#

yxFwq

2024-10-30 541cf632855fb991e400df21a64522d56d9f477d

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

@@ -59,7 +59,8 @@
//    private static final int[][] execute = new int[][]{{1,4},{2,4},{3,4},{4,4},{5,6},{6,6},{7,4},{8,4},{9,3},{10,4},{11,4}};
    private static final int[][] execute = new int[][]{{1,4},{2,4},{3,4},{4,4},{5,6},{6,6},{7,4},{8,4},{9,3},{10,4},{11,4}};

    private static final Integer jarMaxLoc = 7;
//    private static final Integer jarMaxLoc1 = 7;
    private static  Integer jarMaxLoc = 0;
    private static final Float jarTemperature = 50F;
    @Autowired
    private CommonService commonService;
@@ -139,7 +140,7 @@

                if (!Cools.isEmpty(barcode)) {
//                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
                    if ("00000000".endsWith(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
                        continue;
                    }
                } else {
@@ -235,7 +236,7 @@
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        staProtocol.setStaNo(wrkMast.getStaNo());

                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        devpThread.setPakMk(staProtocol.getSiteId(), false,238);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
@@ -280,7 +281,7 @@
                                staProtocol.setStaNo(dto.getRgvSstaNo());
                            }

                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            devpThread.setPakMk(staProtocol.getSiteId(), false,283);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
@@ -323,7 +324,7 @@

                if (!Cools.isEmpty(barcode)) {
//                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
                    if ("00000000".endsWith(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
                        continue;
                    }
                } else {
@@ -419,7 +420,7 @@
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        staProtocol.setStaNo(wrkMast.getStaNo());

                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        devpThread.setPakMk(staProtocol.getSiteId(), false,422);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
@@ -464,7 +465,7 @@
                                staProtocol.setStaNo(dto.getRgvSstaNo());
                            }

                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            devpThread.setPakMk(staProtocol.getSiteId(), false,467);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
@@ -538,7 +539,7 @@

                if (!Cools.isEmpty(barcode)) {
//                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
                    if ("00000000".endsWith(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
                        continue;
                    }
                } else {
@@ -634,7 +635,7 @@
                        staProtocol.setWorkNo(wrkMast111.getWrkNo());
                        staProtocol.setStaNo(wrkMast111.getStaNo());

                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        devpThread.setPakMk(staProtocol.getSiteId(), false,637);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            if (ledThread != null) {
@@ -692,7 +693,7 @@
                                staProtocol.setStaNo(dto.getRgvSstaNo());
                            }

                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            devpThread.setPakMk(staProtocol.getSiteId(), false,695);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                if (ledThread != null) {
@@ -738,19 +739,7 @@

                if (!Cools.isEmpty(barcode)) {
//                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
                        continue;
                    }
                    if ("00000000".equals(barcode)){
                        log.error(inSta+"站点，扫码失败，barcode："+barcode);
                        // led 异常显示
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        if (ledThread != null) {
                            ErrMsg errMsg1 = new ErrMsg();
                            errMsg1.setErrMsg(inSta+"站点，扫码失败，barcode："+barcode);
                            errMsg1.setArea("1");
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg1));
                        }
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
                        continue;
                    }
                } else {
@@ -852,7 +841,8 @@
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        staProtocol.setStaNo(wrkMast.getStaNo());

                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        devpThread.setPakMk(staProtocol.getSiteId(), false,843);
                        log.info("锁定标记flase===》N===》站点号：{}，工作号：{}，条码:{}",staProtocol.getSiteId(),staProtocol.getWorkNo(),barcode);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            if (ledThread != null) {
@@ -900,7 +890,8 @@
                                staProtocol.setStaNo(dto.getRgvSstaNo());
                            }

