;
			}
			}
			}
			}

			/**
			* 2楼212呼叫空板
			*/
			public synchronized void stnToCrnStnPick4() {
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
			if (Cools.isEmpty(wrkMast) \|\| wrkMast.getWrkSts()!=62){//62、等待小车搬运
			return;
			}
			for (DevpSlave devp : slaveProperties.getDevp()) {
			for (DevpSlave.Sta driveSta : devp.getInSta()) {
			if (driveSta.getStaNo()!=217){
			continue;
			}
			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(driveSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			StaProtocol staProtocol212 = devpThread.getStation().get(212);
			if (staProtocol212 == null) {
			continue;
			} else {
			staProtocol212 = staProtocol212.clone();
			}
			if (staProtocol212.isAutoing() && !staProtocol212.isLoading() && staProtocol212.getWorkNo()==0){
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo()==0
			\|\| (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) \|\| staProtocol.getWorkNo()==wrkMast.getWrkNo()-1) ){
			// boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));

			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(212);
			boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result2) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			wrkMast.setWrkSts(63L);
			wrkMastMapper.updateById(wrkMast);

			// boolean result3 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
			return;
			}
			}
			}
			}
			}

			/**
			* 2楼212呼叫空板
			*/
			public synchronized void stnToCrnStnPick5() {
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
			if (Cools.isEmpty(wrkMast) \|\| wrkMast.getWrkSts()!=63){//63、等待完成
			return;
			}

			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol = devpThread.getStation().get(212);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading()){
			// boolean result1 = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, staProtocol));

			wrkMast.setWrkSts(64L);
			wrkMastMapper.updateById(wrkMast);

			// boolean result3 = MessageQueue.offer(SlaveType.Devp, 2, new Task(4, staProtocol));
			return;
			}
			}
			/**
			* 拣料、并板、盘点再入库拆垛位置
			*/
			@@ -599,9 +862,25 @@
			continue;
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
			WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
			if (wrkMast == null) {
			// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0) {
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
			// if (wrkMast == null) {
			// WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
			// if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
			// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
			// if (Cools.isEmpty(wrkMastSta)){
			// WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
			// wrkMastSta1.setType(2);
			// wrkMastSta1.setWrkType(1);
			// wrkMastStaMapper.insert(wrkMastSta1);
			// }
			// }
			// }
			// } else
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isEmptyMk() && staProtocol.isPakMk() && staProtocol.getWorkNo()>0) {
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
			if (wrkMast == null \|\| (wrkMast.getSheetNo().equals("3") && wrkMast.getIoType()==101)) {
			WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
			if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
			@@ -932,11 +1211,16 @@
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			// wrkMast.setUpdMk("Y");
			// wrkMast.setIoPri(14D);
			// wrkMastMapper.updateById(wrkMast);
			// // 生成工作档,将浅库位移转到新的库位中
			// moveLocForDeepLoc(slave, shallowLoc);
			if (moveLocForDeepLoc(slave, shallowLoc)){
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			}
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			}
			@@ -1027,7 +1311,7 @@
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y") && staDetl.getWrkNo().equals(wrkMast.getWrkNo())) {
			flag = true;
			}
			if (!flag) {
			@@ -1076,11 +1360,17 @@
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			// wrkMast.setUpdMk("Y");
			// wrkMast.setIoPri(14D);
			// wrkMastMapper.updateById(wrkMast);
			// // 生成工作档,将浅库位移转到新的库位中
			// moveLocForDeepLoc(slave, shallowLoc);

			if (moveLocForDeepLoc(slave, shallowLoc)){
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			}
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			}
			@@ -1208,10 +1498,16 @@
			// if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())
			// \|\| Cools.isEmpty(waitWrkMast)) {
			if (Cools.isEmpty(waitWrkMast)) {
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			// wrkMast.setUpdMk("Y");
			// wrkMastMapper.updateById(wrkMast);
			// // 生成工作档,将浅库位移转到新的库位中
			// moveLocForDeepLoc(slave, shallowLoc);

