zy-wcs.git - Gitblit

			@@ -4,6 +4,7 @@
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.core.common.Cools;
			import com.core.common.SpringUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.controller.CrnController;
			import com.zy.asrs.domain.enums.TaskStatusType;
			@@ -31,7 +32,6 @@
			import com.zy.core.thread.RgvThread;
			import com.zy.core.thread.SiemensDevpThread;
			import lombok.extern.slf4j.Slf4j;
			import org.apache.poi.ss.formula.functions.T;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.beans.factory.annotation.Value;
			import org.springframework.stereotype.Service;
			@@ -55,8 +55,6 @@

			@Autowired
			private SlaveProperties slaveProperties;
			@Autowired
			private WrkMastMapper wrkMastMapper;
			@Autowired
			private LocMastService locMastService;
			@Autowired
			@@ -105,6 +103,11 @@

			@Value("${constant-parameters.avoidDistance}")
			private Long avoidDistance;
			@Autowired
			private TaskWrkLogServiceImpl taskWrkLogService;
			@Autowired
			private BasPlcerrorLogServiceImpl basPlcerrorLogService;
			public Long currentTimeMilliConnectCrnAuto= 0L;

			public void generateStoreWrkFile() {
			try {
			@@ -130,35 +133,59 @@
			boolean back = false;
			String errMsg = "-";
			if (staProtocol.getGrossWt()>=600){
			errMsg = "超重";
			errMsg = "超重："+staProtocol.getGrossWt()+"kg";
			back = true;
			}
			if (staProtocol.isFrontErr()) {
			errMsg = "前超限";
			if (!back){
			errMsg = "前超限";
			} else {
			errMsg = errMsg+"---"+"前超限";
			}
			back = true;
			}
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			if (staProtocol.isBackErr()) {
			if (!back){
			errMsg = "后超限";
			} else {
			errMsg = errMsg+"---"+"后超限";
			}
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "高超限";
			if (staProtocol.isHighErr()) {
			if (!back){
			errMsg = "高超限";
			} else {
			errMsg = errMsg+"---"+"高超限";
			}
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			if (staProtocol.isLeftErr()) {
			if (!back){
			errMsg = "左超限";
			} else {
			errMsg = errMsg+"---"+"左超限";
			}
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			if (staProtocol.isRightErr()) {
			if (!back){
			errMsg = "右超限";
			} else {
			errMsg = errMsg+"---"+"右超限";
			}
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			// if (!back && staProtocol.isWeightErr()) {
			// errMsg = "超重";
			// back = true;
			// }
			if (staProtocol.isBarcodeErr()) {
			if (!back){
			errMsg = "扫码失败";
			} else {
			errMsg = errMsg+"---"+"扫码失败";
			}
			back = true;
			}
			// 退回
			@@ -177,6 +204,7 @@
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			devpThread.setPakMkRun(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
			@@ -226,7 +254,7 @@
			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
			if (!Cools.isEmpty(taskWrk1)) {
			log.info("托盘码：" + barcode + "任务档存在");
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && (taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString()) \|\| taskWrk1.getStartPoint().equals(String.valueOf((staProtocol.getSiteId()+1))))) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));

			@@ -385,10 +413,10 @@
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			back = true;
			}
			// if (!back && staProtocol.isWeightErr()) {
			// errMsg = "超重";
			// back = true;
			// }
			// 退回
			if (back) {
			if (stano == inSta.getBackSta().shortValue()) {
			@@ -641,6 +669,9 @@
			}

			CrnSlave crnSlave = new CrnSlave(crn);
			if (Cools.isEmpty(crnProtocol.getLaneNo()) \|\| crnProtocol.getLaneNo()==0){
			continue;
			}

			if (!crn.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			@@ -704,6 +735,86 @@
			}