                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            devpThread.setPakMk(staProtocol.getSiteId(), false,892);
                            log.info("锁定标记flase===》N===》站点号：{}，工作号：{}，条码:{}",staProtocol.getStaNo(),staProtocol.getWorkNo(),barcode);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
@@ -995,7 +986,7 @@
                        staNo = 147;
                    }
                    staProtocol.setStaNo(staNo);
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    devpThread.setPakMk(staProtocol.getSiteId(), false,988);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    if (result) {
                        // 更新工作主档
@@ -1103,7 +1094,7 @@
                                    // 更新站点信息 且 下发plc命令
                                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                                    staProtocol.setStaNo(dto.getStaNo());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    devpThread.setPakMk(staProtocol.getSiteId(), false,1096);
//                                    ledThread.errorReset();
                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    if (!result) {
@@ -1218,7 +1209,7 @@
                                    // 更新站点信息 且 下发plc命令
                                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                                    staProtocol.setStaNo(dto.getStaNo());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    devpThread.setPakMk(staProtocol.getSiteId(), false,1211);
//                                    ledThread.errorReset();
                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    if (!result) {
@@ -2332,7 +2323,7 @@
            staProtocol.setWorkNo(wrkMast.getWrkNo());
            staProtocol.setStaNo(wrkMast.getStaNo());

            devpThread.setPakMk(staProtocol.getSiteId(), false);
            devpThread.setPakMk(staProtocol.getSiteId(), false,2325);

            if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(99, crnCommand.getCrnNo()-2))) {
                log.error("输送线锁定命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), crnCommand.getCrnNo()-2);
@@ -3121,18 +3112,30 @@
                continue;
            }

            if (wrkMast.getStaNo()>309){
                int wrkCount = wrkMastMapper.selectCount(new EntityWrapper<WrkMast>().eq("io_type", 110).gt("sta_no", 309).lt("sta_no", 314).gt("wrk_sts",11L));
                if (wrkCount>=12){
                    continue;
                }
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                StaProtocol staProtocolEnt = devpThread.getStation().get(212);
                if (staProtocolEnt.isLoading() || staProtocolEnt.getWorkNo()!=0){
                    continue;
                }
            }

            // 工作档状态判断
            if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
                log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                continue;
            }
            //退库模式跳过118、119出库任务
            if (wrkMast.getStaNo()==118 || wrkMast.getStaNo()==119){
                RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign("oneSign");
                if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
                    continue;
                }
            }
//            //退库模式跳过118、119出库任务
//            if (wrkMast.getStaNo()==118 || wrkMast.getStaNo()==119){
//                RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign("oneSign");
//                if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
//                    continue;
//                }
//            }
            // 获取源库位信息
            LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
            if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
@@ -4094,7 +4097,7 @@
                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(dto.getWorkNo());
                            staProtocol.setStaNo(dto.getStaNo());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            devpThread.setPakMk(staProtocol.getSiteId(), false,4087);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
@@ -4157,7 +4160,7 @@
                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(dto.getWorkNo());
                            staProtocol.setStaNo(dto.getStaNo());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            devpThread.setPakMk(staProtocol.getSiteId(), false,4150);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
@@ -4220,7 +4223,7 @@
                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(dto.getWorkNo());
                            staProtocol.setStaNo(dto.getStaNo());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            devpThread.setPakMk(staProtocol.getSiteId(), false,4213);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
@@ -5117,12 +5120,17 @@
                                break;
                            }
                            BasJar basJar = basJarMapper.selectById(jarSlave.getId());
                            BasJar basJarOther = basJarMapper.selectById(jarSlave.getJarOtherId());
                            jarMaxLoc = basJar.getJarCount();
                            if (jarMaxLoc == 0 || basJarOther.getJarCount() != 0) {
                                break;
                            }
                            int count = basJarMastService.selectCount(new EntityWrapper<BasJarMast>().eq("jar_regin", basJar.getRegion()).lt("status", 17).gt("status", 11));
                            if (count>0){
                                break;
                            }
                            if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),3)!=0){
                                if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),3)==7){
                                if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(), 3).equals(basJarOther.getJarCount())){
                                    JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
                                    JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
                                    if (jarOtherProtocol == null) {
@@ -5330,6 +5338,8 @@
                    signExecute = jarWrkMastExecuteGenerateBurial(signExecute, sign);//冷却槽取输送线
                default:
                    jarWrkMastExecuteGenerateSte(signExecute,sign);//小车移动
//                    signExecute = jarWrkMastExecuteGenerateBurial(signExecute, sign);//冷却槽取输送线

            }
            if (!signExecute[0] && !signExecute[1]){
                //Ste移动
@@ -5663,7 +5673,7 @@
            List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
                add(4);
            }});
            if (basJarMastList.size() != jarMaxLoc){
            if (basJarMastList.isEmpty()){
                return false;
            }

