zy-wcs.git - Gitblit

			@@ -26,17 +26,17 @@
			import com.zy.core.cache.MessageQueue;
			import com.zy.core.cache.SlaveConnection;
			import com.zy.core.enums.*;
			import com.zy.core.model.*;
			import com.zy.core.model.CrnSlave;
			import com.zy.core.model.DevpSlave;
			import com.zy.core.model.LedSlave;
			import com.zy.core.model.Task;
			import com.zy.core.model.command.CrnCommand;
			import com.zy.core.model.command.LedCommand;
			import com.zy.core.model.command.RgvCommand;
			import com.zy.core.model.protocol.CrnProtocol;
			import com.zy.core.model.protocol.RgvProtocol;
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.BarcodeThread;
			import com.zy.core.thread.LedThread;
			import com.zy.core.thread.RgvThread;
			import com.zy.core.thread.SiemensDevpThread;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			@@ -46,7 +46,6 @@
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

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

			/**
			@@ -98,7 +97,10 @@
			@Value("${wms.url}")
			private String wmsUrl;

			public Integer wrkNo = 10000;
			@Value("${camera.url}")
			private String cameraUrl;

			public Short wrkNo = 10000;

			/**
			* 组托
			@@ -110,8 +112,12 @@
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			if (inSta.getStaNo() == 1035) {
			continue;
			}
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			BarcodeThread barcodeThreadMat = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcodeMat());
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			@@ -121,10 +127,6 @@
			staProtocol = staProtocol.clone();
			}

			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			@@ -154,26 +156,21 @@
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			log.error("物料码扫码失败");
			back = true;
			}
			// 退回
			if (back) {
			// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));

			if (!staProtocol.isLoading()){
			if (!staProtocol.isLoading()) {
			continue;
			}
			if (!staProtocol.isPakMk()) {
			continue;
			}
			staProtocol.setWorkNo(wrkNo);
			News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
			// led 异常显示
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
			}
			}

			// 判断是否满足入库条件
			@@ -182,31 +179,50 @@
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& staProtocol.isPakMk()) {
			if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "00000000".equals(barcode)) {
			String barcode = staProtocol.getBarcode();
			if (Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "00000000".equals(barcode)) {
			News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);

			staProtocol.setWorkNo(wrkNo);
			News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			continue;
			}
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			News.error(barcode + "条码已存在状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			if (ledThread != null) {
			News.error(methodName + ":扫码失败，请重试");
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走）的任务,工作号="+ wrkMast.getWrkNo()));
			int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
			if (wrkNo1 != 0) {
			News.error(barcode + "条码已存在状态为（ 2.设备上走）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
			if (ledThread != null) {
			News.error(methodName + ":扫码失败，请重试");
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走）的任务,工作号=" + wrkMast.getWrkNo()));
			}
			continue;
			}
			continue;
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(RouteUtils.SouStaEnd(null, wrkMast.getSourceStaNo()));
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.info("输送线下发(存在设备上走的工作档，直接下发！))：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());

			ledThread.errorReset();
			log.info("组托请求后LED错误清除");

			if (!result) {
			News.error(methodName + ":更新plc站点信息失败");
			log.error("输送线下发(存在设备上走的工作档，直接下发！)==>更新plc站点信息失败");

			// throw new CoolException("更新plc站点信息失败");
			continue;
			}

			}
			WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
			.eq("barcode", barcode)
			.in("io_type", 107,103,57));
			.in("io_type", 107, 103, 57));
			if (!Cools.isEmpty(checkPick)) {
			continue;
			}
			@@ -227,12 +243,11 @@
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(), dto.getSourceStaNo()));
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发2："+dto.getWorkNo()+","+dto.getStaNo());
			log.error("输送线下发2：" + dto.getWorkNo() + "," + dto.getStaNo());

			ledThread.errorReset();
			log.error("组托请求后LED错误清除");
			@@ -243,19 +258,10 @@
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			staProtocol.setWorkNo(wrkNo);
			wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//
			// if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			// }
			// News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			}


			@@ -282,6 +288,9 @@
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			if (inSta.getStaNo() != 1035) {
			continue;
			}
			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			@@ -291,19 +300,15 @@
			staProtocol = staProtocol.clone();
			}

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

			// 判断是否满足入库条件
			if (!staProtocol.isLoading()){
			if (!staProtocol.isLoading()) {
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() == 9999)
			&& staProtocol.isPakMk()) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行");
			News.warnNoLog("" + mark + " - 0" + " - 开始执行");
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			if (wrkMast == null) {
			@@ -313,26 +318,26 @@
			// 命令下发区 --------------------------------------------------------------------------

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发3："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			log.error("输送线下发3：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
			if (result) {
			// 更新工作主档
			wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error(""+mark+" - 1"+" - 更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			News.error("" + mark + " - 1" + " - 更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			}
			} else {
			News.error(""+mark+" - 2"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			News.error("" + mark + " - 2" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isLoading()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
			+"、锁定标记"+ staProtocol.isPakMk()+"、入库印记：" + staProtocol.getStamp());
			} else {
			News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isLoading() + "、可入信号：" + staProtocol.isInEnable()
			+ "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo()
			+ "、锁定标记" + staProtocol.isPakMk() + "、入库印记：" + staProtocol.getStamp());
			}
			}
			}
			@@ -353,9 +358,9 @@
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if (!Cools.isEmpty(barcode)) {
			// News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			@@ -375,7 +380,7 @@
			// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行");
			News.warnNoLog("" + mark + " - 0" + " - 开始执行");
			WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
			if (wrkMast == null) {
			@@ -403,17 +408,17 @@
			.eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (Cools.isEmpty(staDesc)) {
			News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			News.error("" + mark + " - 2" + " - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			staProtocol.setWorkNo(wrkNo++);
			staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
			staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue() - (short) 1));
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发4："+9989+","+(pickSta.getStaNo().shortValue()-(short)1));
			log.error("输送线下发4：" + 9989 + "," + (pickSta.getStaNo().shortValue() - (short) 1));
			//LED
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "此为拣料、并板、盘点再入库.请放在"+pickSta.getBackSta().shortValue()+"站点";
			String errorMsg = "此为拣料、并板、盘点再入库.请放在" + pickSta.getBackSta().shortValue() + "站点";
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			}
			continue;
			@@ -460,18 +465,18 @@
			}