			/**
			* 堆垛机5分钟无任务则回到源点
			*/
			public void crnStnToOutStnSou() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}
			if (System.currentTimeMillis()-currentTimeMilliConnectCrnAuto<10006010){
			continue;
			}
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.statusType == CrnStatusType.IDLE && crnProtocol.getLoaded().equals((short)0) && crnProtocol.getLaneNo()!=0 && crnProtocol.getTaskNo() == 0 ) {
			if (crnProtocol.getBay()!=1 \|\| crnProtocol.getLevel()!=1){
			//获取工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectByLaneNo(crnProtocol.getLaneNo());
			if (!taskWrks.isEmpty()) {
			continue;
			}
			List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<TaskWrkLog>().eq("CRN_NO",crnProtocol.getLaneNo()).orderBy("COMPLETE_TIME",true));
			if (!taskWrkLogs.isEmpty()) {
			TaskWrkLog taskWrkLog = taskWrkLogs.get(0);
			Date completeTime = taskWrkLog.getCompleteTime();
			if (completeTime==null){
			completeTime = taskWrkLog.getCancelTime();
			if (completeTime==null){
			completeTime = taskWrkLog.getModiTime();
			}
			}
			long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(completeTime, new Date());
			if (differenceInSeconds <= 60101000) {
			return;
			}
			}
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
			crnCommand.setTaskNo((short)999); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 库位移转
			crnCommand.setSourcePosX((short) 0); // 源库位排
			crnCommand.setSourcePosY((short) 0); // 源库位列
			crnCommand.setSourcePosZ((short) 0); // 源库位层
			int row = crnProtocol.getLaneNo() * 2;
			crnCommand.setDestinationPosX((short) row); // 目标库位排
			crnCommand.setDestinationPosY((short) 1); // 目标库位层
			crnCommand.setDestinationPosZ((short) 1); // 目标库位列
			if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机自动回源点失败，堆垛机号={}", crnProtocol.getCrnNo());

			if (System.currentTimeMillis()-currentTimeMilliConnectCrnAuto>10006010){
			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("CrnErr", crnProtocol.getCrnNo(), "堆垛机自动回源点失败");
			} catch (Exception e2){
			}
			if (currentTimeMilliConnectCrnAuto == 0){
			currentTimeMilliConnectCrnAuto = System.currentTimeMillis()-10006010-1;
			} else {
			currentTimeMilliConnectCrnAuto = System.currentTimeMillis();
			}
			}
			}
			}
			}
			} catch (Exception e){
			log.error("堆垛机5分钟无任务则回到源点失败");
			}
			}
			}

			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			public synchronized void crnIoExecute() throws IOException {
			@@ -721,6 +832,9 @@
			}

			CrnSlave crn = new CrnSlave(crnSlave);
			if (Cools.isEmpty(crnProtocol.getLaneNo()) \|\| crnProtocol.getLaneNo()==0){
			continue;
			}

			if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			@@ -730,8 +844,12 @@
			}
			}

			// 库位移转
			this.locToLoc(crn, crnProtocol);
			try{
			// 库位移转
			this.locToLoc(crn, crnProtocol);
			} catch (Exception e) {
			log.error("库位移转失败");
			}

			// 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
			@@ -873,7 +991,7 @@
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setCrnNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
			crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
			crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			@@ -979,8 +1097,11 @@
			}

			// 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() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {

			// // 判断堆垛机出库站状态
			// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			@@ -1082,6 +1203,8 @@
			if (staProtocol.isOutEnable()){
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "没有可出");
			}
			} else {
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "出库站点：非自动");
			}
			}
			}
			@@ -1204,80 +1327,87 @@
			*/
			public void storeFinished() throws InterruptedException {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}

			CrnSlave crn = new CrnSlave(crnSlave);

			if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			crn.updateCrnInStn(crnOther);
			}
			}
			}