@@ -5706,8 +5716,15 @@
                    log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
                    return false;
                }
                if (!basJar.getJarCount().equals(jarMaxLoc)){
                    log.error("{}号硫化罐查询设备库存数异常！！！库存待入数：{}",jarProtocol.getJarNo(),basJar.getJarCount());
                jarMaxLoc = basJar.getJarCount();
                if (jarMaxLoc == 0) {
                    return false;
                }
//                if (!basJar.getJarCount().equals(jarMaxLoc)){
//                    log.error("{}号硫化罐查询设备库存数异常！！！库存待入数：{}",jarProtocol.getJarNo(),basJar.getJarCount());
//                    return false;
//                }
                if (basJarMastList.size() != jarMaxLoc){
                    return false;
                }

@@ -5744,14 +5761,9 @@
            List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
                add(6);
            }});
            if (basJarMastList.size() != jarMaxLoc){
            if (basJarMastList.isEmpty()){
                return false;
            }
//            if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),5)!=0
//                    && basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),5)!=7
//                    && basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),5)!=14){
//                return false;
//            }

            BasJarMast basJarMastSign = basJarMastList.get(0);
            if (Cools.isEmpty(basJarMastSign)){
@@ -5793,6 +5805,13 @@
                    log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
                    return false;
                }
                jarMaxLoc = basJar.getJarCount();
                if (jarMaxLoc == 0) {
                    return false;
                }
                if (basJarMastList.size() != jarMaxLoc){
                    return false;
                }

                //门作业  无
                if (jarProtocol.isAutoing() && jarProtocol.statusType == JarStatusType.WAITING2 && jarProtocol.jarErr==0
@@ -5824,6 +5843,12 @@
            if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
                return false;
            }
            List<BasJarMast> basJarMastList1 = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getJarOtherId(), new ArrayList<Integer>() {{
                add(0);add(1);add(2);add(3);
            }});
            if (!basJarMastList1.isEmpty()){
                return false;
            }
            List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
                add(8);
            }});
@@ -5833,12 +5858,6 @@
            List<BasJarMast> basJarMastList10 = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
                add(10);
            }});
            if (basJarMastList10.size()==jarMaxLoc){
                return false;
            }
            if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),4)!=0 && basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),4)!=7){
                return false;
            }

            BasJarMast jarMastByJarIdMin = basJarMastService.getJarMastByJarIdMin(jarSlave.getId(),8,8);
            if (Cools.isEmpty(jarMastByJarIdMin)){
@@ -5879,6 +5898,27 @@
                BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
                if (Cools.isEmpty(basJar)){
                    log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
                    return false;
                }

                jarMaxLoc = basJar.getJarCount();
                if (jarMaxLoc == 0) {
                    return false;
                }
                if (basJarMastList10.size()==jarMaxLoc){
                    return false;
                }

                BasJar basJarOther = basJarMapper.selectById(jarSlave.getJarOtherId());
                if (Cools.isEmpty(basJarOther)){
                    log.error("{}号硫化罐查询设备档案无信息！！！",jarSlave.getJarOtherId());
                    return false;
                }

                if (basJarOther.getJarCount() == 0) {
                    return false;
                }
                if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),4)!=0 && !basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(), 4).equals(basJarOther.getJarCount() )){
                    return false;
                }

@@ -6039,7 +6079,7 @@
                return false;
            }
            if (steProtocol.getMode() != (short)1) {
                log.error(steNo + "号小车离线，无法操作");
//                log.error(steNo + "号小车离线，无法操作");
                return false;
            }
            if (steProtocol.getChargeStatus()!=0){
@@ -6094,7 +6134,7 @@
                return false;
            }
            if (steProtocol.getMode() != (short)1) {
                log.error(steNo + "号小车离线，无法操作");
//                log.error(steNo + "号小车离线，无法操作");
                return false;
            }
            if (steProtocol.getCharge()<31.0F && chargeSign){
@@ -7546,89 +7586,124 @@
            if (staProtocolRGVOther == null) {
                return false;
            }