			if (moveLocForDeepLoc(slave, shallowLoc)){
			wrkMast.setUpdMk("Y");
			// wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			}
			}
			log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			@@ -1286,6 +1582,13 @@
			log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
			continue;
			}
			//退库模式跳过118、119出库任务
			if (wrkMast.getStaNo()==118 \|\| wrkMast.getStaNo()==119){
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign("oneSign");
			if (Cools.isEmpty(rgvOneSign) \|\| rgvOneSign.getRgvOneSign()==1){
			continue;
			}
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
			@@ -1355,10 +1658,16 @@
			// if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())
			// \|\| Cools.isEmpty(waitWrkMast)) {
			if (Cools.isEmpty(waitWrkMast)) {
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			// wrkMast.setUpdMk("Y");
			// wrkMastMapper.updateById(wrkMast);
			// // 生成工作档,将浅库位移转到新的库位中
			// moveLocForDeepLoc(slave, shallowLoc);

			if (moveLocForDeepLoc(slave, shallowLoc)){
			wrkMast.setUpdMk("Y");
			// wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			}
			}
			log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			@@ -2011,6 +2320,10 @@
			*/
			public synchronized void storeEmptyPlt3() {
			try{
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign("oneSign");
			if (Cools.isEmpty(rgvOneSign) \|\| rgvOneSign.getRgvOneSign()==1){
			return;
			}
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			@@ -2029,7 +2342,8 @@
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			// && (rgvProtocol.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			&& rgvProtocol.getLoaded2()==3 ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			try {
			WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122);
			@@ -2042,6 +2356,7 @@
			param.setIoType(10);
			param.setSourceStaNo(122);
			param.setLocType1((short)1);
			param.setRgvNo(rgvProtocol.getRgvNo());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/empty/loc/v1")
			@@ -2087,7 +2402,8 @@
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			List<LedCommand> commands = new ArrayList<>();
			// 工作档集合
			String orderNo = null;
			// 工作档集合
			List<WrkMast> wrkMasts = new ArrayList<>();
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			@@ -2133,6 +2449,10 @@
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			case 212:
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			default:
			log.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			break;
			@@ -2143,7 +2463,14 @@
			// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
			if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl)));
			if (Cools.isEmpty(wrkDetls)){
			continue;
			}
			Integer count1 = wrkDetlService.count1();
			Integer count11 = wrkDetlService.count11();
			Integer count2 = wrkDetlService.count2(wrkDetls.get(0).getOrderNo());
			Integer count3 = wrkDetlService.count3();
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl,count1+count11,count2,count3)));
			}
			commands.add(ledCommand);
			}
			@@ -2319,7 +2646,7 @@
			* 因双深库位阻塞，对浅库位进行移转（立即执行版)
			* tip：同步
			*/
			private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
			private synchronized boolean moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
			try {
			List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
			LocMast loc = null;
			@@ -2363,74 +2690,90 @@

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

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

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

			// /**
			@@ -2738,10 +3081,10 @@
			*/
			public synchronized void stackingCompletionDriveTray() {
			try {
			int[] staNos=new int[]{216,220,123};//(3个入库站点，1楼1个退货码垛站，2楼两个入库码垛站)
			int[] staNos=new int[]{215,219};//(2楼两个入库码垛站)
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp.getWrkNo()!=9992 \|\| Cools.isEmpty(basDevp.getBarcode())){
			if ((basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 \|\| basDevp.getWrkNo()>9999)) \|\| Cools.isEmpty(basDevp.getBarcode())){
			continue;
			}
			Integer zpallet = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet", basDevp.getBarcode()).eq("status","N"));
			@@ -2772,11 +3115,11 @@
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& staProtocol.getWorkNo() == 9992
			&& (basDevp.getWrkNo()==0 \|\| (basDevp.getWrkNo()>=9900 && basDevp.getWrkNo()<=9999))
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {

			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(staNo + 1);
			int workNo = commonService.getWorkNo(5);
			staProtocol.setWorkNo(workNo);
			staProtocol.setStaNo(staNo + 2);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			if (!result) {
			@@ -2802,9 +3145,9 @@
			if (Cools.isEmpty(basDevp) \|\| basDevp.getReportSign()!=1){
			continue;
			}
			if (basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 \|\| basDevp.getWrkNo()>9999)){
			continue;
			}
			// if (basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 \|\| basDevp.getWrkNo()>9999)){
			// continue;
			// }
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
			if (Cools.isEmpty(wrkMast)){
			continue;
			@@ -2823,35 +3166,35 @@
			// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
			// continue;
			// }

			if (staProtocol.isEmptyMk()){
			log.info("{}站点无物，异常！",staNo);
			continue;
			}
			if (!staProtocol.isLoading()){
			log.info("{}站点无物，异常！",staNo);
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& (staProtocol.getWorkNo() == 0 \|\| (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000))
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {

			if (staProtocol.isAutoing() && staProtocol.getWorkNo() == 0) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
			// && staProtocol.isInEnable()
			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			Thread.sleep(100);

			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(144);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			// boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			// Thread.sleep(100);
			StaProtocol staProtocolnew = new StaProtocol();
			staProtocolnew.setSiteId(staProtocol.getSiteId());
			staProtocolnew.setWorkNo(wrkMast.getWrkNo());
			staProtocolnew.setStaNo(144);
			devpThread.setPakMk(staProtocolnew.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocolnew));
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}
			wrkMast.setWrkSts(52L);
			wrkMastMapper.updateById(wrkMast);
			Thread.sleep(100);
			// Thread.sleep(100);

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

			}
			}
			@@ -2863,7 +3206,7 @@
			}

			/**
			* 其他 ===>> 码垛完成驱动托盘进入下一步
			* 其他 ===>> 码垛完成驱动托盘进入下一步 2===》3
			*/
			public synchronized void stackingCompletionDriveTrayOk2() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			@@ -2879,7 +3222,7 @@
			staProtocol = staProtocol.clone();
			}

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

			if (wrkMast == null) {
			@@ -2887,12 +3230,12 @@
			// 无拣料数据
			continue;
			}
			if (!wrkMast.getSheetNo().equals("2") \|\| wrkMast.getIoType()<100 \|\| wrkMast.getWrkSts()!=14){
			if (Cools.isEmpty(wrkMast.getSheetNo()) \|\| !wrkMast.getSheetNo().equals("2") \|\| wrkMast.getIoType()<100 \|\| wrkMast.getWrkSts()!=14){
			continue;
			}
			if (wrkMast.getIoType()==101){
			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			// boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			wrkMast.setSheetNo("3");
			wrkMastMapper.updateById(wrkMast);
			}else {
			@@ -2901,17 +3244,17 @@
			continue;
			}
			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			// boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			wrkMast.setSheetNo("3");
			wrkMastMapper.updateById(wrkMast);

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

			}

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

			}
			}
			@@ -3003,8 +3346,20 @@
			staProtocol = staProtocol.clone();
			}

			StaProtocol staProtocol147 = devpThread.getStation().get(147);
			if (staProtocol147 == null) {
			continue;
			} else {
			staProtocol147 = staProtocol147.clone();
			}

			if (!staProtocol.isLoading()){
			log.info("{}站点无物，异常！",staNo);
			continue;
			}

			if (staProtocol147.isLoading()){
			log.info("{}站点有物！",staProtocol147.getSiteId());
			continue;
			}
			// 判断是否满足入库条件
			@@ -3012,6 +3367,9 @@
			&& staProtocol.isLoading()
			&& !staProtocol.isEmptyMk()
			) {

			boolean result3 = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol147));

			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			@@ -3019,8 +3377,12 @@
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}

			wrkMast.setSheetNo("5");
			wrkMastMapper.updateById(wrkMast);

			boolean result4 = MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol147));