			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			//获取入库待确认工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crnProtocol.getLaneNo(), crnProtocol.getTaskNo().intValue());
			if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，巷道号={}，工作号={}", crn.getId(), crnProtocol.getLaneNo(), crnProtocol.getTaskNo());
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			// Thread.sleep(300);
			//确认完成信号
			CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
			crnOperatorParam.setCrnNo(crn.getId());
			Date now = new Date();

			crnController.crnTaskComplete(crnOperatorParam);
			if (!Cools.isEmpty(taskWrk)) {
			if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(TaskStatusType.OVER.id);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			locMast.setLocSts("F");//F.在库
			locMast.setBarcode(taskWrk.getBarcode());//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(13);//出库完成
			taskWrk.setStatus(TaskStatusType.OVER.id);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
			locMast.setLocSts("O");//O.空库位
			locMast.setBarcode("");//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(TaskStatusType.OVER.id);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			locMast.setLocSts("F");//F.在库
			locMast.setBarcode(taskWrk.getBarcode());//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			CrnSlave crn = new CrnSlave(crnSlave);
			if (Cools.isEmpty(crnProtocol.getLaneNo()) \|\| crnProtocol.getLaneNo()==0){
			continue;
			}

			LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
			locMast1.setLocSts("O");//O.空库位
			locMast1.setBarcode("");//托盘码
			locMast1.setModiTime(now);
			locMast1.setModiUser(9999L);
			locMastService.updateById(locMast1);
			if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			crn.updateCrnInStn(crnOther);
			}
			}
			taskWrk.setModiTime(now);
			taskWrk.setCompleteTime(now);
			taskWrkService.updateById(taskWrk);
			}

			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			//获取入库待确认工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crnProtocol.getLaneNo(), crnProtocol.getTaskNo().intValue());
			if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，巷道号={}，工作号={}", crn.getId(), crnProtocol.getLaneNo(), crnProtocol.getTaskNo());
			continue;
			}
			// Thread.sleep(300);
			//确认完成信号
			// CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
			// crnOperatorParam.setCrnNo(crn.getId());
			Date now = new Date();

			// crnController.crnTaskComplete(crnOperatorParam);
			// MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))
			crnThread.setResetFlag(true);

			if (!Cools.isEmpty(taskWrk)) {
			if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(TaskStatusType.OVER.id);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			locMast.setLocSts("F");//F.在库
			locMast.setBarcode(taskWrk.getBarcode());//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(13);//出库完成
			taskWrk.setStatus(TaskStatusType.OVER.id);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
			locMast.setLocSts("O");//O.空库位
			locMast.setBarcode("");//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(TaskStatusType.OVER.id);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			locMast.setLocSts("F");//F.在库
			locMast.setBarcode(taskWrk.getBarcode());//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);

			LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
			locMast1.setLocSts("O");//O.空库位
			locMast1.setBarcode("");//托盘码
			locMast1.setModiTime(now);
			locMast1.setModiUser(9999L);
			locMastService.updateById(locMast1);
			}
			taskWrk.setModiTime(now);
			taskWrk.setCompleteTime(now);
			taskWrkService.updateById(taskWrk);


			// try {
			@@ -1317,8 +1447,11 @@
			// log.error("wcs完结任务上报wms失败,报错信息：", e);
			//// throw new CoolException("wcs派发入库任务上报wms失败");
			// }
			}
			}

			}
			} catch (Exception e){
			log.error("堆垛机执行对工作档的完成操作失败 ===>> [id:{}] [error:{}]", crnSlave.getId(), e.getMessage());
			}
			}
			}
			@@ -1329,115 +1462,243 @@
			public void recCrnErr() {
			Date now = new Date();
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			if (false) {
			// if (crnProtocol.getModeType() != CrnModeType.STOP) {
			// 有任务
			if (crnProtocol.getTaskNo() != 0) {
			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			if (crnProtocol.getModeType() != CrnModeType.STOP) {
			// 有任务
			if (crnProtocol.getTaskNo() != 0) {
			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(crnProtocol.getTaskNo()));
			if (taskWrk == null) {
			continue;
			}
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm().intValue());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			taskWrk.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			taskWrk.getWrkSts().longValue(), // 工作状态
			taskWrk.getIoType(), // 入出库类型
			taskWrk.getCrnNo(), // 巷道号
			crn.getId(), // 堆垛机号
			taskWrk.getTargetPoint(), // 目标库位
			0, // 目标站
			0, // 源站
			taskWrk.getStartPoint(), // 源库位
			taskWrk.getBarcode(), // 条码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			taskWrk.getCreateTime(), // 任务时间(接收时间)
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (crnProtocol.getAlarm() == null \|\| crnProtocol.getAlarm() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			// 无任务
			} else {
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			null, // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			crnProtocol.getLaneNo(), // 堆垛机
			crn.getId(), // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			crn.getId(), // 堆垛机
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (crnProtocol.getAlarm() == null \|\| crnProtocol.getAlarm() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			// 无任务
			} else {
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			null, // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			crn.getId(), // 堆垛机
			null, // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			}
			}
			} catch (Exception e){
			log.error("堆垛机异常信息记录失败 ===>> [id:{}] [error:{}]", crn.getId(), e.getMessage());
			}
			}
			}

