zy-wcs.git - Gitblit

			@@ -6,14 +6,13 @@
			import com.baomidou.mybatisplus.mapper.Wrapper;
			import com.core.common.Cools;
			import com.core.common.DateUtils;
			import com.core.common.R;
			import com.core.exception.CoolException;
			import com.zy.asrs.domain.enums.WorkNoType;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.CodeDetectionUtil;
			import com.zy.asrs.utils.RouteUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.VersionUtils;
			import com.zy.asrs.utils.*;
			import com.zy.common.model.LocTypeDto;
			import com.zy.common.model.MatDto;
			import com.zy.common.model.SearchLocParam;
			@@ -25,27 +24,23 @@
			import com.zy.common.utils.RgvUtils;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			import com.zy.core.Slave;
			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.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.model.command.*;
			import com.zy.core.model.cpmmandParam.CrnCommandParam;
			import com.zy.core.model.protocol.*;
			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 com.zy.core.thread.*;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.beans.factory.annotation.Value;
			import org.springframework.stereotype.Service;
			import org.springframework.transaction.annotation.Transactional;
			import org.springframework.transaction.interceptor.TransactionAspectSupport;
			import springfox.documentation.spring.web.json.Json;

			import java.util.*;
			import java.util.concurrent.TimeUnit;
			@@ -61,6 +56,8 @@
			public class MainServiceImpl {

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

			@Autowired
			private CommonService commonService;
			@@ -106,10 +103,21 @@
			private WrkMastCrnMapper wrkMastCrnMapper;
			@Autowired
			private WrkMastSplitTwinMapper wrkMastSplitTwinMapper;
			@Autowired
			private WrkMastSplitTwinService wrkMastSplitTwinService;
			@Autowired
			private BasJarMastService basJarMastService;
			@Autowired
			private WrkMastExecuteService wrkMastExecuteService;
			@Autowired
			private BasJarService basJarService;
			@Autowired
			private BasJarMapper basJarMapper;

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



			/**
			* 组托
			@@ -217,8 +225,17 @@
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			log.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			continue;
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());

			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			return;
			}
			// // 获取入库通知档
			// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
			@@ -381,6 +398,22 @@
			// throw new CoolException("更新plc站点信息失败");
			// }
			continue;
			}

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

			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			return;
			}

			// 判断重复工作档
			@@ -551,12 +584,27 @@
			// }
			continue;
			}

			//
			// // 判断重复工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			// if (wrkMast != null) {
			// log.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			// continue;
			// }
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			log.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			continue;
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());

			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			return;
			}
			// // 获取入库通知档
			// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
			@@ -599,71 +647,30 @@
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			SearchLocParam param2 = new SearchLocParam();
			param2.setBarcode(barcode);
			param2.setSourceStaNo(inSta.getStaNo());
			param2.setLocType1(locTypeDto.getLocType1());
			String response2 = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/yx/loc/v33")
			.setJson(JSON.toJSONString(param2))
			.build()
			.doPost();
			JSONObject jsonObject2 = JSON.parseObject(response2);
			if (jsonObject2.getInteger("code").equals(200)) {
			log.info("大料箱自动组托成功！！");
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);

			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());

			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, "入库失败！"));
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, "入库失败！"));
			}
			}
			}

			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			}
			}

			/**
			* 组托
			* 入库站，根据条码扫描通知桁架码垛
			*/
			public synchronized void generateStoreWrkFileFull2LouM() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历码垛口
			for (DevpSlave.Sta driveSta : devp.getDriveSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, driveSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();

			if (!Cools.isEmpty(barcode) && !barcode.equals("") && !barcode.equals(" ")) {
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取码垛口信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(driveSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& staProtocol.isEmptyMk()
			&& (staProtocol.getWorkNo() == 0 \|\| (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) )
			) {
			try {
			BasDevp basDevp = basDevpService.selectById(driveSta.getStaNo());
			if (basDevp.getReportSign()>0){
			continue;
			}
			basDevp.setBarcode(barcode);
			basDevp.setReportSign(1);
			basDevpService.updateById(basDevp);
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			@@ -1028,164 +1035,6 @@
			}

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

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

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

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

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

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

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

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

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

			// boolean result3 = MessageQueue.offer(SlaveType.Devp, 2, new Task(4, staProtocol));
			return;
			}
			}
			/**
			* 拣料、并板、盘点再入库拆垛位置
			*/
			public synchronized void storeEmptyPlt4() {
			@@ -1240,7 +1089,7 @@
			case 3:
			case 4:
			case 5:
			crnStnToOutStnTwo(crnStn,1);
			crnStnToOutStnTwo(crnSlave.getId(),crnStn,1);
			continue;
			case 6:
			case 7:
			@@ -1372,7 +1221,8 @@
			}
			return false;
			}
			public synchronized boolean crnStnToOutStnTwo(CrnSlave.CrnStn crnStn ,Integer conStation) {

			public synchronized boolean crnStnToOutStnTwo(Integer crnNo,CrnSlave.CrnStn crnStn ,Integer conStation) {
			try{
			Date now = new Date();
			// 获取堆垛机出库站信息
			@@ -1383,20 +1233,22 @@
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
			if (wrkMast == null) {
			return false;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			return false;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == null \|\| staProtocol.getWorkNo() == 0)) {

			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn,crnNo);
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();

			if (conStation==1){
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2345(staProtocol.getSiteId(),crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			return false;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			return false;
			}
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			return false;
			@@ -1442,6 +1294,18 @@
			}
			}
			}else if (conStation==2){
			if (crnProtocol.statusType != CrnStatusType.IDLE){
			return false;
			}
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2345(staProtocol.getSiteId(),crnProtocol.getTaskNoTwo().intValue());
			if (wrkMast == null) {
			return false;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			return false;
			}
			if (crnProtocol.statusTypeTwo == CrnStatusType.FETCHING \|\| crnProtocol.statusTypeTwo == CrnStatusType.PUTTING) {
			// 移动中
			return false;
			@@ -1493,6 +1357,7 @@
			}
			return false;
			}

			public synchronized boolean crnStnToOutStnThree(CrnSlave.CrnStn crnStn ) {
			try{
			// 获取堆垛机出库站信息
			@@ -1561,7 +1426,7 @@
			case 3:
			case 4:
			case 5:
			crnStnToOutStnTwo(crnStn,2);
			crnStnToOutStnTwo(crnSlave.getId(),crnStn,2);
			continue;
			default:
			break;
			@@ -1696,8 +1561,6 @@
			&& crnProtocol.getTaskNo() == 0
			&& crnProtocol.getLoaded() == 0
			&& crnProtocol.getForkPos() == 0) {
			// sign[0] = 1;
			// sign[1] = 1;
			/*
			* 任务拆分特殊处理
			* */
			@@ -1708,16 +1571,10 @@
			sign[0] = 1;
			sign[1] = 1;
			}
			}else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
			&& crnProtocol.getTaskNoTwo() == 0
			&& crnProtocol.getLoadedTwo() == 0
			&& crnProtocol.getForkPosTwo() == 0){
			sign[0] = 1;
			sign[1] = 2;
			}
			}

			if (sign[0]==1 && sign[1] == 1){
			if (sign[0]==1){
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			@@ -1782,126 +1639,6 @@
			}
			}