            if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){ //临时
//            if ( staProtocolRGVOther.rgvBoolean(1)){
                if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
                    //移走  == > 2
                    if (!jarRgvMoveTake(wrkMastExecute,2)){
                        log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                    }
                    return true;
            Integer[] steJarNoAB = SteAndJarUtil.getSteJarNoAB(wrkMastExecute.getJarId());
            boolean signOther = false;
            for(Integer jarNoOther : steJarNoAB){
                // 获取硫化罐信息
                JarThread jarThreadOther = (JarThread) SlaveConnection.get(SlaveType.Jar, jarNoOther);
                JarProtocol jarProtocolOther = jarThreadOther.getJarProtocol();
                if (jarProtocolOther == null) {
                    continue;
                }
                //门作业  无
                //自动、空闲、
                if (jarProtocolOther.modeType != JarModeType.AUTO){
                    continue;
                }

                if (jarProtocolOther.statusType .equals(JarStatusType.SOS)){
//                    log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
                    continue;
                }
                if (jarProtocolOther.getJarTemperature()>jarTemperature){
//                    log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
                    continue;
                }
                BasJar basJarOther = basJarMapper.selectById(jarProtocolOther.getJarNo());
                if (Cools.isEmpty(basJarOther)){
//                    log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
                    continue;
                }
                if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
                        && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0
                ){
                    log.error("10：A=>B\\11：B=>A==>任务下发===>行={}",6558);
                    if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
                        //判断小车状态
                        if (wrkMastExecute.getIoType()==10){//10：A=>B
                            if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE,true)){
                                //调车  == > 移动
                                if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT23.id,SteTaskModeType.STE_MOVE_14,false,wrkMastExecute.getJarId())){
                                    log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                }
                                wrkMastExecute.setWrkType(1);
                                wrkMastExecute.setWrkSts(3);
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                }
                            } else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE,false)){
                                wrkMastExecute.setWrkType(1);
                                wrkMastExecute.setWrkSts(4);
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                }
                            }
                        } else {//11:B=>A
                            if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE,false)){
                                //调车  == > 移动
                                if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT20.id,SteTaskModeType.STE_MOVE_14,false,wrkMastExecute.getJarId())){
                                    log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                }
                                wrkMastExecute.setWrkType(1);
                                wrkMastExecute.setWrkSts(3);
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                }
                            } else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE,false)){
                                wrkMastExecute.setWrkType(1);
                                wrkMastExecute.setWrkSts(4);
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                }
                            }
                        }

                    } else {
                        //调车  == > endRow
                        if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                    jarProtocol = jarProtocolOther;
                    signOther = true;
                    break;
                }
            }
            if (signOther){
                if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){ //临时
                    if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
                        //移走  == > 2
                        if (!jarRgvMoveTake(wrkMastExecute,2)){
                            log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                        }
                        wrkMastExecute.setWrkType(1);
                        wrkMastExecute.setWrkSts(2);
                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                            log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                        }
                        return true;
                    }
                    return true;
                    //门作业  无
                    //自动、空闲、
                    if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
                            && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0
                    ){
                        log.error("10：A=>B\\11：B=>A==>任务下发===>行={}",6558);
                        if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
                            //判断小车状态
                            if (wrkMastExecute.getIoType()==10){//10：A=>B
                                if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE,true)){
                                    //调车  == > 移动
                                    if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT23.id,SteTaskModeType.STE_MOVE_14,false,jarProtocol.getJarNo())){
                                        log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
                                                wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                    }
                                    wrkMastExecute.setWrkType(1);
                                    wrkMastExecute.setWrkSts(3);
                                    if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                        log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                                wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                    }
                                } else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE,false)){
                                    wrkMastExecute.setWrkType(1);
                                    wrkMastExecute.setWrkSts(4);
                                    if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                        log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                                wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                    }
                                }
                            } else {//11:B=>A
                                if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE,false)){
                                    //调车  == > 移动
                                    if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT20.id,SteTaskModeType.STE_MOVE_14,false,jarProtocol.getJarNo())){
                                        log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
                                                wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                    }
                                    wrkMastExecute.setWrkType(1);
                                    wrkMastExecute.setWrkSts(3);
                                    if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                        log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                                wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                    }
                                } else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE,false)){
                                    wrkMastExecute.setWrkType(1);
                                    wrkMastExecute.setWrkSts(4);
                                    if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                        log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                                wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                    }
                                }
                            }