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo((short) 161);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发5："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			log.error("输送线下发5：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
			if (!result) {
			News.error(""+mark+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			News.error("" + mark + " - 3" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isLoading()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk());
			} else {
			News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isLoading() + "、可入信号：" + staProtocol.isInEnable()
			+ "、空板信号：" + staProtocol.isEmptyMk());
			}

			}
			@@ -482,7 +487,7 @@


			//盘点再入库
			public synchronized void stnToCrnStnPick2(){
			public synchronized void stnToCrnStnPick2() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta()) {
			@@ -499,7 +504,7 @@
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			// && staProtocol.getWorkNo() > 0
			&& staProtocol.isPakMk()){
			&& staProtocol.isPakMk()) {

			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			@@ -507,9 +512,9 @@
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if (!Cools.isEmpty(barcode)) {
			// log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			if ("00000000".equals(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			staProtocol.setWorkNo(wrkNo++);
			staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			@@ -561,14 +566,14 @@
			param.setBarcode(barcode);
			param.setIoType(107);
			param.setSourceStaNo(pickSta.getStaNo()); //作业站点
			if (!Cools.isEmpty(locMast)){
			if (!Cools.isEmpty(locMast)) {
			param.setLocType1(locMast.getLocType1());
			}else {
			} else {
			param.setLocType1(locTypeDto.getLocType1());
			}

			String response = "";
			log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			log.info("入库作业站" + pickSta.getStaNo() + "盘点再入库任务请求WMS===>>参数：" + param);
			try {
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			@@ -577,15 +582,15 @@
			// .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);
			} catch (Exception e) {
			log.error("入库作业站" + pickSta.getStaNo() + "盘点再入库任务请求WMS===>>参数：" + param);
			log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
			e.printStackTrace();
			continue;
			}
			log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response);
			if(response.equals("")) {
			log.info("入库作业站" + pickSta.getStaNo() + "盘点再入库任务请求WMS===>>参数：" + param);
			log.info("入库作业站" + pickSta.getStaNo() + "下发盘点再入库任务请求WMS返回结果===>>" + response);
			if (response.equals("")) {
			continue;
			}
			JSONObject jsonObject = JSON.parseObject(response);
			@@ -594,20 +599,20 @@
			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());
			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());
			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((short)161);
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo((short) 161);
			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());
			}
			log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库任务下发成功===>>" + staProtocol);
			log.info("任务号" + wrkMast.getWrkNo() + "盘点再入库任务下发成功===>>" + staProtocol);

			ledThread.errorReset();
			log.error("盘点后led错误删除");
			@@ -681,40 +686,101 @@
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
			News.error("堆垛机出库完成 - 开始执行");
			log.info("堆垛机出库完成 - 开始执行");

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

			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(), wrkMast.getSourceStaNo()));
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			log.info(staProtocol.getWorkNo() + "," + staProtocol.getStaNo() + "输送线出库命令下发失败");
			continue;
			} else {
			log.info(staProtocol.getWorkNo() + "," + staProtocol.getStaNo() + "输送线出库命令下发成功");
			}

			// 更新工作档状态为14失败
			wrkMast.setWrkSts(14L);
			if (wrkMast.getStaNo() == 1135) {
			wrkMast.setWrkSts(107L);
			} else {
			wrkMast.setWrkSts(14L);
			}
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位堆垛机
			News.error("出库任务完成下发堆垛机复位", wrkMast.getWrkNo());
			log.error("出库任务完成下发堆垛机复位,{}", wrkMast.getWrkNo());
			crnThread.setResetFlag(true);
			} else {
			News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			News.error("" + mark + " - 1" + " - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！"
			+" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO
			+"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast.getWrkNo().shortValue()
			+"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
			+"、货叉位置："+crnProtocol.forkPosType+"==HOME：0 // 货叉原位：" + CrnForkPosType.HOME);
			} else {
			News.errorNoLog("" + mark + " - 6" + " - 堆垛机信息不符合入库条件！！！"
			+ " 堆垛机状态：" + crnProtocol.modeType + "==自动AUTO：" + CrnModeType.AUTO
			+ "、堆垛机任务号：" + crnProtocol.getTaskNo() + "==工作档任务号：" + wrkMast.getWrkNo().shortValue()
			+ "、状态枚举：" + crnProtocol.statusType + "==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
			+ "、货叉位置：" + crnProtocol.forkPosType + "==HOME：0 // 货叉原位：" + CrnForkPosType.HOME);
			}

			}
			}
			}
			// News.infoNoLog(""+mark+" - 0"+" - 堆垛机站出库到出库站 ===》执行完成");
			}

			/**
			* 堆垛库到四向库
			*/
			public synchronized void toSxk(Integer mark) {

			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			if (crnStn.getStaNo() != 1035) {
			continue;
			}
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep3(staProtocol.getSiteId());
			if (wrkMast == null) {
			continue;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			continue;
			}

			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(RouteUtils.CrnStaEnd(1031, 1135));
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			log.info(staProtocol.getWorkNo() + "," + staProtocol.getStaNo() + "输送线出库命令下发失败222");
			continue;
			} else {
			log.info(staProtocol.getWorkNo() + "," + staProtocol.getStaNo() + "输送线出库命令下发成功222");
			}

			// 更新工作档状态为14失败
			wrkMast.setWrkSts(108L);
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			log.error("转移至1031,工作号={}", wrkMast.getWrkNo());
			} else {
			News.error("" + mark + " - 1" + " - 更新工作档的工作状态为107失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}

			}
			}
			}
			}

			/**
			@@ -731,7 +797,7 @@
			}
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			News.error(""+mark+" - 1"+" - {}号堆垛机尚未在数据库进行维护！", crn.getId());
			News.error("" + mark + " - 1" + " - {}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}

			@@ -743,33 +809,33 @@
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
			&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行堆垛机入出库作业下发");
			News.warnNoLog("" + mark + " - 0" + " - 开始执行堆垛机入出库作业下发");
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			//mark - 1 - ....
			this.crnStnToLoc(crn, crnProtocol,mark); // 入库
			this.crnStnToLoc(crn, crnProtocol, mark); // 入库
			crnProtocol.setLastIo("O");
			} else if (basCrnp.getOutEnable().equals("Y")) {
			//mark - 2 - ....
			this.locToCrnStn(crn, crnProtocol,mark); // 出库
			this.locToCrnStn(crn, crnProtocol, mark); // 出库
			crnProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn(crn, crnProtocol,mark); // 出库
			this.locToCrnStn(crn, crnProtocol, mark); // 出库
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc(crn, crnProtocol,mark); // 入库
			this.crnStnToLoc(crn, crnProtocol, mark); // 入库
			crnProtocol.setLastIo("O");
			}
			}
			}
			// 库位移转
			//mark - 3 - ....
			this.locToLoc(crn, crnProtocol,mark);
			this.locToLoc(crn, crnProtocol, mark);
			// this.crnRebackHp(crnProtocol, crnThread);