			}
			}
			}catch (Exception e){
			@@ -3039,10 +3401,18 @@
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			BasDevp basDevp135 = basDevpService.selectById(135);
			if (basDevp.getWrkNo()==0 \|\| (basDevp.getWrkNo()<10000 && basDevp.getWrkNo()>9899) ){
			if (basDevp.getWrkNo()==0){
			continue;
			}
			if (basDevp135.getReportSign()!=0){
			continue;
			}
			BasDevp basDevp121 = basDevpService.selectById(121);
			if (basDevp121.getReportSign()!=0){
			continue;
			}
			BasDevp basDevp120 = basDevpService.selectById(120);
			if (basDevp120.getReportSign()!=0){
			continue;
			}
			WrkMast wrkMast131 = wrkMastMapper.selectWrkMastUnstackingOne202Two(131);
			@@ -3057,8 +3427,8 @@
			} else {
			staProtocol135 = staProtocol135.clone();
			}
			if (staProtocol135.getWorkNo()<9900 \|\| staProtocol135.getWorkNo()>9999 \|\| staProtocol135.getWorkNo()==0
			\|\| !staProtocol135.isLoading() \|\| !staProtocol135.isAutoing()){
			if ( staProtocol135.getWorkNo()!=0
			\|\| !staProtocol135.isLoading() \|\| !staProtocol135.isAutoing() \|\| !staProtocol135.isEmptyMk()){
			continue;
			}
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			@@ -3071,6 +3441,26 @@
			if (!staProtocol.isLoading()){
			continue;
			}
			StaProtocol staProtocol120 = devpThread.getStation().get(120);
			if (staProtocol120 == null) {
			continue;
			} else {
			staProtocol120 = staProtocol120.clone();
			}

			if (staProtocol120.isLoading()){
			continue;
			}
			StaProtocol staProtocol121 = devpThread.getStation().get(121);
			if (staProtocol121 == null) {
			continue;
			} else {
			staProtocol121 = staProtocol121.clone();
			}

			if (staProtocol121.isLoading()){
			continue;
			}
			// if (!staProtocol.getWorkNo().equals(wrkMast131.getWrkNo())){
			// log.info("站点工作号={} 与贴标工作号={} 不一致，异常！",staProtocol.getWorkNo(),wrkMast131.getWrkNo().shortValue());
			// }
			@@ -3079,25 +3469,30 @@
			&& staProtocol.isLoading()
			&& basDevp.getReportSign()==0
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
			if (true){
			return;
			}
			// if (true){
			// return;
			// }

			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol135));
			try{
			Thread.sleep(100);
			}catch (Exception e){ }
			// boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol135));
			// try{
			// Thread.sleep(100);
			// }catch (Exception e){ }
			basDevp135.setReportSign(2);
			basDevpService.updateById(basDevp135);
			staProtocol135.setWorkNo(32222);
			staProtocol135.setStaNo(144);
			devpThread.setPakMk(staProtocol135.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol135));
			int workNo = commonService.getWorkNo(5);

			StaProtocol staProtocolnew = new StaProtocol();
			staProtocolnew.setSiteId(staProtocol135.getSiteId());
			staProtocolnew.setWorkNo(workNo);
			staProtocolnew.setStaNo(144);

			devpThread.setPakMk(staProtocolnew.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocolnew));
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}
			boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol135));
			// boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol135));

			}
			}
			@@ -3148,11 +3543,16 @@
			log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast)){
			/* WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
			Thread.sleep(200);
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			continue;
			}
			@@ -3179,7 +3579,7 @@
			// }catch (Exception e){
			//
			// }
			}
			}*/
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			@@ -3206,8 +3606,8 @@
			log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast)){
			/*WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
			Thread.sleep(200);
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			@@ -3237,7 +3637,7 @@
			// }catch (Exception e){
			//
			// }
			}
			}*/
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			@@ -3260,7 +3660,8 @@
			/**
			* 入出库 ===>> 小车作业下发
			*/
			public synchronized void rgvIoExecute(Integer sign) {
			public synchronized boolean rgvIoExecute(Integer sign) {
			boolean rgvIoExecuteSign = false;
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// 获取小车信息
			@@ -3287,20 +3688,20 @@
			switch (sign){
			//执行小车货物搬运任务
			case 1:
			signWork = rgvRunWrkMastFullSta();
			signWork = rgvRunWrkMastFullSta(rgvSlave);
			break;
			//执行小车空板搬运任务
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut();
			signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull();
			signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake();
			signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull();
			signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
			break;
			case 6:////提升
			// signWork = qwe();
			@@ -3308,56 +3709,62 @@
			default:
			break;
			}
			}
			for (int signCount = 1;!signWork && signCount<8;signCount++){
			switch (signCount){
			case 1://执行小车货物搬运任务
			signWork = rgvRunWrkMastFullSta();
			break;
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut();
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull();
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake();
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull();
			break;
			case 6:////提升
			for (int signCount = 1;!signWork && signCount<7;signCount++){
			switch (signCount){
			case 1://执行小车货物搬运任务
			signWork = rgvRunWrkMastFullSta(rgvSlave);
			break;
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
			break;
			case 6:////提升
			// signWork = rgvRunWrkMastEmptyStaPut();
			break;
			default:
			if (sign>6){
			rgvRunWrkMastEmptyStaAvoidance();//避让
			signWork = true;
			}
			break;
			break;
			default:
			break;
			}
			}
			}else {
			continue;
			}