                        } else {
                            //调车  == > endRow
                            if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(jarProtocol.getJarNo()))){
                                log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                        wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                            }
                            wrkMastExecute.setWrkType(1);
                            wrkMastExecute.setWrkSts(2);
                            if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                        wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                            }
                        }
                        return true;
                    }
                    return false;
                } else {
                    log.error("jarWrkMastExecuteActionExecute1===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(basJar.getEnterRgvNo())+";WrkMastExecute:"+JSON.toJSONString(wrkMastExecute));
                    return false;
                }
                return false;
            } else {
                log.error("jarWrkMastExecuteActionExecute1===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(basJar.getEnterRgvNo())+";WrkMastExecute:"+JSON.toJSONString(wrkMastExecute));
                return false;
            }

        } catch (Exception e){
            log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
        }
@@ -8340,7 +8415,14 @@
                    continue;
                }
                SteProtocol steProtocol = steThread.getSteProtocol();
                if (steProtocol == null || steProtocol.getChargeStatus()!=0) {
                if (steProtocol == null) {
                    continue;
                }
                if (Cools.isEmpty(steProtocol.getChargeStatus())) {
                    log.error("{}号小车，充电状态信息异常，小车信息：{}",steProtocol.getSteNo(),steProtocol.toString());
                    continue;
                }
                if (steProtocol.getChargeStatus()!=0) {
                    continue;
                }
                WrkMastExecute wrkMastExecuteByCharge = wrkMastExecuteService.getWrkMastExecuteByCharge(steSlave.getId());
@@ -8454,7 +8536,14 @@
                    continue;
                }
                SteProtocol steProtocol = steThread.getSteProtocol();
                if (steProtocol == null || steProtocol.getChargeStatus()!=1) {
                if (steProtocol == null) {
                    continue;
                }
                if (Cools.isEmpty(steProtocol.getChargeStatus())) {
                    log.error("{}号小车，充电状态信息异常，小车信息：{}",steProtocol.getSteNo(),steProtocol.toString());
                    continue;
                }
                if (steProtocol.getChargeStatus()!=1) {
                    continue;
                }

@@ -8597,7 +8686,7 @@
        try {
            int[] jarNos=new int[]{3,1,4,2};//(607分配硫化罐)
            ArrayList<Integer> staNos = new ArrayList<Integer>() {{
                add(607);add(608);add(609);add(610);add(611);add(612);
                add(608);add(609);add(610);add(611);add(612);
                add(613);add(614);add(615);add(616);add(617);add(618);
                add(619);add(620);add(621);add(622);
            }};
@@ -8613,6 +8702,16 @@
                    add(4);
                }});
                if (basJarMastList.isEmpty()){
                    continue;
                }
                BasJar basJar = basJarMapper.selectById(jarNo);
                if (Cools.isEmpty(basJar)){
                    log.error("{}号硫化罐查询设备档案无信息！！！",jarNo);
                    continue;
                }

                jarMaxLoc = basJar.getJarCount();
                if (jarMaxLoc == 0) {
                    continue;
                }
                if (basJarMastList.size()>0 && basJarMastList.size()<jarMaxLoc){
@@ -8677,6 +8776,10 @@
                    log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
                    continue;
                }
                jarMaxLoc = basJar.getJarCount();
                if (jarMaxLoc == 0) {
                    continue;
                }
                List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarNo, new ArrayList<Integer>() {{
                    add(0);
                    add(1);
@@ -8684,13 +8787,16 @@
                    add(3);
                    add(4);
                }});
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);

                Integer count = basJarMastList.size();
                ArrayList<Integer> wrkNoList = new ArrayList<>();

                for (Integer staNoEnt : staNos){
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
                    StaProtocol staProtocolEnt = devpThread.getStation().get(staNoEnt);
                    if (staProtocolEnt != null && staProtocolEnt.getWorkNo()!=0 && !wrkNoList.contains(staProtocolEnt.getWorkNo())){
                    if (staProtocolEnt == null || (staProtocolEnt.isLoading() && staProtocolEnt.getWorkNo()==0)){
//                        log.error("站点异常,计数加一，站点号："+staNoEnt);
                        count++;
                    } else if (staProtocolEnt != null && staProtocolEnt.getWorkNo()!=0 && !wrkNoList.contains(staProtocolEnt.getWorkNo())){
                        if (staProtocolEnt.getStaNo().equals(basJar.getEntStaNo$())){
                            count++;
                            wrkNoList.add(staProtocolEnt.getWorkNo());