			}
			@@ -835,15 +901,15 @@
			/**
			* 入库 ===>> 堆垛机站到库位
			*/
			public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
			News.warnNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发：执行入库");
			public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
			News.warnNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发：执行入库");
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			boolean flag = false;
			// 获取堆垛机入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			News.infoNoLog(""+mark+" - 1"+" - 1"+" - 堆垛机入库站信息(staProtocol!=null继续执行)：staProtocol="+staProtocol);
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - 堆垛机入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol = staProtocol.clone();
			@@ -851,7 +917,7 @@
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error(""+mark+" - 1"+" - 2"+" - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			@@ -859,27 +925,27 @@
			flag = true;
			}
			if (!flag) {
			News.errorNoLog(""+mark+" - 1"+" - 3"+" - 堆垛机入库站信息(以下需要全true):"
			+"自动信号"+staProtocol.isAutoing()+"有物信号"+staProtocol.isLoading()
			+"工作号>0"+staProtocol.getWorkNo()+"可入信号"+staProtocol.isInEnable()
			+"能入信号（wms设置）.equals(\"Y\")"+staDetl.getCanining());
			News.errorNoLog("" + mark + " - 1" + " - 3" + " - 堆垛机入库站信息(以下需要全true):"
			+ "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
			+ "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isInEnable()
			+ "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
			continue;
			}
			// 获取工作状态为2（设备上走）的入库工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
			if (null == wrkMast) {
			News.infoNoLog(""+mark+" - 1"+" - 4"+" - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			// log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			// 获取库位信息
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			if (locMast == null) {
			News.error(""+mark+" - 1"+" - 5"+" - 查询库存无数据--库位号{}", wrkMast.getLocNo());
			News.error("" + mark + " - 1" + " - 5" + " - 查询库存无数据--库位号{}", wrkMast.getLocNo());
			continue;
			}
			if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
			News.error(""+mark+" - 1"+" - 6"+" - 入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
			News.error("" + mark + " - 1" + " - 6" + " - 入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
			continue;
			}

			@@ -896,49 +962,59 @@

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
			News.warnNoLog(""+mark+" - 1"+" - 8"+" - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行任务号={}",wrkMast.getWrkNo());
			News.warnNoLog("" + mark + " - 1" + " - 8" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行任务号={}", wrkMast.getWrkNo());
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			News.warnNoLog(""+mark+" - 1"+" - 9"+" - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！库位状态={}",shallowLoc.getLocSts());
			News.warnNoLog("" + mark + " - 1" + " - 9" + " - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！库位状态={}", shallowLoc.getLocSts());
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			News.error(""+mark+" - 1"+" - 10"+" - {}库位异常，未检索到相应工作档！", shallowLocNo);
			News.error("" + mark + " - 1" + " - 10" + " - {}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			News.error(""+mark+" - 1"+" - 11"+" - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			News.error("" + mark + " - 1" + " - 11" + " - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			}

			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			News.warnNoLog(""+mark+" - 1"+" - 12"+" - // F、D 库位状态={}",shallowLoc.getLocSts());
			News.warnNoLog("" + mark + " - 1" + " - 12" + " - // F、D 库位状态={}", shallowLoc.getLocSts());
			// 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);

			if (moveLocForDeepLoc(slave, shallowLoc, mark)) {
			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,mark);
			moveLocForDeepLoc(slave, shallowLoc, mark);
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			}
			continue;
			} else if (shallowLoc.getLocSts().equals("Q")) {
			News.warnNoLog(""+mark+" - 1"+" - 13"+" - // Q 库位状态={}",shallowLoc.getLocSts());
			News.warnNoLog("" + mark + " - 1" + " - 13" + " - // Q 库位状态={}", shallowLoc.getLocSts());
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			News.infoNoLog(""+mark+" - 1"+" - 14"+" - // F、D 工作状态(判断条件为==4)={}",waitWrkMast.getWrkSts());
			News.infoNoLog("" + mark + " - 1" + " - 14" + " - // F、D 工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
			continue;
			}
			}
			}
			News.warnNoLog(""+mark+" - 1"+" - 15"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
			,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue()
			,locMast.getRow1().shortValue(),locMast.getBay1().shortValue(),locMast.getLev1().shortValue());
			//下发任务前请求摄像机
			boolean succ = sendACameraRequest(wrkMast.getWrkNo());
			if (!succ) {
			log.error(wrkMast.getWrkNo() + "任务下发前请求摄像机启动失败");
			}

			News.warnNoLog("" + mark + " - 1" + " - 15" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
			, crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue()
			, locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue());

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			@@ -954,7 +1030,7 @@
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			crnCommand.setTraySize(locMast.getLocType1() == 2);
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			News.error(""+mark+" - 1"+" - 16"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			News.error("" + mark + " - 1" + " - 16" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {

			// long startTime = System.currentTimeMillis();
			@@ -975,19 +1051,19 @@
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error(""+mark+" - 1"+" - 17"+" - 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());
			News.error("" + mark + " - 1" + " - 17" + " - 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());
			}
			}
			}
			News.infoNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发：入库执行完毕");
			News.infoNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发：入库执行完毕");
			}

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
			*/
			public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
			News.warnNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发：执行出库");
			public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
			News.warnNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发：执行出库");
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			@@ -998,20 +1074,20 @@
			}
			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null) {
			News.error(""+mark+" - 2"+" - 1"+" - 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());
			News.error("" + mark + " - 2" + " - 1" + " - 查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
			continue;
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
			News.error(""+mark+" - 2"+" - 2"+" - 出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			News.error("" + mark + " - 2" + " - 2" + " - 出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			News.infoNoLog(""+mark+" - 2"+" - 3"+" - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol="+staProtocol);
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
			break;
			// continue;
			} else {
			@@ -1028,13 +1104,22 @@
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			News.error("" + mark + " - 2" + " - 5" + " - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {

			if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			) {
			if (slave.getId() == 1 \|\| slave.getId() == 2) {
			if (staProtocol.isLoading() \|\| staProtocol.getWorkNo() != 0) {
			//if (staProtocol.isLoading() \|\| staProtocol.getWorkNo() != 0 \|\| !staProtocol.isOutEnable()) {
			continue;
			}
			}
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			@@ -1045,12 +1130,12 @@