			if (!rgvIoExecuteSign){
			rgvIoExecuteSign = signWork;
			}
			}
			// if (!rgvIoExecuteSign){
			// if (sign>6){
			//
			// }
			// }
			}catch (Exception e){
			log.error("RGV小车任务下发报错"+e);
			}
			return rgvIoExecuteSign;
			}
			/**
			* 执行小车搬运任务
			*/
			public synchronized boolean rgvRunWrkMastFullSta() {
			public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			continue;
			return false;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			@@ -3371,7 +3778,7 @@
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			@@ -3381,9 +3788,56 @@
			continue;
			}
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y")){
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y") \|\| basDevp.getWrkNo()!=0){
			continue;
			}
			if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
			if (basDevp.getLoadingSuper().equals("Y")){
			continue;
			}
			}
			if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
			if (!basDevp.getEmptyMk().equals("Y")){
			continue;
			}
			}
			Date date = new Date();

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
			if (staProtocol == null) {
			log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
			continue;
			}
			if (!staProtocol.isAutoing() \|\| staProtocol.isLoading() \|\| staProtocol.getWorkNo() != 0){
			continue;
			}
			if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
			if (staProtocol.isLoadingSuper()){
			continue;
			}
			}
			if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
			if (!staProtocol.isEmptyMk()){
			continue;
			}
			}
			BasDevp basDevpS = basDevpService.selectById(wrkMastSta.getStaStart());
			if (!basDevpS.getAutoing().equals("Y") \|\| !basDevpS.getLoading().equals("Y") \|\| basDevpS.getWrkNo()!=wrkMastSta.getWrkNo().intValue()){
			continue;
			}
			StaProtocol staProtocols = devpThread.getStation().get(basDevpS.getDevNo());
			if (staProtocols == null) {
			log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
			continue;
			}
			if (!staProtocols.isAutoing() \|\| !staProtocols.isLoading() \|\| staProtocols.getWorkNo() != wrkMastSta.getWrkNo().intValue()){
			continue;
			}


			log.info(date+"取放任务下发：小车工作档："+wrkMastSta);
			log.info(date+"取放任务下发：目标站状态："+basDevp);
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
			@@ -3404,7 +3858,7 @@
			break;
			}
			}
			}
			// }
			}catch (Exception e){
			log.error("3875行执行小车搬运任务下发失败");
			log.error("3875行"+e);
			@@ -3414,18 +3868,18 @@
			/**
			* 执行小车搬运任务//拆盘
			*/
			public synchronized boolean rgvRunWrkMastEmptyStaPut() {//拆盘
			public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//拆盘
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			continue;
			return false;
			}

			// 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘
			@@ -3439,7 +3893,7 @@
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			return false;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			@@ -3451,9 +3905,43 @@
			boolean sign = false;
			if ( wrkMastSta.getStaEnd()!=0){//放
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y")){
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y") \|\| basDevp.getWrkNo()!=0){
			continue;
			}
			if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
			if (basDevp.getLoadingSuper().equals("Y")){
			continue;
			}
			}
			if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
			if (!basDevp.getEmptyMk().equals("Y")){
			continue;
			}
			}
			Date date = new Date();