			/**
			* 堆垛机异常信息记录
			*/
			public void recDevErr() {
			Date now = new Date();
			for (DevpSlave devpSlave : slaveProperties.getDevp()) {
			try{
			// 获取堆垛机信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
			Map<Integer, StaProtocol> station = devpThread.getStation();
			for (StaProtocol staProtocol : station.values()){
			try{
			if (staProtocol == null) {
			continue;
			}
			// if (staProtocol.isAutoing()) {
			// // 有任务
			// if (staProtocol.getWorkNo() != 0) {
			//// BasErrLog latest = basPlcerrorLogService.se(crn.getId(), crnProtocol.getTaskNo().intValue());
			// // 有异常
			// if (latest == null) {
			// if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(crnProtocol.getTaskNo()));
			// if (taskWrk == null) {
			// continue;
			// }
			// BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm().intValue());
			// String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			// BasErrLog basErrLog = new BasErrLog(
			// null, // 编号
			// taskWrk.getWrkNo(), // 工作号
			// now, // 发生时间
			// null, // 结束时间
			// taskWrk.getWrkSts().longValue(), // 工作状态
			// taskWrk.getIoType(), // 入出库类型
			// crn.getId(), // 堆垛机
			// null, // plc
			// taskWrk.getTargetPoint(), // 目标库位
			// 0, // 目标站
			// 0, // 源站
			// taskWrk.getStartPoint(), // 源库位
			// taskWrk.getBarcode(), // 条码
			// (int) crnProtocol.getAlarm(), // 异常码
			// errName, // 异常
			// 1, // 异常情况
			// taskWrk.getCreateTime(), // 任务时间(接收时间)
			// null, // 添加人员
			// now, // 修改时间
			// null, // 修改人员
			// "任务中异常" // 备注
			// );
			// if (!basErrLogService.insert(basErrLog)) {
			// log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			// }
			// }
			// } else {
			// // 异常修复
			// if (crnProtocol.getAlarm() == null \|\| crnProtocol.getAlarm() == 0) {
			// latest.setEndTime(now);
			// latest.setUpdateTime(now);
			// latest.setStatus(2);
			// if (!basErrLogService.updateById(latest)) {
			// log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			// }
			// }
			// }
			// // 无任务
			// } else {
			// BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// // 有异常
			// if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			// // 记录新异常
			// if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			// BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			// String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			// BasErrLog basErrLog = new BasErrLog(
			// null, // 编号
			// null, // 工作号
			// now, // 发生时间
			// null, // 结束时间
			// null, // 工作状态
			// null, // 入出库类型
			// crn.getId(), // 堆垛机
			// null, // plc
			// null, // 目标库位
			// null, // 目标站
			// null, // 源站
			// null, // 源库位
			// null, // 条码
			// (int) crnProtocol.getAlarm(), // 异常码
			// errName, // 异常
			// 1, // 异常情况
			// now, // 添加时间
			// null, // 添加人员
			// now, // 修改时间
			// null, // 修改人员
			// "无任务异常" // 备注
			// );
			// if (!basErrLogService.insert(basErrLog)) {
			// log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			// }
			// }
			// // 无异常
			// } else {
			// // 异常修复
			// if (latest != null && latest.getStatus() == 1) {
			// latest.setEndTime(now);
			// latest.setUpdateTime(now);
			// latest.setStatus(2);
			// if (!basErrLogService.updateById(latest)) {
			// log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			// }
			// }
			// }
			// }
			// }
			} catch (Exception devErr){
			log.error("输送线站点异常信息记录失败 ===>> [id:{}] [error:{}]", staProtocol.getStaNo(), devErr.getMessage());
			}
			}
			} catch (Exception e){
			log.error("输送线异常信息记录失败 ===>> [id:{}] [error:{}]", devpSlave.getId(), e.getMessage());
			}
			}
			}