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
			News.warnNoLog(""+mark+" - 2"+" - 6"+" - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行任务号={}",wrkMast.getWrkNo());
			News.warnNoLog("" + mark + " - 2" + " - 6" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行任务号={}", wrkMast.getWrkNo());
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			News.warnNoLog(""+mark+" - 2"+" - 7"+" - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！库位状态={}",shallowLoc.getLocSts());
			News.warnNoLog("" + mark + " - 2" + " - 7" + " - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！库位状态={}", shallowLoc.getLocSts());
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			@@ -1059,7 +1144,7 @@
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			News.error(""+mark+" - 2"+" - 8"+" - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			News.error("" + mark + " - 2" + " - 8" + " - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			} else {
			@@ -1067,7 +1152,7 @@
			}
			}
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			News.warnNoLog(""+mark+" - 2"+" - 9"+" - // F、D 库位状态={}",shallowLoc.getLocSts());
			News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F、D 库位状态={}", shallowLoc.getLocSts());
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			//2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			@@ -1075,18 +1160,18 @@
			// 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,mark);
			if (moveLocForDeepLoc(slave, shallowLoc, mark)) {
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			}
			}
			News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			News.warnNoLog(""+mark+" - 2"+" - 10"+" - // Q、S 库位状态={}",shallowLoc.getLocSts());
			News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q、S 库位状态={}", shallowLoc.getLocSts());
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			News.infoNoLog(""+mark+" - 2"+" - 11"+" - // F、D 工作状态(判断条件为==4)={}",waitWrkMast.getWrkSts());
			News.infoNoLog("" + mark + " - 2" + " - 11" + " - // F、D 工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
			continue;
			}
			}
			@@ -1097,10 +1182,14 @@
			break;
			// return;
			}

			News.warnNoLog(""+mark+" - 2"+" - 12"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
			,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue()
			,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue());
			//下发任务前请求摄像机
			boolean succ = sendACameraRequest(wrkMast.getWrkNo());
			if (!succ) {
			log.error(wrkMast.getWrkNo() + "任务下发前请求摄像机启动失败");
			}
			News.warnNoLog("" + mark + " - 2" + " - 12" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
			, sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue()
			, crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue());

			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			@@ -1116,7 +1205,7 @@
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			News.error(""+mark+" - 2"+" - 13"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			@@ -1124,14 +1213,14 @@
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error(""+mark+" - 2"+" - 14"+" - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			break;
			}
			}
			}
			}
			News.infoNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发：出库执行完毕");
			News.infoNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发：出库执行完毕");
			}

			// /**
			@@ -1254,17 +1343,17 @@
			/**
			* 库位移转
			*/
			public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
			public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
			// 获取工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
			if (null == wrkMast) {
			return;
			}
			News.warnNoLog(""+mark+" - 3"+" - 0"+" - 堆垛机入出库作业下发：执行库位移转");
			News.warnNoLog("" + mark + " - 3" + " - 0" + " - 堆垛机入出库作业下发：执行库位移转");
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (null == sourceSta) {
			News.error(""+mark+" - 3"+" - 1"+" - 工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			News.error("" + mark + " - 3" + " - 1" + " - 工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			return;
			}
			// 源库位库位状态判断
			@@ -1274,10 +1363,10 @@
			// 获取目标库位信息
			LocMast sta = locMastService.selectById(wrkMast.getLocNo());
			if (null == sta) {
			News.error(""+mark+" - 3"+" - 2"+" - 工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
			News.error("" + mark + " - 3" + " - 2" + " - 工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
			return;
			}
			if(sta.getLocType1() != sourceSta.getLocType1()){
			if (sta.getLocType1() != sourceSta.getLocType1()) {
			News.error("移库目标库位类型与源库位类型不符");
			return;
			}
			@@ -1296,10 +1385,14 @@
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			return;
			}

			News.warnNoLog(""+mark+" - 3"+" - 3"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
			,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue()
			,sta.getRow1().shortValue(),sta.getBay1().shortValue(),sta.getLev1().shortValue());
			//下发任务前请求摄像机
			boolean succ = sendACameraRequest(wrkMast.getWrkNo());
			if (!succ) {
			log.error(wrkMast.getWrkNo() + "任务下发前请求摄像机启动失败");
			}
			News.warnNoLog("" + mark + " - 3" + " - 3" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
			, sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue()
			, sta.getRow1().shortValue(), sta.getBay1().shortValue(), sta.getLev1().shortValue());

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			@@ -1315,7 +1408,7 @@
			crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 目标库位层
			crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			News.error(""+mark+" - 3"+" - 4"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			News.error("" + mark + " - 3" + " - 4" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			@@ -1323,10 +1416,10 @@
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error(""+mark+" - 3"+" - 5"+" - 【库位移转】修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			News.error("" + mark + " - 3" + " - 5" + " - 【库位移转】修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			News.infoNoLog(""+mark+" - 3"+" - 0"+" - 堆垛机入出库作业下发：库位移转完成");
			News.infoNoLog("" + mark + " - 3" + " - 0" + " - 堆垛机入出库作业下发：库位移转完成");

			}

			@@ -1344,35 +1437,33 @@
			}
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行对工作档的完成操作");
			if (crnProtocol.getTaskNo() == 9999) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			News.error(""+mark+" - 1"+" - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			continue;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			wrkMast.setWrkSts(4L);
			} else {
			continue;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			News.warnNoLog(""+mark+" - 2"+" - 修改成功后复位堆垛机 : 堆垛机号={}",crnThread.getCrnProtocol().getCrnNo());
			crnThread.setResetFlag(true);
			}
			}
			News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			News.error("" + mark + " - 1" + " - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			continue;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			wrkMast.setWrkSts(4L);
			} else {
			continue;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo());
			News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
			crnThread.setResetFlag(true);
			}
			}