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
			if (staProtocol == null) {
			log.info(date+"拆盘任务下发：未查询到站点信息："+wrkMastSta);
			continue;
			}
			if (!staProtocol.isAutoing() \|\| staProtocol.isLoading() \|\| staProtocol.getWorkNo() != 0){
			continue;
			}
			if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
			if (staProtocol.isLoadingSuper()){
			continue;
			}
			}
			if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
			if (!staProtocol.isEmptyMk()){
			continue;
			}
			}

			log.info(date+"拆盘任务下发：小车工作档："+wrkMastSta);
			log.info(date+"拆盘任务下发：目标站状态："+basDevp);
			sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
			}else {
			continue;
			@@ -3477,7 +3965,7 @@
			break;
			}
			}
			}
			// }
			}catch (Exception e){
			log.error("3933行执行小车放空板任务下发失败");
			log.error("3933行"+e);
			@@ -3488,18 +3976,18 @@
			/**
			* 执行小车搬运任务
			*/
			public synchronized boolean rgvRunWrkMastEmptyStaPutFull() {//满放
			public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//满放
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			continue;
			return false;
			}

			// 只有当RGV空闲、自动,工位二有物//rgv可用
			@@ -3513,7 +4001,7 @@
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			return false;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			@@ -3525,9 +4013,43 @@
			boolean sign = false;
			if ( wrkMastSta.getStaEnd()!=0){//满放
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y")){
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y") \|\| basDevp.getWrkNo()!=0){
			continue;
			}
			if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
			if (basDevp.getLoadingSuper().equals("Y")){
			continue;
			}
			}
			if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
			if (!basDevp.getEmptyMk().equals("Y")){
			continue;
			}
			}
			Date date = new Date();

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
			if (staProtocol == null) {
			log.info(date+"满放任务下发：未查询到站点信息："+wrkMastSta);
			continue;
			}
			if (!staProtocol.isAutoing() \|\| staProtocol.isLoading() \|\| staProtocol.getWorkNo() != 0){
			continue;
			}
			if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
			if (staProtocol.isLoadingSuper()){
			continue;
			}
			}
			if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
			if (!staProtocol.isEmptyMk()){
			continue;
			}
			}

			log.info(date+"满放任务下发：小车工作档："+wrkMastSta);
			log.info(date+"满放任务下发：目标站状态："+basDevp);
			sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
			}else {
			continue;
			@@ -3551,7 +4073,7 @@
			break;
			}
			}
			}
			// }
			}catch (Exception e){
			log.error("3933行执行小车放空板任务下发失败");
			log.error("3933行"+e);
			@@ -3559,18 +4081,18 @@
			return false;
			}

			public synchronized boolean rgvRunWrkMastEmptyStaTake() {//叠盘
			public synchronized boolean rgvRunWrkMastEmptyStaTake(RgvSlave rgvSlave) {//叠盘
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			continue;
			return false;
			}

			// 只有当RGV空闲、自动,工位二无物//rgv可用
			@@ -3584,7 +4106,7 @@
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			@@ -3599,6 +4121,30 @@
			if (!basDevp.getAutoing().equals("Y") \|\| !basDevp.getLoading().equals("Y")){
			continue;
			}
			if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
			if (!basDevp.getEmptyMk().equals("Y")){
			continue;
			}
			}
			Date date = new Date();

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
			if (staProtocol == null) {
			log.info(date+"叠盘任务下发：未查询到站点信息："+wrkMastSta);
			continue;
			}
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			continue;
			}
			if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
			if (!staProtocol.isEmptyMk()){
			continue;
			}
			}

			log.info(date+"叠盘任务下发：小车工作档："+wrkMastSta);
			log.info(date+"叠盘任务下发：目标站状态："+basDevp);
			sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
			}else {
			continue;
			@@ -3622,7 +4168,7 @@
			break;
			}
			}
			}
			// }
			}catch (Exception e){
			log.error("3989行执行小车取空板任务下发失败");
			log.error("3989行"+e);
			@@ -3630,18 +4176,18 @@
			return false;
			}

			public synchronized boolean rgvRunWrkMastEmptyStaTakeFull() {//满取
			public synchronized boolean rgvRunWrkMastEmptyStaTakeFull(RgvSlave rgvSlave) {//满取
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			continue;
			return false;
			}