			/**
			* 搜索RGV车。通过目标站搜索哪台车可用
			*/
			public synchronized Integer searchRgvNo(Integer staNo) {
			try{
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			return null;//目标站不存在
			}
			//路径值
			int path = basDevp.getLocType3().intValue();

			ArrayList<RgvThread> list = new ArrayList<>();
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {

			continue;
			}
			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgv.getId());
			continue;
			}

			list.add(rgvThread);
			}

			if (list.size() > 1) {
			//超过两台车，按照配置的规则进行分配
			for (RgvThread rgvThread : list) {
			//获取车辆配置的路径规则
			BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(rgvThread.getSlave().getId());
			if (basRgvPath == null) {
			continue;
			}
			//目标站是否包含当前路径中
			List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
			if (rgvPath.contains(path)) {
			//当前路径中包含目标站，则选定这台车
			return rgvThread.getSlave().getId();
			}
			}
			}else {
			//小于或等于1台车，分配全路径
			BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//获取默认路径
			if (basRgvPath == null) {
			return null;
			}
			List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
			if (rgvPath.contains(path)) {
			//当前路径中包含目标站，则选定这台车
			return list.get(0).getSlave().getId();
			}
			}

			return null;
			}catch (Exception e){
			log.error("搜索RGV车。通过目标站搜索哪台车可用"+e);
			return null;
			}
			}

			/**
			* 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
			*/
			public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) {
			// 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;
			// }
			// 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 (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
			return;
			}

			// 已经存在吊车执行任务时，则过滤3,12
			if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
			return;
			}

			//堆垛机有执行中任务，过滤3,4,11,12
			if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) {
			return;
			}

			//输送线没有入库任务，过滤2
			if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
			return;
			}
			log.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo((short) 63333); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 回原点
			crnCommand.setSourcePosX((short) 0); // 源库位排
			crnCommand.setSourcePosY((short) 0); // 源库位列
			crnCommand.setSourcePosZ((short) 0); // 源库位层
			crnCommand.setDestinationPosX((short) 0); // 目标库位排
			crnCommand.setDestinationPosY((short) 0); // 目标库位列
			crnCommand.setDestinationPosZ((short) 0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
			}
			crnThread.setBackHpFlag(true);
			}
			// }
			}

			/**
			* 入库 ===>> 堆垛机站到库位
			@@ -2008,7 +1745,7 @@
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {

			// long startTime = System.currentTimeMillis();
			@@ -2041,10 +1778,13 @@
			*/
			public synchronized void crnStnToLoc1Big(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
			Integer crnStation1 = crnStation;//记录
			for(WrkMast wrkMast : wrkMasts){
			if (wrkMast == null) {
			continue;
			}

			crnStation=crnStation1;//刷新

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
			@@ -2110,6 +1850,10 @@
			break;
			}

			if (locMast.getBay1()==81){
			crnStation=2;
			}


			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			@@ -2160,6 +1904,145 @@
			}
			}

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

			// 查询站点详细信息
			BasDevp staDetlOther = basDevpService.selectById(crnStn.getStaNoOther());
			if (staDetlOther == null) {
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNoOther());
			continue;
			}
			if (staProtocolOther.getWorkNo()!=0){
			WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(staProtocolOther.getWorkNo());
			if (Cools.isEmpty(wrkMastOther)){
			log.error("Other查询工作档案无数据--工作号{},站点号：{}", staProtocolOther.getWorkNo(),staProtocolOther.getSiteId());
			continue;
			}
			// 获取库位信息
			LocMast locMastOther = locMastService.selectById(wrkMastOther.getLocNo());
			if (locMastOther == null) {
			log.error("查询库存无数据--库位号{}", locMastOther.getLocNo());
			continue;
			}
			if (!locMastOther.getLocSts().equals("S") && !locMastOther.getLocSts().equals("Q")) {
			log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMastOther.getLocNo(), locMastOther.getLocSts());
			continue;
			}
			if (locMastOther.getBay1()!=81){
			if (staProtocolOther.isAutoing() && staProtocolOther.isLoading()
			&& staProtocolOther.isInEnable() && staDetlOther.getCanining() != null && staDetlOther.getCanining().equals("Y")) {
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommandParam crnCommandParam = new CrnCommandParam();
			crnCommandParam.setCrnNo(slave.getId()); // 堆垛机编号

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

			crnCommandParam.setTaskNo(wrkMastOther.getWrkNo().shortValue()); // 工作号
			crnCommandParam.setAckFinish((short) 0); // 任务完成确认位
			crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommandParam.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommandParam.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommandParam.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommandParam.setDestinationPosX((short)0); // 目标库位排
			crnCommandParam.setDestinationPosY((short)0); // 目标库位列
			crnCommandParam.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(99, crnCommandParam.getCrnNo()-2))) {
			log.error("输送线锁定命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), crnCommandParam.getCrnNo()-2);
			continue;
			}
			if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommandParam));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,2,now);
			wrkMastSplitTwin.setWrkSts(1);
			wrkMastSplitTwin.setWrkStart(wrkMast.getStaNo().toString());
			wrkMastSplitTwin.setWrkEnd(wrkMast.getLocNo());
			wrkMastSplitTwin.setStartRow(crnStn.getRow());
			wrkMastSplitTwin.setStartBay(crnStn.getBay());
			wrkMastSplitTwin.setStartLev(crnStn.getLev());
			wrkMastSplitTwin.setEndRow(locMast.getRow1());
			wrkMastSplitTwin.setEndBay(locMast.getBay1());
			wrkMastSplitTwin.setEndLev(locMast.getLev1());
			wrkMastSplitTwin.setWrkType(1);
			wrkMastSplitTwin.setIoType(1);

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

			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}

			if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
			log.error("创建堆垛机执行任务失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
			}

			if (wrkMastMapper.updateById(wrkMastOther) == 0) {
			log.error("Other修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}

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

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


			StaProtocol staProtocolOther2 = devpThread.getStation().get(crnStn.getStaNoOther2());
			if (staProtocolOther2 == null) {
			continue;
			} else {
			staProtocolOther2 = staProtocolOther2.clone();
			}
			if (staProtocolOther2.isAutoing() && staProtocolOther2.getWorkNo()!=0){
			return;
			}
			crnStation = 2;
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			@@ -2172,8 +2055,18 @@
			crnCommand.setDestinationPosX((short)0); // 目标库位排
			crnCommand.setDestinationPosY((short)0); // 目标库位列
			crnCommand.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));

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

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

			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(99, crnCommand.getCrnNo()-2))) {
			log.error("输送线锁定命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), crnCommand.getCrnNo()-2);
			continue;
			}
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			@@ -2314,7 +2207,7 @@
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			@@ -2471,7 +2364,7 @@
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			@@ -2606,7 +2499,7 @@
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			@@ -2772,7 +2665,7 @@
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			@@ -2892,7 +2785,7 @@
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMastCrn.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastCrn.getCrnNo(), JSON.toJSON(crnCommand));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastCrn.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			@@ -2931,10 +2824,13 @@
			*/
			public synchronized void locToCrnStn1Big(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
			Integer crnStation1 = crnStation;
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast == null) {
			continue;
			}

			crnStation = crnStation1;