			}
			// News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成");
			}
			@@ -1397,7 +1488,7 @@
			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			News.warnNoLog(""+mark+" - 1"+" - 开始执行：堆垛机异常信息记录：有任务，有异常");
			News.warnNoLog("" + mark + " - 1" + " - 开始执行：堆垛机异常信息记录：有任务，有异常");
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			@@ -1429,7 +1520,7 @@
			"任务中异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			News.error(""+mark+" - 2"+" - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			News.error("" + mark + " - 2" + " - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			} else {
			@@ -1439,7 +1530,7 @@
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			News.error(""+mark+" - 3"+" - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			News.error("" + mark + " - 3" + " - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			@@ -1448,7 +1539,7 @@
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			News.warnNoLog(""+mark+" - 4"+" - 开始执行：堆垛机异常信息记录：无任务，有异常");
			News.warnNoLog("" + mark + " - 4" + " - 开始执行：堆垛机异常信息记录：无任务，有异常");
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			@@ -1477,7 +1568,7 @@
			"无任务异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			News.error(""+mark+" - 5"+" - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			News.error("" + mark + " - 5" + " - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			// 无异常
			@@ -1488,7 +1579,7 @@
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			News.error(""+mark+" - 6"+" - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			News.error("" + mark + " - 6" + " - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			@@ -1520,11 +1611,11 @@
			}

			LedThread ledThread = null;
			if (!Cools.isEmpty(emptyInSta.getLed())) {
			if (!Cools.isEmpty(emptyInSta.getLed())) {
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
			}

			if (!staProtocol.isLoading()){
			if (!staProtocol.isLoading()) {
			continue;
			}

			@@ -1534,9 +1625,9 @@
			&& staProtocol.isInEnable()
			&& staProtocol.isEmptyMk()
			&& staProtocol.isPakMk()
			&& (staProtocol.getWorkNo() !=0 && staProtocol.getWorkNo() > 9700)
			) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行：空栈板初始化入库,叉车入库站放货");
			&& (staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() > 9700)
			) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行：空栈板初始化入库,叉车入库站放货");

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			@@ -1556,13 +1647,13 @@
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(staProtocol.getSiteId().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发6："+dto.getWorkNo()+","+staProtocol.getSiteId());
			log.error("输送线下发6：" + dto.getWorkNo() + "," + staProtocol.getSiteId());
			if (!result) {
			News.errorNoLog(""+mark+" - 1"+" - 更新plc站点信息失败");
			News.errorNoLog("" + mark + " - 1" + " - 更新plc站点信息失败");
			throw new CoolException("更新plc站点信息失败");
			}

			@@ -1604,9 +1695,9 @@
			}

			} else {
			News.errorNoLog(""+mark+" - 4"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isAutoing()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
			+"、锁定标记"+ staProtocol.isPakMk());
			News.errorNoLog("" + mark + " - 4" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isAutoing() + "、可入信号：" + staProtocol.isInEnable()
			+ "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo()
			+ "、锁定标记" + staProtocol.isPakMk());
			}
			}
			}
			@@ -1624,78 +1715,161 @@
			List<LedCommand> commands = new ArrayList<>();
			// 工作档集合
			List<WrkMast> wrkMasts = new ArrayList<>();
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (null == staProtocol \|\| null == staProtocol.getWorkNo() \|\| 0 == staProtocol.getWorkNo() \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 获取工作档数据
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			if (null == wrkMast) { continue; }
			wrkMasts.add(wrkMast);
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(wrkMast.getWrkNo());
			ledCommand.setIoType(wrkMast.getIoType());
			// 出库模式
			switch (wrkMast.getIoType()) {
			case 1:
			ledCommand.setTitle("全板入库");
			break;
			case 10:
			ledCommand.setTitle("空板入库");
			break;
			case 101:
			ledCommand.setTitle("全板出库");
			break;
			case 103:
			ledCommand.setTitle("拣料出库");
			break;
			case 104:
			ledCommand.setTitle("并板出库");
			break;
			case 107:
			ledCommand.setTitle("盘点出库");
			break;
			case 110:
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			default:
			News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			break;
			}
			ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			ledCommand.setStaNo(wrkMast.getStaNo());
			ledCommand.setBarcode(wrkMast.getBarcode());
			if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			List<Integer> staArr = new ArrayList<>();
			// 获取叉车站点
			StaProtocol modelStaProtocol = devpThread.getStation().get(led.getModelSta());
			if (null != modelStaProtocol && modelStaProtocol.isIn()) {
			for (Integer staNo : led.getInStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (null == staProtocol \|\| null == staProtocol.getWorkNo() \|\| 0 == staProtocol.getWorkNo() \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 获取工作档数据
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			if (null == wrkMast) {
			continue;
			}
			wrkMasts.add(wrkMast);
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(wrkMast.getWrkNo());
			ledCommand.setIoType(wrkMast.getIoType());
			// 出库模式
			switch (wrkMast.getIoType()) {
			case 1:
			ledCommand.setTitle("全板入库");
			break;
			case 10:
			ledCommand.setTitle("空板入库");
			break;
			case 101:
			ledCommand.setTitle("全板出库");
			break;
			case 103:
			ledCommand.setTitle("拣料出库");
			break;
			case 104:
			ledCommand.setTitle("并板出库");
			break;
			case 107:
			ledCommand.setTitle("盘点出库");
			break;
			case 110:
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			default:
			News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			break;
			}
			ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			ledCommand.setStaNo(wrkMast.getStaNo());
			ledCommand.setBarcode(wrkMast.getBarcode());
			if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());