			@@ -1568,9 +1829,15 @@
			}
			if (rgvProtocolOther.statusEnable) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
			if (Math.abs(basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos())
			long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
			-
			Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos()));
			if (abs<100){
			return true;
			}
			if (Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
			>=
			Math.abs(basDevpPosition.getPlcPosition()-rgvProtocolOther.getRgvPos())){
			Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos())){
			return false;
			}
			}
			@@ -1594,6 +1861,12 @@
			}
			if (rgvProtocolOther.statusEnable) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
			long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
			-
			Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos()));
			if (abs<100){
			return true;
			}
			if (Math.abs(basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos())
			>=
			Math.abs(basDevpPosition.getPlcPosition()-rgvProtocolOther.getRgvPos())){
			@@ -1611,16 +1884,186 @@
			return null;
			}
			// 判断是否满足取货条件
			if (!staProtocol.isPakMkTask()) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "任务已下发等待小车取");
			return null;
			}
			// 判断是否满足取货条件
			if (staProtocol.isAutoing()
			// && staProtocol.isLoading()
			// && staProtocol.isStaOk()
			&& staProtocol.getWorkNo() != 0) {
			TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo());
			if (taskWrk != null) {
			Integer stano = staProtocol.getStaNo();
			if (staProtocol.getSiteId() == 1004 \|\| staProtocol.getSiteId()==1020){
			if (!staProtocol.isPakMkRun()) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "异常回退标记，需要回退");
			return null;
			}
			if (!staProtocol.isLoading()) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "无物");
			return null;
			}
			if (!staProtocol.isInEnable()) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "等待可入信号");
			return null;
			}
			if (!staProtocol.isStaOk()) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "等待链条就绪");
			return null;
			}
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "-";
			if (staProtocol.getGrossWt()>=600){
			errMsg = "超重："+staProtocol.getGrossWt()+"kg";
			back = true;
			}
			if (staProtocol.isFrontErr()) {
			if (!back){
			errMsg = "前超限";
			} else {
			errMsg = errMsg+"---"+"前超限";
			}
			back = true;
			}
			if (staProtocol.isBackErr()) {
			if (!back){
			errMsg = "后超限";
			} else {
			errMsg = errMsg+"---"+"后超限";
			}
			back = true;
			}
			if (staProtocol.isHighErr()) {
			if (!back){
			errMsg = "高超限";
			} else {
			errMsg = errMsg+"---"+"高超限";
			}
			back = true;
			}
			if (staProtocol.isLeftErr()) {
			if (!back){
			errMsg = "左超限";
			} else {
			errMsg = errMsg+"---"+"左超限";
			}
			back = true;
			}
			if (staProtocol.isRightErr()) {
			if (!back){
			errMsg = "右超限";
			} else {
			errMsg = errMsg+"---"+"右超限";
			}
			back = true;
			}
			// if (!back && staProtocol.isWeightErr()) {
			// errMsg = "超重";
			// back = true;
			// }
			if (staProtocol.isBarcodeErr()) {
			if (!back){
			errMsg = "扫码失败";
			} else {
			errMsg = errMsg+"---"+"扫码失败";
			}
			back = true;
			}
			// 退回
			if (back) {
			if (stano.equals(staProtocol.getStaNo() + 1)) {
			return null;
			}
			if (!staProtocol.isPakMk()) {
			return null;
			}
			System.out.println("扫码入库失败，{"+inSta.getStaNo()+"}入库站因{"+errMsg+"}异常，托盘已被退回");
			// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(staProtocol.getStaNo()+1);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			devpThread.setPakMkRun(staProtocol.getSiteId(), false);
			devpThread.setPakMkTask(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
			MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			try{
			taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
			taskWrk.setModiTime(new Date());
			taskWrkMapper.updateById(taskWrk);
			} catch (Exception e){
			devpThread.setErrorDev(staProtocol.getSiteId(), errMsg+"异常信息保存工作档案失败！");
			}
			return null;
			}
			}
			return taskWrk;
			}
			} else if (staProtocol.isAutoing() && staProtocol.getWorkNo() == 0 && !staProtocol.isLoading()){
			if (inSta.isDirectionOther()){
			StaProtocol staProtocolOther = devpThread.getStation().get(inSta.getStaNoOther());
			if (staProtocolOther == null) {
			return null;
			}
			// 判断是否满足取货条件
			if (staProtocolOther.isAutoing()
			&& staProtocolOther.getWorkNo() != 0) {
			TaskWrk taskWrkOther = taskWrkService.selectByWrkNo(staProtocolOther.getWorkNo());
			if (taskWrkOther != null) {
			return taskWrkOther;
			}
			}
			}
			}
			return null;
			}
			public boolean deviceDetection(RgvSlave.RgvStn inSta,Integer rgvNo) {
			ArrayList<Integer> arrayList = new ArrayList<Integer>() {{
			add(1009);
			add(1011);
			add(1012);
			add(1014);
			add(1016);
			}};
			try{