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
			@@ -3016,6 +2912,10 @@
			break;
			}

			if (sourceSta.getBay1().shortValue()==81){
			crnStation = 2;
			}

			// 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())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
			@@ -3072,192 +2972,96 @@
			// return;
			}

			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX((short)0); // 目标库位排
			crnCommand.setDestinationPosY((short)0); // 目标库位列
			crnCommand.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
			wrkMastSplitTwin.setWrkSts(1);
			wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo());
			wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString());
			wrkMastSplitTwin.setStartRow(sourceSta.getRow1());
			wrkMastSplitTwin.setStartBay(sourceSta.getBay1());
			wrkMastSplitTwin.setStartLev(sourceSta.getLev1());
			wrkMastSplitTwin.setEndRow(crnStn.getRow());
			wrkMastSplitTwin.setEndBay(crnStn.getBay());
			wrkMastSplitTwin.setEndLev(crnStn.getLev());
			wrkMastSplitTwin.setWrkType(1);
			wrkMastSplitTwin.setIoType(2);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("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());
			if (true){
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX((short)0); // 目标库位排
			crnCommand.setDestinationPosY((short)0); // 目标库位列
			crnCommand.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
			wrkMastSplitTwin.setWrkSts(1);
			wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo());
			wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString());
			wrkMastSplitTwin.setStartRow(sourceSta.getRow1());
			wrkMastSplitTwin.setStartBay(sourceSta.getBay1());
			wrkMastSplitTwin.setStartLev(sourceSta.getLev1());
			wrkMastSplitTwin.setEndRow(crnStn.getRow());
			wrkMastSplitTwin.setEndBay(crnStn.getBay());
			wrkMastSplitTwin.setEndLev(crnStn.getLev());
			wrkMastSplitTwin.setWrkType(1);
			wrkMastSplitTwin.setIoType(2);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("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());
			}

			if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
			log.error("创建堆垛机执行任务失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
			}
			break;
			}

			if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
			log.error("创建堆垛机执行任务失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
			}
			break;
			}
			// else {
			// // 1.堆垛机开始移动
			// CrnCommandParam crnCommandParam = new CrnCommandParam();
			// CrnCommand crnCommand = new CrnCommand();
			// crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			// crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			// crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			// crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			// crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			// crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			// crnCommand.setDestinationPosX((short)0); // 目标库位排
			// crnCommand.setDestinationPosY((short)0); // 目标库位列
			// crnCommand.setDestinationPosZ((short)0); // 目标库位层
			// if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			// log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			// } else {
			// // 修改工作档状态 11.生成出库ID => 12.吊车出库中
			// Date now = new Date();
			// wrkMast.setWrkSts(12L);
			// wrkMast.setCrnStrTime(now);
			// wrkMast.setModiTime(now);
			// WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
			// wrkMastSplitTwin.setWrkSts(1);
			// wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo());
			// wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString());
			// wrkMastSplitTwin.setStartRow(sourceSta.getRow1());
			// wrkMastSplitTwin.setStartBay(sourceSta.getBay1());
			// wrkMastSplitTwin.setStartLev(sourceSta.getLev1());
			// wrkMastSplitTwin.setEndRow(crnStn.getRow());
			// wrkMastSplitTwin.setEndBay(crnStn.getBay());
			// wrkMastSplitTwin.setEndLev(crnStn.getLev());
			// wrkMastSplitTwin.setWrkType(1);
			// wrkMastSplitTwin.setIoType(2);
			// if (wrkMastMapper.updateById(wrkMast) == 0) {
			// log.error("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());
			// }
			//
			// if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
			// log.error("创建堆垛机执行任务失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
			// }
			// break;
			// }
			// }
			}
			}

			}

			/**
			* 查找工作状态为2（设备上走）,且RGV入库接驳站符合的的入库工作档，提取出最多2笔
			* @param slave
			* @return
			*/
			public synchronized List<WrkMast> getRgvInTask(RgvSlave slave){
			List<WrkMast> wrkMastTask = new ArrayList<>();
			List<Integer> staNos = new ArrayList<>();
			for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) {
			staNos.add(rgvStn.getStaNo());
			}
			if(staNos.size() < 1){
			return null;
			}
			List<WrkMast> wrkMasts = wrkMastMapper.selectRgvInStep1(slave.getId(), staNos);
			for(WrkMast wrkMast : wrkMasts){
			Integer plcId = 0;
			for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) {
			if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
			plcId = rgvStn.getDevpPlcId();
			break;
			}
			}

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, plcId);
			//判断RGV入库源站点，自动、有物，有任务号，可出
			boolean flag1 = false;
			StaProtocol staProtocol1 = devpThread.getStation().get(wrkMast.getRgvSstaNo());
			if (staProtocol1 == null) {
			continue;
			} else {
			staProtocol1 = staProtocol1.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl1 = basDevpService.selectById(wrkMast.getRgvSstaNo());
			if (staDetl1 == null) {
			log.error("RGV入库 ===>> 输送机源站点在数据库不存在, 站点编号={}", wrkMast.getRgvSstaNo());
			continue;
			}
			if (staProtocol1.isAutoing() && staProtocol1.isLoading() && staProtocol1.getWorkNo().intValue() == wrkMast.getWrkNo()
			&& staProtocol1.isOutEnable() && staDetl1.getOutEnable() != null && staDetl1.getOutEnable().equals("Y")) {
			flag1 = true;
			}

			//判断RGV入库目标站点，自动、无物，没有任务号，可入
			boolean flag2 = false;
			StaProtocol staProtocol2 = devpThread.getStation().get(wrkMast.getRgvDstaNo());
			if (staProtocol2 == null) {
			continue;
			} else {
			staProtocol2 = staProtocol2.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl2 = basDevpService.selectById(wrkMast.getRgvSstaNo());
			if (staDetl2 == null) {
			log.error("RGV入库 ===>> 输送机源站点在数据库不存在, 站点编号={}", wrkMast.getRgvSstaNo());
			continue;
			}
			if (staProtocol2.isAutoing() && staProtocol2.isLoading() && staProtocol2.getWorkNo().intValue() == wrkMast.getWrkNo()
			&& staProtocol2.isInEnable() && staDetl2.getCanining() != null && staDetl2.getCanining().equals("Y")) {
			flag2 = true;
			}

			if(flag1 && flag2){
			wrkMastTask.add(wrkMast);
			if(wrkMastTask.size() >= 2) break;
			}
			}
			return wrkMastTask;
			}