			wrkDetls.forEach(wrkDetl -> {
			Double total = 0.0;
			EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
			LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
			if (Cools.isEmpty(locDetl)) {
			total = wrkDetl.getAnfme();
			} else {
			total = locDetl.getAnfme();
			}
			if (wrkMast.getIoType() == 101 \|\| wrkMast.getIoType() == 1) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			}
			if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() \|\| 0 == wrkDetl.getInspect())) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			}
			if (wrkMast.getIoType() == 107) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			}
			});
			wrkDetls.forEach(wrkDetl -> {
			Double total = 0.0;
			EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
			LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
			if (Cools.isEmpty(locDetl)) {
			total = wrkDetl.getAnfme();
			} else {
			total = locDetl.getAnfme();
			}
			if (wrkMast.getIoType() == 101 \|\| wrkMast.getIoType() == 1) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getAnfme(), wrkDetl.getUnit()));
			}
			if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() \|\| 0 == wrkDetl.getInspect())) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getAnfme(), wrkDetl.getUnit()));
			}
			if (wrkMast.getIoType() == 107) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getAnfme(), wrkDetl.getUnit()));
			}
			});
			}
			commands.add(ledCommand);
			}
			commands.add(ledCommand);
			} else if (null != modelStaProtocol && modelStaProtocol.isOut()) {
			for (Integer staNo : led.getOutStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (null == staProtocol \|\| null == staProtocol.getFinishWorkNo() \|\| 0 == staProtocol.getFinishWorkNo() \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 获取工作档数据
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			if (null == wrkMast) {
			continue;
			}
			wrkMasts.add(wrkMast);
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(wrkMast.getWrkNo());
			ledCommand.setIoType(wrkMast.getIoType());
			// 出库模式
			switch (wrkMast.getIoType()) {
			case 1:
			ledCommand.setTitle("全板入库");
			break;
			case 10:
			ledCommand.setTitle("空板入库");
			break;
			case 101:
			ledCommand.setTitle("全板出库");
			break;
			case 103:
			ledCommand.setTitle("拣料出库");
			break;
			case 104:
			ledCommand.setTitle("并板出库");
			break;
			case 107:
			ledCommand.setTitle("盘点出库");
			break;
			case 110:
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			default:
			News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			break;
			}
			ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			ledCommand.setStaNo(wrkMast.getStaNo());
			ledCommand.setBarcode(wrkMast.getBarcode());
			if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());

			wrkDetls.forEach(wrkDetl -> {
			Double total = 0.0;
			EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
			LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
			if (Cools.isEmpty(locDetl)) {
			total = wrkDetl.getAnfme();
			} else {
			total = locDetl.getAnfme();
			}
			if (wrkMast.getIoType() == 101 \|\| wrkMast.getIoType() == 1) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getAnfme(), wrkDetl.getUnit()));
			}
			if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() \|\| 0 == wrkDetl.getInspect())) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getAnfme(), wrkDetl.getUnit()));
			}
			if (wrkMast.getIoType() == 107) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getAnfme(), wrkDetl.getUnit()));
			}
			});
			}
			commands.add(ledCommand);
			}
			}

			Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
			// 获取LED线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			@@ -1739,19 +1913,40 @@
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			List<Integer> staArr = new ArrayList<>();
			// 命令集合
			boolean reset = true;
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) { continue; }
			if (staProtocol.getWorkNo() != 0) {
			reset = false;
			break;
			StaProtocol modelStaProtocol = devpThread.getStation().get(led.getModelSta());
			if (null != modelStaProtocol && modelStaProtocol.isIn()) {
			staArr = led.getInStaArr();
			for (Integer staNo : staArr) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			}
			if (staProtocol.getWorkNo() != 0 \|\| staProtocol.isErr()) {
			reset = false;
			break;
			}
			}
			} else if (null != modelStaProtocol && modelStaProtocol.isOut()) {
			staArr = led.getOutStaArr();
			for (Integer staNo : staArr) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			}
			if (staProtocol.isLoading() \|\| staProtocol.isErr()) {
			reset = false;
			break;
			}
			}
			}

			// 获取led线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// led显示默认内容
			if (reset) {
			if (ledThread == null) {
			@@ -1844,10 +2039,10 @@
			* 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,Integer mark) {
			private synchronized boolean moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc, Integer mark) {

			try {
			News.warnNoLog(""+mark+"moveLocForDeepLoc"+" - 0"+" - 开始执行:因双深库位阻塞，对浅库位进行移转（立即执行版)");
			News.warnNoLog("" + mark + "moveLocForDeepLoc" + " - 0" + " - 开始执行:因双深库位阻塞，对浅库位进行移转（立即执行版)");
			List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
			LocMast loc = null;
			for (Integer row : rows) {
			@@ -1889,81 +2084,83 @@
			}

			if (null == loc) {
			News.error(""+mark+"moveLocForDeepLoc"+" - 1"+" - 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) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 2"+" - 保存工作档失败");
			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)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 3"+" - 保存工作档明细失败");
			throw new CoolException("保存工作档明细失败");
			News.error("" + mark + "moveLocForDeepLoc" + " - 1" + " - 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());
			return false;
			} 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.getLocSts().equals("F") ? "Y" : "N"); // 满板：Y
			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) {
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 2" + " - 保存工作档失败");
			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)) {
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 3" + " - 保存工作档明细失败");
			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)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 4"+" - 更新源库位状态失败");
			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)) {
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 4" + " - 更新源库位状态失败");
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 5" + " - 源库位出库失败");
			throw new CoolException("源库位出库失败");
			}
			} else {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 5"+" - 源库位出库失败");
			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)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 6"+" - 更新目标库位状态失败");
			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)) {
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 6" + " - 更新目标库位状态失败");
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 7" + " - 移转失败");
			throw new CoolException("移转失败");
			}
			} else {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 7"+" - 移转失败");
			throw new CoolException("移转失败");
			}

			} catch (Exception e) {
			News.error(""+mark+"moveLocForDeepLoc"+" - 8"+" - 双深库位阻塞，对浅库位进行移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			News.error("" + mark + "moveLocForDeepLoc" + " - 8" + " - 双深库位阻塞，对浅库位进行移转失败", e);
			return false;
			}
			return true;
			}

			/**
			@@ -2183,14 +2380,14 @@
			public synchronized void outOfDevp(Integer mark) {

			List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
			if (wrkMasts.size()!=0){
			News.warnNoLog(""+mark+" - 0"+" - 开始执行outOfDevp");
			if (wrkMasts.size() != 0) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行outOfDevp");
			}
			for (WrkMast wrkMast : wrkMasts) {
			if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
			wrkMast.setCtnNo("Y");
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error(""+mark+" - 1"+" - 修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
			News.error("" + mark + " - 1" + " - 修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
			}
			}
			}
			@@ -2201,12 +2398,14 @@
			public synchronized void autoEmptyOut() {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			List<Integer> list = new ArrayList<>();
			list.add(101);list.add(112);
			Map<Integer,Integer> map = new HashMap<>();
			map.put(101,102);map.put(112,111);
			for (Integer site:list){
			list.add(101);
			list.add(112);
			Map<Integer, Integer> map = new HashMap<>();
			map.put(101, 102);
			map.put(112, 111);
			for (Integer site : list) {
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", map.get(site)));
			if (!Cools.isEmpty(wrkMast)){
			if (!Cools.isEmpty(wrkMast)) {
			continue;
			}
			//如果站点可出禁用，则不生成空盘出库任务
			@@ -2226,7 +2425,7 @@
			return;
			}
			Short loctype1 = 1;
			if (site == 101){
			if (site == 101) {
			loctype1 = 2;
			}
			LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
			@@ -2241,9 +2440,9 @@
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			String data = jsonObject.get("data").toString();
			News.info((String) jsonObject.get("msg")+","+data);
			News.info((String) jsonObject.get("msg") + "," + data);
			} else {
			News.warnNoLog("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
			News.warnNoLog("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1", "", response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			@@ -2254,720 +2453,29 @@