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
			ArrayList<Integer> listW = new ArrayList<Integer>();
			ArrayList<Integer> listL = new ArrayList<Integer>();
			for (Integer staNo : arrayList){
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			RgvErrCache.updateRgvErr(rgvNo,staNo+"站点数据丢失");
			return false;
			}
			// 判断是否满足取货条件
			if (staProtocol.getWorkNo() != 0) {
			if (!listW.contains(staProtocol.getWorkNo())) {
			listW.add(staProtocol.getWorkNo());
			}
			}
			// 判断是否满足取货条件
			if (staProtocol.isLoading()) {
			if (!listL.contains(staProtocol.getStaNo())) {
			listL.add(staProtocol.getStaNo());
			}
			}
			}
			if (listW.size()>=3){
			RgvErrCache.updateRgvErr(rgvNo,"等待1012拣选，防止堵塞");
			return false;
			}
			if (listL.size()>=3){
			RgvErrCache.updateRgvErr(rgvNo,"等待1012拣选，防止堵塞");
			return false;
			}
			} catch (Exception e){
			RgvErrCache.updateRgvErr(rgvNo,"1012检测异常："+e.getMessage());
			return false;
			}
			return true;
			}

			public boolean rgvOtherStatusEnable(RgvSlave slave) {
			@@ -1645,6 +2088,11 @@
			boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
			if (basDevpPositions.isEmpty()) {
			log.error("获取所有站点信息异常");
			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成：获取所有站点信息异常");
			} catch (Exception e2){
			}
			continue;
			}
			List<TaskWrk> taskWrkList = new ArrayList<>();
			@@ -1684,6 +2132,7 @@
			if (rgvOtherIDLEOther(rgvSlave)){
			if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
			System.out.println("空闲就近跳过==="+rgvSlave.getId()+"===");
			RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"空闲就近跳过");

			sign=true;
			}
			@@ -1764,8 +2213,30 @@
			if (rgvOtherIDLEOther2(rgvSlave)){
			if (!rgvOtherIDLE2(rgvSlave,staList.get(0))){
			System.out.println("运行就近跳过==="+rgvSlave.getId()+"===");
			RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"运行就近跳过");

			sign=true;
			}
			}
			if (sign){
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staList.get(0))) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
			if (rgvSuper.getStaNo().equals(outStaNo)){
			System.out.println("运行就近跳过后因最远再次执行==="+rgvSlave.getId()+"===");