			/**
			* 查找工作状态为14（出库完成）,且RGV出库接驳站符合的的出库工作档，提取出最多2笔
			* @param slave
			* @return
			*/
			public synchronized List<WrkMast> getRgvOutTask(RgvSlave slave){
			List<WrkMast> wrkMastTask = new ArrayList<>();
			List<Integer> staNos = new ArrayList<>();
			for (RgvSlave.RgvStn rgvStn : slave.getRgvOutSStn()) {
			staNos.add(rgvStn.getStaNo());
			}
			if(staNos.size() < 1){
			return null;
			}
			List<WrkMast> wrkMasts = wrkMastMapper.selectRgvOutStep1(slave.getId(), staNos);
			for(WrkMast wrkMast : wrkMasts){
			Integer plcId = 0;
			for (RgvSlave.RgvStn rgvStn : slave.getRgvOutSStn()) {
			if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
			plcId = rgvStn.getDevpPlcId();
			break;
			}
			}

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, plcId);
			//判断RGV出库源站点，自动、有物，有任务号，可出
			boolean flag1 = false;
			StaProtocol staProtocol1 = devpThread.getStation().get(wrkMast.getRgvSstaNo());
			if (staProtocol1 == null) {
			continue;
			} else {
			staProtocol1 = staProtocol1.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl1 = basDevpService.selectById(wrkMast.getRgvSstaNo());
			if (staDetl1 == null) {
			log.error("RGV出库 ===>> 输送机源站点在数据库不存在, 站点编号={}", wrkMast.getRgvSstaNo());
			continue;
			}
			if (staProtocol1.isAutoing() && staProtocol1.isLoading() && staProtocol1.getWorkNo().intValue() == wrkMast.getWrkNo()
			&& staProtocol1.isOutEnable() && staDetl1.getOutEnable() != null && staDetl1.getOutEnable().equals("Y")) {
			flag1 = true;
			}

			//判断RGV出库目标站点，自动、无物，没有任务号，可入
			boolean flag2 = false;
			StaProtocol staProtocol2 = devpThread.getStation().get(wrkMast.getRgvDstaNo());
			if (staProtocol2 == null) {
			continue;
			} else {
			staProtocol2 = staProtocol2.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl2 = basDevpService.selectById(wrkMast.getRgvSstaNo());
			if (staDetl2 == null) {
			log.error("RGV出库 ===>> 输送机源站点在数据库不存在, 站点编号={}", wrkMast.getRgvSstaNo());
			continue;
			}
			if (staProtocol2.isAutoing() && staProtocol2.isLoading() && staProtocol2.getWorkNo().intValue() == wrkMast.getWrkNo()
			&& staProtocol2.isInEnable() && staDetl2.getCanining() != null && staDetl2.getCanining().equals("Y")) {
			flag2 = true;
			}

			if(flag1 && flag2){
			wrkMastTask.add(wrkMast);
			if(wrkMastTask.size() >= 2) break;
			}
			}
			return wrkMastTask;
			}

			/**
			@@ -3314,7 +3118,7 @@
			crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			@@ -3353,6 +3157,7 @@
			}
			}
			}

			public synchronized boolean storeFinishedExecuteOne(CrnSlave crn) {
			try{
			// 获取堆垛机信息
			@@ -3418,6 +3223,7 @@
			}
			return false;
			}

			public synchronized boolean storeFinishedExecuteTwo(CrnSlave crn) {
			try{
			// 获取堆垛机信息
			@@ -3509,6 +3315,7 @@
			}
			return false;
			}

			public synchronized boolean storeFinishedExecuteThree(CrnSlave crn) {
			try{
			// 获取堆垛机信息
			@@ -4028,6 +3835,7 @@
			}
			}
			}

			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			@@ -4558,27 +4366,6 @@
			}
			}

			// /**
			// * 初始化RGV地图
			// */
			// public synchronized void initRgvMap() {
			// Object data = redisUtil.get("rgv_map");
			// if (data == null) {
			// //重新获取全路径地图
			// BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//获取默认路径
			// if (basRgvPath != null) {
			// ArrayList<RgvNode> rgvNodes = new ArrayList<>();
			// List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
			// for (Integer integer : rgvPath) {
			// RgvNode rgvNode = new RgvNode(integer);
			// rgvNodes.add(rgvNode);
			// }
			// //将数据库地图数据存入redis
			// redisUtil.set("rgv_map", JSON.toJSONString(rgvNodes));
			// }
			// }
			// }

			/**
			* 堆垛机演示 ===>> 库位移转
			*/
			@@ -4681,1552 +4468,6 @@
			}

			/**
			* 堆垛机命令下发后，异步修改工作档状态
			*/
			public synchronized void crnIoWrkMast() {
			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;
			}
			Date now = new Date();
			// 堆垛机正在运行
			if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 获取工作档
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			// 入库
			if (wrkMast.getWrkSts() == 1 \|\| wrkMast.getWrkSts() == 2) {
			log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			}
			// 出库、移库
			if (wrkMast.getWrkSts() == 11) {
			log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("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());
			}
			log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			}


			}

			}
			}

			/**
			* 入出库模式切换函数
			*/
			public synchronized void ioConvert() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

			for (DevpSlave.Sta inSta : devp.getInSta()) {
			if (inSta.getStaNo() == 2) {
			continue;
			}
			WrkMast pakout = wrkMastMapper.selectWorkingPakout(inSta.getStaNo());
			switch (inSta.getStaNo()) {
			case 203://1F
			if (pakout != null) {
			if (devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
			WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			&& !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading()
			&& devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) {
			// 出库模式
			devpThread.ioModeOf2F = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf2F = IoModeType.PAKIN_MODE;
			}
			break;
			case 401://1F
			if (pakout != null) {
			if (devpThread.ioModeOf4F != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioModeOf4F = IoModeType.PAKOUT_BOOTING;
			WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			&& !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading()
			&& devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) {
			// 出库模式
			devpThread.ioModeOf4F = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf4F = IoModeType.PAKIN_MODE;
			}
			break;
			}
			}

			}

			} catch (Exception e) {
			e.printStackTrace();
			}


			}

			// /**
			// * 其他 ===>> 码垛位自动补充空板：驱动拆盘机输出托盘
			// */
			// public synchronized void dischargingMachineOutputTray() {
			// try {
			// List<WrkMast> wrkMasts = wrkMastMapper.selectDischargingMachineOutputTray();
			// if (Cools.isEmpty(wrkMasts) \|\| wrkMasts.size()>3){
			// return;
			// }
			//
			// // 获取入库站信息
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			// StaProtocol staProtocol = devpThread.getStation().get(213);
			// if (staProtocol == null) {
			// log.error("码垛位自动补充空板：驱动拆盘机输出托盘，任务下发失败，站点查询失败");
			// return;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			//
			// if (!staProtocol.isLoading()){
			// log.info("码垛位自动补充空板：驱动拆盘机输出托盘，任务下发失败，站点无物，正在自动调出空板！");
			// int i = wrkMastMapper.selectConfigCount10468N();
			// if (i==1){
			// wrkMastMapper.updateConfig10468Y();
			// }
			// return;
			// }else {
			// int i = wrkMastMapper.selectConfigCount10468N();
			// if (i==0){
			// return;
			// }
			// }
			// StaProtocol staProtocol214 = devpThread.getStation().get(214);
			// // 判断是否满足入库条件
			// if (staProtocol.isAutoing() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk() && staProtocol214.getWorkNo()==0) {
			// staProtocol.setWorkNo((short)9999);
			// staProtocol.setStaNo((short)214);
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败==>码垛位自动补充空板：驱动拆盘机输出托盘！");
			// }
			// log.info("码垛位自动补充空板：驱动拆盘机输出托盘，任务下发成功：工作号9999、目标站214！");
			// }else {
			// log.error("码垛位自动补充空板：驱动拆盘机输出托盘，任务下发失败，站点状态不符合！");
			// }
			// }catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			// }