			}

			public synchronized void autoEmptyIn() {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			List<Integer> list = new ArrayList<>();
			list.add(153);list.add(157);
			for (Integer site:list){
			StaProtocol staProtocol = devpThread.getStation().get(site);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() //自动
			&& staProtocol.isLoading() //有物
			&& staProtocol.isInEnable() //可入信号
			&& staProtocol.isPakMk()
			&& (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990) //工作号为0或者工作号是9991~9999（输送机留用）
			) {

			try {
			Short loctype1 = 1;
			if (site == 153){
			loctype1 = 2;
			}
			LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
			locTypeDto.setSiteId(site);

			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/emptyIn/v1")
			.setJson(JSON.toJSONString(locTypeDto))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			News.info((String) jsonObject.get("msg"));
			staProtocol.setWorkNo(jsonObject.get("data").hashCode());
			staProtocol.setStaNo(site.shortValue());
			devpThread.setPakMk(site,false);
			MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			} else {
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			public boolean sendACameraRequest(Integer taskNo) {
			try {
			WrkMast wrkMast = wrkMastService.selectByWrkNo(taskNo);
			if (null == wrkMast) {
			return false;
			}

			}

			}

			/*
			* 小车地图更新更新锁
			* */
			public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd,String sign){

			// 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 fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
			basRgvMapCurrent.setLockEndRoute(fallMerge);
			Integer i = basRgvMapMapper.updateById(basRgvMapCurrent);
			// if (i>0){
			log.error("{}:==>{}:{}号车更新结束锁,{}",sign,new Date(),basRgvMapCurrent.getRgvNo(),JSON.toJSONString(basRgvMapCurrent));
			// }

			//更新另一台小车地图
			Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther(basRgvMapCurrent.getRgvNo());
			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 i1 = basRgvMapMapper.updateById(basRgvMapOther);
			// if (i1>0){
			log.error("{}:==>{}:{}号车更新结束位置,{}",sign,new Date(),basRgvMapOther.getRgvNo(),JSON.toJSONString(basRgvMapOther));
			// }
			return true;
			}catch (Exception e){
			log.error("小车地图更新出错！");
			String response = new HttpHandler.Builder()
			.setUri(cameraUrl)
			.setPath("/execute")
			.build()
			.doGet();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			wrkMast.setLogErrMemo(jsonObject.getInteger("data").toString());
			wrkMastService.updateById(wrkMast);
			}
			} catch (Exception e) {
			e.printStackTrace();
			return false;
			}
			}

			/*
			* 刷新地图数据
			* */
			public synchronized void refreshRgvMap() {
			try{
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			for (BasRgvMap rgvSlave:basRgvMaps) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}else {
			rgvProtocol = rgvProtocol.clone();
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！2", rgvSlave.getRgvNo());
			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)
			&&rgvThread.isPakMk()
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

			Integer rgvNoOther = basRgvMap.getRgvNoOther(rgvProtocol.getRgvNo());
			RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNoOther);
			RgvProtocol rgvProtocolOther = rgvThreadOther.getRgvProtocol();
			if (rgvProtocolOther == null) {
			continue;
			}else {
			rgvProtocolOther = rgvProtocolOther.clone();
			}
			if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocolOther.getModeType() == RgvModeType.AUTO
			&& rgvProtocolOther.getLoaded1()==0
			&& (rgvProtocolOther.getTaskNo1()==0)
			&&rgvThreadOther.isPakMk()
			){
			//对工作档进行判断
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			if (rgvProtocol.getTaskNo1() >0 && rgvProtocol.getTaskNo1()<=9000){
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
			rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2366");
			}else if (rgvProtocol.getTaskNo1() == 0){
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2366");
			}

			}



			}
			}
			}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);
			}
			}


			/**
			* 完成小车任务
			*/
			public synchronized void rgvCompleteWrkMastSta() {
			try{
			for (DevpSlave devp : slaveProperties.getDevp()) {
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			for (BasRgvMap rgvSlave:basRgvMaps) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}else {
			rgvProtocol = rgvProtocol.clone();
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！3", rgvSlave.getRgvNo());
			continue;
			}

			// 只有当RGV等待WCS确认、自动
			if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING \|\| rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
			){
			log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
			if (rgvProtocol.getTaskNo1()!=0){
			if (rgvProtocol.getTaskNo1()==32222){
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2415");
			rgvThread.setPakMk(true);
			break;
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
			if (Cools.isEmpty(wrkMastSta) \|\| wrkMastSta.getWrkSts()!=1){
			log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
			continue;
			}

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast)){
			if (!staProtocol.isPakMk()){
			continue;
			}
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			log.error("rgv任务完成给输送线下发命令："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
			continue;
			}
			}else {
			log.error("rgv任务完成给输送线下发命令,但未查询到工作档");
			// 下发站点信息
			Map<Integer,Integer> map = new HashMap<>();
			map.put(101,102);map.put(112,111);
			map.put(100,100);
			staProtocol.setWorkNo(rgvProtocol.getTaskNo1().intValue());
			staProtocol.setStaNo(map.get(rgvProtocol.getRgvPosI()).shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			// log.error("rgv任务完成给输送线下发命令："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
			continue;
			}
			}
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			// boolean rgvComplete = true;
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
			wrkMast1.setPdcType("Y");

			wrkMastService.updateById(wrkMast1);