			// 只有当RGV空闲、自动,工位二无物//rgv可用
			@@ -3655,11 +4201,18 @@
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			WrkMast wrkMast = wrkMastMapper.selectBy122ManQu(122,110,15L);
			if (!Cools.isEmpty(wrkMast)){
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
			if (!Cools.isEmpty(wrkMastSta) && wrkMastSta.getType()==2 && wrkMastSta.getWrkType()==5 ){
			wrkMastStaList.add(wrkMastSta);
			}
			}
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=5){// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
			continue;
			@@ -3670,6 +4223,20 @@
			if (!basDevp.getAutoing().equals("Y") \|\| !basDevp.getLoading().equals("Y")){
			continue;
			}
			Date date = new Date();

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
			if (staProtocol == null) {
			log.info(date+"满取任务下发：未查询到站点信息："+wrkMastSta);
			continue;
			}
			if (!staProtocol.isAutoing() \|\| staProtocol.isLoading()){
			continue;
			}

			log.info(date+"满取任务下发：小车工作档："+wrkMastSta);
			log.info(date+"满取任务下发：目标站状态："+basDevp);
			sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
			}else {
			continue;
			@@ -3693,7 +4260,7 @@
			break;
			}
			}
			}
			// }
			}catch (Exception e){
			log.error("3989行执行小车取空板任务下发失败");
			log.error("3989行"+e);
			@@ -3706,10 +4273,17 @@
			* */
			public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
			try{
			Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
			if (integer==0){
			// Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
			// if (integer==0){
			// return;
			// }
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0);
			if (Cools.isEmpty(wrkMastSta)){
			return;
			}
			boolean signRgv = true;
			boolean signRgv1 = true;
			boolean signRgv2 = true;
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			@@ -3731,19 +4305,85 @@
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			if (rgvProtocol.getRgvNo()!=1){
			if (!rgvProtocol.getRgvPosI().equals(120) && !rgvProtocol.getRgvPosI().equals(110)){
			continue;
			}
			rgvAvoidanceXY(rgvProtocol.getRgvNo());
			// return;
			continue;
			}
			if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) \|\| rgvProtocol.getRgvPosI().equals(102) )){
			continue;
			} else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) \|\| rgvProtocol.getRgvPosI().equals(117) ) ){
			if (!rgvProtocol.getRgvPosI().equals(110) && !rgvProtocol.getRgvPosI().equals(108) && !rgvProtocol.getRgvPosI().equals(119)){
			continue;
			}
			Integer count108Y = wrkMastStaMapper.selectAllWrkCount108Y();
			if (count108Y!=0){
			continue;
			}
			// Integer count108 = wrkMastStaMapper.selectAllWrkCount108();
			// if (count108!=0){
			// continue;
			// }
			rgvAvoidanceXY(rgvProtocol.getRgvNo());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			continue;
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMap.getRgvNo(), basRgvMap.getEndRoute()); //获取合并干涉项
			// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(),fallMerge);
			// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route ,route);
			// if (!wrkMastStaList.isEmpty()){
			// log.info("小车存在可执行任务，跳过避让！！4214");
			// return;
			// }
			// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			//// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
			//// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
			// if (rgvProtocol.getRgvNo()==1){
			// signRgv1 = false;
			// }else {
			// signRgv2 = false;
			// }
			// }
			// if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) \|\| rgvProtocol.getRgvPosI().equals(102) )){
			// signRgv1 = false;
			// continue;
			// } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) \|\| rgvProtocol.getRgvPosI().equals(117) ) ){
			// signRgv2 = false;
			// continue;
			// }
			}else {
			signRgv = false;
			break;
			}
			}
			// if (signRgv && (signRgv1 \|\| signRgv2)){
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// if (rgvProtocol == null) {
			// continue;
			// }
			//
			// // 只有当RGV空闲、自动,工位一无物//rgv可用
			// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// && rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			// && rgvProtocol.getTaskNo1()==0
			// && rgvProtocol.getTaskNo2()==0
			// && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			// && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			// ) {
			// if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) \|\| rgvProtocol.getRgvPosI().equals(102) )){
			// continue;
			// } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) \|\| rgvProtocol.getRgvPosI().equals(117) ) ){
			// continue;
			// }
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// rgvAvoidanceXY(rgvProtocol.getRgvNo());
			// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			//
			// }
			// }
			// }
			}catch (Exception e){
			log.error("4109行执行小车初始化任务下发失败");
			log.error("4109行"+e);
			@@ -3799,7 +4439,7 @@
			rgvCommand.setTaskNo1((short)32222); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式: 回原点
			//basRgvMap.getLockStartRoute().shortValue()
			rgvCommand.setSourceStaNo1( (short)101);
			rgvCommand.setSourceStaNo1( (short)104);
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号
			@@ -3821,7 +4461,7 @@
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2((short)32222); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式: 回原点
			rgvCommand.setSourceStaNo2((short)117);
			rgvCommand.setSourceStaNo2((short)114);
			rgvCommand.setCommand((short) 2); //工位2任务确认
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号
			@@ -4038,11 +4678,15 @@
			* 小车地图更新更新锁
			* */
			public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
			if (rgvOpen){
			return true;
			}

			// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
			//更新当前小车锁
			try{
			Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
			// Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(staEnd, staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
			Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
			basRgvMapCurrent.setLockEndRoute(fallMerge);
			basRgvMapMapper.updateById(basRgvMapCurrent);
			@@ -4052,7 +4696,8 @@
			BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
			List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
			Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//另一台小车可活动最远位置
			basRgvMapOther.setEndRoute(lockEndRoute);
			Integer lockEndRouteL = RouteUtils.RouteIndexFarMasL(rgvNoOther, lockEndRoute);//另一台小车可活动最远位置
			basRgvMapOther.setEndRoute(lockEndRouteL);
			basRgvMapMapper.updateById(basRgvMapOther);
			return true;
			}catch (Exception e){
			@@ -4061,4 +4706,87 @@
			}
			}


			/**
			* ste充电任务创建 //完成
			*/
			public synchronized void armNoStartTwoLo() {
			int[] staNos =new int[]{215,219};
			for (int staNo : staNos){
			try{
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk()){
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign("armNo"+staNo);
			if (!Cools.isEmpty(rgvOneSign) && rgvOneSign.getRgvOneSign() == 1){
			int workNo = commonService.getWorkNo(6);

			StaProtocol staProtocolnew = new StaProtocol();
			staProtocolnew.setSiteId(staNo);
			staProtocolnew.setWorkNo(workNo);
			staProtocolnew.setStaNo(staNo==215? 217:221);
			boolean result1 = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, staProtocolnew));

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

			boolean result2 = MessageQueue.offer(SlaveType.Devp, 2, new Task(2, staProtocolnew));
			if (!result2) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", 2);
			}
			if (!staProtocol.isLoading()){
			updateRgvOneSign("armNo"+staNo,0);
			}


			boolean result3 = MessageQueue.offer(SlaveType.Devp, 2, new Task(4, staProtocolnew));
			}
			}
			}catch (Exception e){
			log.error("站点"+staNo+"2楼机械臂码垛后标记清除失败，异常信息："+e);
			}
			}
			}

			public synchronized void armNoCleanUpTwoLo() {
			int[] staNos =new int[]{215,219};
			for (int staNo : staNos){
			try{
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (!staProtocol.isLoading()){
			updateRgvOneSign("armNo"+staNo,0);
			}
			}catch (Exception e){
			log.error("站点"+staNo+"2楼机械臂码垛后标记清除失败，异常信息："+e);
			}
			}
			}

			public void updateRgvOneSign(String signType,Integer oneSign){
			try{
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign(signType);
			if (!Cools.isEmpty(rgvOneSign)){
			rgvOneSign.setRgvOneSign(oneSign);
			rgvOneSignMapper.updateById(rgvOneSign);
			}
			} catch (Exception e){
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign(signType);
			if (!Cools.isEmpty(rgvOneSign)){
			rgvOneSign.setRgvOneSign(999);
			rgvOneSignMapper.updateById(rgvOneSign);
			}
			}
			}

			}