			// /**
			// * 其他 ===>> 拆盘机处空板扫码，驱动托盘向码垛位，不入库
			// */
			// public synchronized void scanBarcodeEmptyBoard() {
			// try {
			//
			// }catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			// }

			/**
			* 其他 ===>> 码垛完成驱动托盘进入下一步（入库前扫码）
			*/
			public synchronized void stackingCompletionDriveTray() {
			try {
			int[] staNos=new int[]{215,219};//(2楼两个入库码垛站)
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			if ((basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 \|\| basDevp.getWrkNo()>9999)) \|\| Cools.isEmpty(basDevp.getBarcode())){
			continue;
			}
			Integer zpallet = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet", basDevp.getBarcode()).eq("status","N"));
			if (zpallet<=0){
			continue;
			}
			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

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

			if (!staProtocol.isLoading()){
			log.info("{}站点无物，正在自动调出空板！",staNo);
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& (basDevp.getWrkNo()==0 \|\| (basDevp.getWrkNo()>=9900 && basDevp.getWrkNo()<=9999))
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
			int workNo = commonService.getWorkNo(5);
			staProtocol.setWorkNo(workNo);
			staProtocol.setStaNo(staNo + 2);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}

			}
			}
			}catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 码垛完成驱动托盘进入下一步（入库前扫码）"+e);
			}
			}
			/**
			* 其他 ===>> 码垛完成驱动托盘进入下一步
			*/
			public synchronized void stackingCompletionDriveTray2() {
			try {
			int[] staNos=new int[]{131,135};//(2个入库站点，1楼2个出库码垛站,根据现场修改)
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (Cools.isEmpty(basDevp) \|\| basDevp.getReportSign()!=1){
			continue;
			}
			if (basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 \|\| basDevp.getWrkNo()>9999)){
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
			if (Cools.isEmpty(wrkMast)){
			continue;
			}
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

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

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

			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			Thread.sleep(100);

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

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

			}
			}
			}catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 码垛完成驱动托盘进入下一步"+e);
			}
			}

			/**
			* 其他 ===>> 码垛完成驱动托盘进入下一步
			*/
			public synchronized void stackingCompletionDriveTrayOk2() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta2()) {

			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

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

			if (wrkMast == null) {
			log.error("站点号"+staProtocol.getSiteId()+"未查询到工作档案！");
			// 无拣料数据
			continue;
			}
			if (Cools.isEmpty(wrkMast.getSheetNo()) \|\| !wrkMast.getSheetNo().equals("2") \|\| wrkMast.getIoType()<100 \|\| wrkMast.getWrkSts()!=14){
			continue;
			}
			if (wrkMast.getIoType()==101){
			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			wrkMast.setSheetNo("3");
			wrkMastMapper.updateById(wrkMast);
			}else {
			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			continue;
			}
			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			wrkMast.setSheetNo("3");
			wrkMastMapper.updateById(wrkMast);

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

			}

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

			}
			}
			}
			}
			}
			/**
			* 其他 ===>> 贴标完成驱动托盘进入下一步
			*/
			public synchronized void stackingCompletionDriveTray3() {
			try {
			int[] staNos=new int[]{144};//(1楼1个贴标位,根据现场修改)
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			if ((basDevp.getWrkNo()<9900 \|\| basDevp.getWrkNo()>9999) && basDevp.getWrkNo()!=32222){
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
			if (Cools.isEmpty(wrkMast)){
			continue;
			}
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

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

			if (!staProtocol.isLoading()){
			log.info("{}站点无物，异常！",staNo);
			continue;
			}
			if (!staProtocol.getWorkNo().equals(wrkMast.getWrkNo())){
			log.info("站点工作号={} 与贴标工作号={} 不一致，异常！",staProtocol.getWorkNo(),wrkMast.getWrkNo().shortValue());
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {

			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}
			wrkMast.setWrkSts(55L);
			wrkMastMapper.updateById(wrkMast);

			}
			}
			}catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 贴标完成驱动托盘进入下一步"+e);
			}
			}

			/**
			* 其他 ===>> 退货码垛完成托盘继续下一步
			*/
			public synchronized void stackingCompletionDriveTrayOk3() {
			try {
			int[] staNos=new int[]{118};
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (Cools.isEmpty(basDevp) \|\| basDevp.getWrkNo()!=0 \|\| basDevp.getReportSign()!=3){
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne145(145);
			if (Cools.isEmpty(wrkMast)){
			continue;
			}
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

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

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

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

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

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

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

			boolean result4 = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol147));

			}
			}
			}catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 退货码垛完成托盘继续下一步"+e);
			}
			}

			/**
			* 其他 ===>> 拆垛完成继续下一步运行途中自动避让空板
			*/
			public synchronized void stackingCompletionDriveTray4() {
			try {
			int[] staNos=new int[]{134};//(134有任务，135空闲，则避让)
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			BasDevp basDevp135 = basDevpService.selectById(135);
			if (basDevp.getWrkNo()==0 \|\| (basDevp.getWrkNo()<10000 && basDevp.getWrkNo()>9899) ){
			continue;
			}
			if (basDevp135.getReportSign()!=0){
			continue;
			}
			WrkMast wrkMast131 = wrkMastMapper.selectWrkMastUnstackingOne202Two(131);
			if (Cools.isEmpty(wrkMast131)){
			continue;
			}
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol135 = devpThread.getStation().get(135);
			if (staProtocol135 == null) {
			continue;
			} else {
			staProtocol135 = staProtocol135.clone();
			}
			if (staProtocol135.getWorkNo()<9900 \|\| staProtocol135.getWorkNo()>9999 \|\| staProtocol135.getWorkNo()==0
			\|\| !staProtocol135.isLoading() \|\| !staProtocol135.isAutoing()){
			continue;
			}
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (!staProtocol.isLoading()){
			continue;
			}
			// if (!staProtocol.getWorkNo().equals(wrkMast131.getWrkNo())){
			// log.info("站点工作号={} 与贴标工作号={} 不一致，异常！",staProtocol.getWorkNo(),wrkMast131.getWrkNo().shortValue());
			// }
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& basDevp.getReportSign()==0
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
			// if (true){
			// return;
			// }

			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol135));
			try{
			Thread.sleep(100);
			}catch (Exception e){ }
			basDevp135.setReportSign(2);
			basDevpService.updateById(basDevp135);
			int workNo = commonService.getWorkNo(5);
			staProtocol135.setWorkNo(workNo);
			staProtocol135.setStaNo(144);
			devpThread.setPakMk(staProtocol135.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol135));
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}
			boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol135));