			sign=false;
			break;
			}
			}
			} else {
			return;
			}
			break;
			}
			}
			}
			}
			@@ -1847,26 +2318,67 @@
			}
			}
			}
			// if (!sign) {
			// // 半边区域内放货任务
			// for (Integer staNoNow : rangeListOther) {
			// for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			// if (rgvStn.getStaNo().equals(staNoNow)) {
			// TaskWrk taskWrk = deviceDetection(rgvStn);
			// if (taskWrk != null) {
			// BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			// if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			// sign = taskGenerate(rgvSlave, rgvStn, 0);
			// }
			// }
			// break;
			// }
			// }
			// if (sign) {
			// break;
			// }
			// }
			// }
			if (!sign && staList.size()>1) {
			for (Integer staNoNow : rangeListOther) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
			if (rgvSuper.getStaNo().equals(outStaNo)){
			System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"===");
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			break;
			}
			}
			}
			break;
			}
			if (sign) {
			break;
			}
			}
			if (sign) {
			break;
			}
			}

			}else if (!sign && staList.size()==1){
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
			if (rgvSuper.getStaNo().equals(outStaNo)){
			System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"===");
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			break;
			}
			}
			}
			break;
			}
			if (sign) {
			break;
			}
			}
			if (sign) {
			break;
			}
			}

			}
			RgvErrCache.updateRgvErr(rgvSlave.getId(),"未查询到可执行任务");

			} else {
			//可用区域就近取货
			//就近排序
			@@ -1897,6 +2409,11 @@
			}
			} catch (Exception e) {
			log.error("任务生成失败===》异常信息：{}", e.getMessage());
			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成失败");
			} catch (Exception e2){
			}
			}
			}
			}
			@@ -1936,6 +2453,7 @@
			try {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());

			TaskProtocol issuedTake = new TaskProtocol();
			TaskProtocol issuedPut = new TaskProtocol();
			@@ -1953,6 +2471,17 @@
			if (targetPointConvert == null) {
			return false;
			}
			if (targetPointConvert == 1009){
			if (!deviceDetection(rgvStn, rgvSlave.getId())){
			return false;
			}
			}
			try{
			devpThread.setPakMkTask(rgvStn.getStaNo(), false);
			} catch (Exception e2){
			RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"小车任务下发标记更新失败");
			}


			BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
			BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
			@@ -1989,6 +2518,13 @@
			}
			} catch (Exception e) {
			log.error("任务生成失败issued1===》异常信息：{}", e.getMessage());
			RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued1");

			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "任务生成失败issued1");
			} catch (Exception e2){
			}
			return false;
			}

			@@ -2006,6 +2542,13 @@
			}
			} catch (Exception e) {
			log.error("任务生成失败issued2===》异常信息：{}", e.getMessage());
			RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued2");

			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "站点任务生成失败issued2");
			} catch (Exception e2){
			}
			}
			return true;
			}
			@@ -2021,7 +2564,7 @@
			// 命令集合
			List<LedCommand> commands = new ArrayList<>();
			// 工作档集合
			List<WrkMast> wrkMasts = new ArrayList<>();
			List<TaskWrk> taskWrks = new ArrayList<>();
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			@@ -2045,7 +2588,7 @@
			ledCommand.getMatDtos().add(matDto);
			commands.add(ledCommand);
			}
			Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
			Set<Integer> workNos = taskWrks.stream().map(TaskWrk::getWrkNo).collect(Collectors.toSet());
			// 获取LED线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// 相同工作号集合则过滤
			@@ -2064,10 +2607,10 @@

			try {
			// 修改主档led标记
			for (WrkMast wrkMast : wrkMasts) {
			wrkMast.setOveMk("Y");
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			for (TaskWrk taskWrk : taskWrks) {
			// taskWrk.setOveMk("Y");
			taskWrk.setModiTime(new Date());
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			// News.errorNoLog(""+mark+" - 4"+" - 更新工作档失败");
			throw new CoolException("更新工作档失败");
			}