			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
			rgvThread.setPakMk(true);
			}

			else {
			log.error("小车复位失败，小车号{},等待wcs确认但是没有工作号！",rgvProtocol.getRgvNo());
			}
			}
			}
			}
			}catch (Exception e){
			log.error("小车复位线程报错！"+e);
			}
			}
			/**
			* 执行小车搬运任务
			*/
			public synchronized void rgvRunWrkMastFullSta() {
			boolean wrkEnable = false;
			try{
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			for (BasRgvMap rgvSlave:basRgvMaps) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}else {
			rgvProtocol = rgvProtocol.clone();
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！4", rgvSlave.getRgvNo());
			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
			&& rgvProtocol.getTaskNo1() == 0
			&& rgvThread.isPakMk()
			) {
			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;
			}
			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);
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=0 \|\| wrkMastSta.getWrkType()!=3){//1:满版 3：取放
			continue;
			}
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			wrkEnable = true;
			if (sign){
			rgvThread.setPakMk(false);
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
			if (signMap){
			Thread.sleep(300);
			wrkMastSta.setWrkSts(1);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			return;
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			break;
			}else {
			log.error("3864行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			} else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			}
			}

			}
			if (!wrkEnable){
			rgvRunWrkMastEmptyStaAvoidance();
			}
			}catch (Exception e){
			log.error("3875行执行小车搬运任务下发失败");
			log.error("3875行"+e);
			}
			}
			/**
			* 执行小车搬运任务
			*/
			// public synchronized void rgvRunWrkMastEmptyStaPut() {//放
			// try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// if (rgvProtocol == null) {
			// continue;
			// }
			// BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			// if (basRgv == null) {
			// log.error("{}号RGV尚未在数据库进行维护！5", rgvSlave.getId());
			// continue;
			// }
			//
			// // 只有当RGV空闲、自动,工位二有物//rgv可用
			// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// && rgvProtocol.getLoaded1()==1 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			// ) {
			// 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;
			// }
			// 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
			// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
			// for (WrkMastSta wrkMastSta : wrkMastStaList){
			// if (wrkMastSta.getType()!=2 \|\| (wrkMastSta.getWrkType()!=2 && wrkMastSta.getWrkType()!=4)){// 2:空板 2:放 4：拆盘
			// continue;
			// }
			// boolean sign = false;
			// if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//放
			// sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
			// }else {
			// continue;
			// }
			// if (sign){
			// boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
			// if (signMap){
			// wrkMastSta.setWrkSts(2);
			// try{
			// wrkMastStaMapper.updateById(wrkMastSta);
			// }catch (Exception e){
			// log.error("更新小车任务失败");
			// }
			// return;
			// }else {
			// log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			// }
			// }else {
			// log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			// }
			// 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);
			// }
			// }

			// public synchronized void rgvRunWrkMastEmptyStaTake() {//取
			// try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// if (rgvProtocol == null) {
			// continue;
			// }
			// BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			// if (basRgv == null) {
			// log.error("{}号RGV尚未在数据库进行维护！6", rgvSlave.getId());
			// continue;
			// }
			//
			// // 只有当RGV空闲、自动,工位二无物//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
			// ) {
			// 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;
			// }
			// 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);
			// for (WrkMastSta wrkMastSta : wrkMastStaList){
			// if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=1){// 2:空板 1:取
			// continue;
			// }
			// boolean sign = false;
			// if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//取
			// sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
			// } else {
			// continue;
			// }
			// if (sign){
			// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
			// if (signMap){
			// wrkMastSta.setWrkSts(1);
			// try{
			// wrkMastStaMapper.updateById(wrkMastSta);
			// }catch (Exception e){
			// log.error("更新小车任务失败");
			// }
			// return;
			// }else {
			// log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			// }
			// }else {
			// log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			// }
			// 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);
			// }
			// }

			/*
			* 有任务但未执行此时需要调整小车位置
			* */
			public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
			try{
			Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
			if (integer==0){
			return;
			}
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			for (BasRgvMap rgvSlave:basRgvMaps) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}else {
			rgvProtocol = rgvProtocol.clone();
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！1", rgvSlave.getRgvNo());
			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.getStatusType1() == RgvStatusType.IDLE
			&& rgvThread.isPakMk()
			// && rgvProtocol.getTaskNo2()==0
			){
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			continue;
			}
			// if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
			// continue;
			// } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157) ){
			// continue;
			// }
			rgvAvoidanceXY(rgvProtocol.getRgvNo());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
			}
			}
			}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);
			}
			}

			/*
			* 小车XY移动避让
			* */
			public synchronized boolean rgvAvoidanceXY(Integer rgvId){
			BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo(rgvId);
			if (basRgvMap.getStartRoute() == 100 \|\| basRgvMap.getStartRoute() == 101){
			try{

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1((short)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(basRgvMap.getStartRoute().shortValue());
			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
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;

			}
			}else {
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1((short)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(basRgvMap.getStartRoute().shortValue());
			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
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;

			}
			}
			}


			/*
			* 小车取货至工位任务
			* */
			public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货
			rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //工位1起点
			rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //工位1目标站点
			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
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			}

			/*
			* 小车取货至工位任务
			* */
			// public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
			// try{
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgvId); // RGV编号
			// rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			// rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			// rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //工位1起点
			// 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
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }catch (Exception e){
			// return false;
			// }
			// }

			/*
			* 小车放货至输送线任务
			* */
			// public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
			// try{
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgvId); // RGV编号
			// rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			// rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			// rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //工位1目标站点
			// 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
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }catch (Exception e){
			// return false;
			// }
			// }

			/*
			* 小车取空板至工位任务
			* */
			// public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
			// try{
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgvId); // RGV编号
			// rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			// rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
			// rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式: 取货
			// rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //工位2起点
			// rgvCommand.setCommand((short) 2); //工位2任务确认
			// if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(5, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }catch (Exception e){
			// return false;
			// }
			// }

			/*
			* 小车放空板至输送线任务
			* */
			// public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
			// try{
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgvId); // RGV编号
			// rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			// rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
			// rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式: 放货
			// rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //工位2目标站点
			// rgvCommand.setCommand((short) 2); //工位2任务确认
			// if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(5, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }catch (Exception e){
			// return false;
			// }
			// }

			/*
			* 小车复位
			* */
			public synchronized boolean rgvComplete(Integer rgvId){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}",rgvId);
			return false;
			} else {
			log.info("RGV命令下发成功，RGV号={}",rgvId);
			return true;
			}
			}catch (Exception e){
			log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
			return false;
			}
			return true;
			}

			}