			}
			}
			}catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 贴标完成驱动托盘进入下一步"+e);
			}
			}

			/**
			* 完成小车任务
			*/
			public synchronized void rgvCompleteWrkMastSta() {
			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！", rgvSlave.getId());
			continue;
			}

			// 只有当RGV等待WCS确认、自动
			if (rgvProtocol.getStatusType() == RgvStatusType.WORKING
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& ((rgvProtocol.getStatusType1()==RgvStatusType.WAITING \|\| rgvProtocol.getStatusType2()==RgvStatusType.WAITING ) \|\|
			(rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING \|\| rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING ))
			) {
			log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
			if (rgvProtocol.getTaskNo1()!=0 && (rgvProtocol.getStatusType1()==RgvStatusType.WAITING \|\| rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)){
			if (rgvProtocol.getTaskNo1()==(short)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());
			break;
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue());
			if (Cools.isEmpty(wrkMastSta) \|\| wrkMastSta.getType()!=1 \|\| 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;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
			Thread.sleep(200);
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			continue;
			}
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
			continue;
			}
			log.error("小车任务完成下发输送线任务："+staProtocol);
			// try{
			// Thread.sleep(1000);
			// DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			// StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
			// log.error("小车任务完成读取输送线任务："+staProtocolEnd);
			// if (staProtocolEnd.getWorkNo()==0 ){ //\|\| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
			// staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
			// staProtocolEnd.setStaNo(wrkMast.getStaNo());
			// if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
			// continue;
			// }
			// log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
			// }
			// }catch (Exception e){
			//
			// }
			}
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			}else if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING \|\| rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){
			if (rgvProtocol.getTaskNo2()==(short)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());
			break;
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().longValue());
			if (Cools.isEmpty(wrkMastSta) \|\| wrkMastSta.getType()!=2){
			log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
			Thread.sleep(200);
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			continue;
			}
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
			continue;
			}
			log.error("小车任务完成下发输送线任务："+staProtocol);
			// try{
			// Thread.sleep(1000);
			// DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			// StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
			// log.error("小车任务完成读取输送线任务："+staProtocolEnd);
			// if (staProtocolEnd.getWorkNo()==0 ){ //\|\| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
			// staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
			// staProtocolEnd.setStaNo(wrkMast.getStaNo());
			// if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
			// continue;
			// }
			// log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
			// }
			// }catch (Exception e){
			//
			// }
			}
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			}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);
			}
			}
			/**
			* 入出库 ===>> 小车作业下发
			*/
			public synchronized boolean rgvIoExecute(Integer sign) {
			boolean rgvIoExecuteSign = false;
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// 获取小车信息
			boolean signWork = false;
			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！", rgvSlave.getId());
			continue;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			) {
			switch (sign){
			//执行小车货物搬运任务
			case 1:
			signWork = rgvRunWrkMastFullSta(rgvSlave);
			break;
			//执行小车空板搬运任务
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
			break;
			case 6:////提升
			// signWork = qwe();
			break;
			case 7:////位移
			break;
			default:
			break;
			}
			for (int signCount = 1;!signWork && signCount<7;signCount++){
			switch (signCount){
			case 1://执行小车货物搬运任务
			signWork = rgvRunWrkMastFullSta(rgvSlave);
			break;
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
			break;
			case 6:////提升
			// signWork = rgvRunWrkMastEmptyStaPut();
			break;
			case 7:////位移
			break;
			default:
			break;
			}
			}
			}else {
			continue;
			}
			if (!rgvIoExecuteSign){
			rgvIoExecuteSign = signWork;
			}
			}
			// if (!rgvIoExecuteSign){
			// if (sign>6){
			//
			// }
			// }
			}catch (Exception e){
			log.error("RGV小车任务下发报错"+e);
			}
			return rgvIoExecuteSign;
			}
			/**
			* 执行小车搬运任务
			*/
			public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) {
			try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			return false;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=1 \|\| wrkMastSta.getWrkType()!=3){//1:满版 3：取放
			continue;
			}
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y")){
			continue;
			}
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
			if (signMap){
			wrkMastSta.setWrkSts(1);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return true;
			}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;
			}
			}
			// }
			}catch (Exception e){
			log.error("3875行执行小车搬运任务下发失败");
			log.error("3875行"+e);
			}
			return false;
			}
			/**
			* 执行小车搬运任务//拆盘
			*/
			public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//拆盘
			try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			return false;
			}

			// 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==3 \|\| rgvProtocol.getLoaded2()==1 \|\| rgvProtocol.getLoaded2()==4)////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物() ；3 1、2层都有物 4：（）只允许拆盘
			) {
			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());
			return false;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			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){// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
			continue;
			}
			boolean sign = false;
			if ( wrkMastSta.getStaEnd()!=0){//放
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y")){
			continue;
			}
			sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
			}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 true;
			}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);
			}
			return false;
			}

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

			// 只有当RGV空闲、自动,工位二有物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			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());
			return false;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=6){// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放 7:提升
			continue;
			}
			boolean sign = false;
			if ( wrkMastSta.getStaEnd()!=0){//满放
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y")){
			continue;
			}
			sign = rgvPutEmptyFull(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 true;
			}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);
			}
			return false;
			}

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

			// 只有当RGV空闲、自动,工位二无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==0 \|\| rgvProtocol.getLoaded2()==1 ) //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			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());
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=1){// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
			continue;
			}
			boolean sign = false;
			if ( wrkMastSta.getStaStart()!=0){//取
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
			if (!basDevp.getAutoing().equals("Y") \|\| !basDevp.getLoading().equals("Y")){
			continue;
			}
			sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
			}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 true;
			}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);
			}
			return false;
			}

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

			// 只有当RGV空闲、自动,工位二无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& rgvProtocol.getLoaded2()==0 //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			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());
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=5){// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
			continue;
			}
			boolean sign = false;
			if (wrkMastSta.getStaStart()!=0){//满取
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
			if (!basDevp.getAutoing().equals("Y") \|\| !basDevp.getLoading().equals("Y")){
			continue;
			}
			sign = rgvTakeEmptyFull(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 true;
			}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);
			}
			return false;
			}

			/*
			* 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;
			}
			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！", rgvSlave.getId());
			continue;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			&& rgvProtocol.getTaskNo1()==0
			&& rgvProtocol.getTaskNo2()==0
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			continue;
			}
			if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) \|\| rgvProtocol.getRgvPosI().equals(102) )){
			continue;
			} else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) \|\| rgvProtocol.getRgvPosI().equals(117) ) ){
			continue;
			}
			rgvAvoidanceXY(rgvProtocol.getRgvNo());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			}
			}
			}catch (Exception e){
			log.error("4109行执行小车初始化任务下发失败");
			log.error("4109行"+e);
			}
			}

			/*
			* 刷新地图数据
			* */
			public synchronized void refreshRgvMap() {
			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！", rgvSlave.getId());
			continue;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			&& rgvProtocol.getTaskNo1()==0
			&& rgvProtocol.getTaskNo2()==0
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvSlave.getId());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			}
			}
			}catch (Exception e){
			log.error("4109行执行小车初始化任务下发失败");
			log.error("4109行"+e);
			}
			}

			/*
			* 小车XY移动避让
			* */
			public synchronized boolean rgvAvoidanceXY(Integer rgvId){
			if (rgvId==1){
			try{
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
			// 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( (short)101);
			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{
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
			// 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((short)32222); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式: 回原点
			rgvCommand.setSourceStaNo2((short)117);
			rgvCommand.setCommand((short) 2); //工位2任务确认
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号
			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叠盘
			* */
			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.Rgv, rgvId, new Task(5, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			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 //拆盘
			* */
			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.Rgv, rgvId, new Task(5, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			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满取
			* */
			public synchronized boolean rgvTakeEmptyFull(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_5); // 工位2任务模式: 满取
			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.Rgv, rgvId, new Task(5, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			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 //满放
			* */
			public synchronized boolean rgvPutEmptyFull(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_6); // 工位2任务模式: 满放
			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.Rgv, rgvId, new Task(5, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			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;
			}
			}

			/*
			* 小车地图更新更新锁
			* */
			public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
			if (true){
			basRgvMapMapper.updateById(basRgvMapCurrent);
			return true;
			}

			// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
			//更新当前小车锁
			try{
			Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
			Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
			basRgvMapCurrent.setLockEndRoute(fallMerge);
			basRgvMapMapper.updateById(basRgvMapCurrent);

			//更新另一台小车地图
			Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther();
			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);
			basRgvMapMapper.updateById(basRgvMapOther);
			return true;
			}catch (Exception e){
			log.error("小车地图更新出错！");
			return false;
			}
			}

			/**
			* 入出库 ===>> 小车作业下发
			*/
			public synchronized boolean steIoExecute(Integer sign) {
			@@ -6235,14 +4476,14 @@
			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			public synchronized void crnIoExecuteTwoExecute() {
			public synchronized void crnIoExecuteTwoExecute(Integer i) {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			try{
			switch (crn.getId()){
			case 3:
			case 4:
			case 5:
			crnWrkMastSplitTwinExecute(crn);
			crnWrkMastSplitTwinExecute(crn,i);
			continue;
			default:
			continue;
			@@ -6254,7 +4495,7 @@
			}


			public synchronized boolean crnWrkMastSplitTwinExecute(CrnSlave crn){
			public synchronized boolean crnWrkMastSplitTwinExecute(CrnSlave crn,Integer i){
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			@@ -6272,41 +4513,95 @@
			int[] sign = new int[]{0,0};
			// 只有当堆垛机自动时才继续执行
			if (crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 只有当堆垛机工位1取货或者有物并且工位2无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE
			&& crnProtocol.getTaskNo() == 0
			&& crnProtocol.getLoaded() == 0
			&& crnProtocol.getForkPos() == 0) {
			sign[0] = 1;
			sign[1] = 1;
			} else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
			&& crnProtocol.getTaskNoTwo() == 0
			&& crnProtocol.getLoadedTwo() == 0
			&& crnProtocol.getForkPosTwo() == 0){
			sign[0] = 1;
			sign[1] = 2;
			} else if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE
			//双
			if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE
			&& crnProtocol.getTaskNo() == 0
			&& crnProtocol.getLoaded() == 1
			&& crnProtocol.getForkPos() == 0) {
			sign[0] = 2;
			sign[1] = 1;
			} else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE
			&& crnProtocol.getTaskNoTwo() == 0
			&& crnProtocol.getLoadedTwo() == 1
			&& crnProtocol.getForkPosTwo() == 0){
			sign[0] = 2;
			sign[1] = 2;
			if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE
			&& crnProtocol.getTaskNoTwo() == 0
			&& crnProtocol.getLoadedTwo() == 1
			&& crnProtocol.getForkPosTwo() == 0){
			List<WrkMastSplitTwin> wrkMastSplitTwinList1 = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),1,2,2,0);
			List<WrkMastSplitTwin> wrkMastSplitTwinList2 = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),2,2,2,0);
			if (!wrkMastSplitTwinList1.isEmpty() && !wrkMastSplitTwinList2.isEmpty() ){
			if (wrkMastSplitTwinList1.size()>1 \|\| wrkMastSplitTwinList2.size()>1 ){
			log.error("Pair堆垛机出入库下发异常,堆垛机号={},异常信息={},工位号={},工作类型={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",sign[1],sign[0]);
			return false;
			}
			WrkMastSplitTwin wrkMastSplitTwin1 = wrkMastSplitTwinList1.get(0);
			WrkMastSplitTwin wrkMastSplitTwin2 = wrkMastSplitTwinList2.get(0);
			boolean ack = crnExecutePutFullPair(crn.getId(), wrkMastSplitTwin1,wrkMastSplitTwin2, sign[1]);
			if (ack){
			wrkMastSplitTwin1.setWrkSts(wrkMastSplitTwin1.getWrkType()==1? 1:3);
			wrkMastSplitTwinService.updateById(wrkMastSplitTwin1);
			wrkMastSplitTwin2.setWrkSts(wrkMastSplitTwin2.getWrkType()==1? 1:3);
			wrkMastSplitTwinService.updateById(wrkMastSplitTwin2);
			}else {
			log.error("堆垛机出入库下发报错,堆垛机号={},异常信息={}",crn.getId(),"下发任务返回值为："+ack);
			}

			return false;
			}

			}
			}
			// 只有当堆垛机工位1取货或者有物并且工位2无任务时才继续执行
			switch (i){
			case 1:
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE
			&& crnProtocol.getTaskNo() == 0
			&& crnProtocol.getLoaded() == 0
			&& crnProtocol.getForkPos() == 0) {
			sign[0] = 1;
			sign[1] = 1;
			}
			break;
			case 2:
			if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE
			&& crnProtocol.getTaskNo() == 0
			&& crnProtocol.getLoaded() == 1
			&& crnProtocol.getForkPos() == 0) {
			sign[0] = 2;
			sign[1] = 1;
			}
			break;
			case 3:
			if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
			&& crnProtocol.getTaskNoTwo() == 0
			&& crnProtocol.getLoadedTwo() == 0
			&& crnProtocol.getForkPosTwo() == 0){
			sign[0] = 1;
			sign[1] = 2;
			}
			break;
			case 4:
			if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE
			&& crnProtocol.getTaskNoTwo() == 0
			&& crnProtocol.getLoadedTwo() == 1
			&& crnProtocol.getForkPosTwo() == 0){
			sign[0] = 2;
			sign[1] = 2;
			}
			break;
			default:
			}
			}

			if (sign[0]!=0){
			List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),sign[1],null,sign[0],0);
			if (wrkMastSplitTwinList.size()!=1){
			log.error("堆垛机出入库下发异常,堆垛机号={},异常信息={},工位号={},工作类型={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",sign[1],sign[0]);
			if (wrkMastSplitTwinList.size()>1){
			log.error("堆垛机出入库下发异常,堆垛机号={},异常信息={},工位号={},工作类型={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",sign[1],sign[0]);
			return false;
			}
			for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
			return sign[0] == 1? crnExecuteTakeFull(crn.getId(), wrkMastSplitTwin, sign[1]) : crnExecutePutFull(crn.getId(), wrkMastSplitTwin, sign[1]);
			boolean ack = sign[0] == 1 ? crnExecuteTakeFull(crn.getId(), wrkMastSplitTwin, sign[1]) : crnExecutePutFull(crn.getId(), wrkMastSplitTwin, sign[1]);
			if (ack){
			wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkType()==1? 1:3);
			wrkMastSplitTwinService.updateById(wrkMastSplitTwin);
			}else {
			log.error("堆垛机出入库下发报错,堆垛机号={},异常信息={}",crn.getId(),"下发任务返回值为："+ack);
			}
			}
			}
			}catch (Exception e){
			@@ -6334,7 +4629,7 @@
			crnCommand.setDestinationPosY((short)0); // 目标库位列
			crnCommand.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSON(crnCommand));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSONString(crnCommand));
			return false;
			} else {
			return true;
			@@ -6363,7 +4658,7 @@
			crnCommand.setDestinationPosY(wrkMastSplitTwin.getEndBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(wrkMastSplitTwin.getEndLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSON(crnCommand));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSONString(crnCommand));
			return false;
			} else {
			return true;
			@@ -6373,4 +4668,3337 @@
			}
			}

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

			crnCommandParam.setTaskNo2(wrkMastSplitTwinTwo.getWrkNo().shortValue()); // 工作号
			crnCommandParam.setAckFinish2((short) 0); // 任务完成确认位
			crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommandParam.setSourcePosX2(wrkMastSplitTwinTwo.getStartRow().shortValue()); // 源库位排
			crnCommandParam.setSourcePosY2(wrkMastSplitTwinTwo.getStartBay().shortValue()); // 源库位列
			crnCommandParam.setSourcePosZ2(wrkMastSplitTwinTwo.getStartLev().shortValue()); // 源库位层
			crnCommandParam.setDestinationPosX2((short)0); // 目标库位排
			crnCommandParam.setDestinationPosY2((short)0); // 目标库位列
			crnCommandParam.setDestinationPosZ2((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnCommandParam.getCrnNo(), JSON.toJSONString(crnCommandParam));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			}

			/*
			* 堆垛机放货货至出库站点任务
			* */
			public synchronized boolean crnExecutePutFullPair(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwinOne,WrkMastSplitTwin wrkMastSplitTwinTwo, Integer crnStation){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			// 1.堆垛机开始移动
			CrnCommandParam crnCommandParam = new CrnCommandParam();
			crnCommandParam.setCrnNo(crnNo); // 堆垛机编号
			crnCommandParam.setTaskNo(wrkMastSplitTwinOne.getWrkNo().shortValue()); // 工作号
			crnCommandParam.setAckFinish((short) 0); // 任务完成确认位
			crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_PUT); // 任务模式: 单放货
			crnCommandParam.setSourcePosX((short)0); // 源库位排
			crnCommandParam.setSourcePosY((short)0); // 源库位列
			crnCommandParam.setSourcePosZ((short)0); // 源库位层
			crnCommandParam.setDestinationPosX(wrkMastSplitTwinOne.getEndRow().shortValue()); // 目标库位排
			crnCommandParam.setDestinationPosY(wrkMastSplitTwinOne.getEndBay().shortValue()); // 目标库位列
			crnCommandParam.setDestinationPosZ(wrkMastSplitTwinOne.getEndLev().shortValue()); // 目标库位层

			crnCommandParam.setTaskNo2(wrkMastSplitTwinTwo.getWrkNo().shortValue()); // 工作号
			crnCommandParam.setAckFinish2((short) 0); // 任务完成确认位
			crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_PUT); // 任务模式: 单放货
			crnCommandParam.setSourcePosX2((short)0); // 源库位排
			crnCommandParam.setSourcePosY2((short)0); // 源库位列
			crnCommandParam.setSourcePosZ2((short)0); // 源库位层
			crnCommandParam.setDestinationPosX2(wrkMastSplitTwinTwo.getEndRow().shortValue()); // 目标库位排
			crnCommandParam.setDestinationPosY2(wrkMastSplitTwinTwo.getEndBay().shortValue()); // 目标库位列
			crnCommandParam.setDestinationPosZ2(wrkMastSplitTwinTwo.getEndLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnCommandParam.getCrnNo(), JSON.toJSONString(crnCommandParam));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			}

			/**
			* Jar任务创建初始 //完成
			*/
			public synchronized void jarMastGenerate() {
			for (JarSlave jarSlave : slaveProperties.getJar()) {
			if (jarSlave.getId()>4){
			continue;
			}
			try{
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			continue;
			}
			for(JarSlave.StaStn staStn : jarSlave.getJarInSta()){
			// 获取硫化罐入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, staStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(staStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo()!=0){
			try{
			if (basJarMastService.selectJarMastOperation(jarSlave.getId(),2)!=0){
			break;
			}
			if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),3)!=0){
			break;
			}
			if (basJarMastService.getJarMastByJarIdCount(jarSlave.getId())>=14){
			break;
			}
			if (basJarMastService.selectJarMastOperation(jarSlave.getId(),0,9)>=7){
			break;
			}
			if (!Objects.equals
			(
			basJarMastService.selectJarMastOperation(jarSlave.getId(), 0, 4)
			,
			basJarMastService.selectJarMastOperation(jarSlave.getId(), 0, 9)
			)
			){
			break;
			}
			BasJarMast jarMastByJarIdMax = basJarMastService.getJarMastByJarIdMax(jarSlave.getId(),0,4);
			int jarLocDigit = 0;
			if (Cools.isEmpty(jarMastByJarIdMax)){
			if (basJarMastService.selectJarMastOperation(jarSlave.getId(),0,4)!=0){
			break;
			}
			jarLocDigit = 1;
			} else if (jarMastByJarIdMax.getJarLocDigit()<7){
			jarLocDigit = jarMastByJarIdMax.getJarLocDigit()+1;
			} else {
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			if (Cools.isEmpty(wrkMast) \|\| wrkMast.getWrkSts()!=2){
			continue;
			}
			BasJarMast basJarMast = basJarMastService.getJarMastByWrkNo(wrkMast.getWrkNo().longValue());
			if (!Cools.isEmpty(basJarMast)){
			continue;
			}
			WrkMastExecute wrkMastExecute = wrkMastExecuteService.getWrkMastExecuteByWrkNo(wrkMast.getWrkNo().longValue());
			if (!Cools.isEmpty(wrkMastExecute)){
			continue;
			}
			log.error("Jar任务创建初始===>行={}",4484);
			if (jarMastGenerateExecute(jarSlave,wrkMast,jarLocDigit,staStn.getStaNo())){
			return;
			}
			}catch (Exception e){
			log.error(jarSlave.getId()+"号硫化罐Jar任务创建异常！"+e);
			}
			break;
			}
			}
			} catch (Exception e){
			log.error("{}号硫化罐Jar任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			}
			}
			}

			/**
			* Jar任务创建===》执行 //完成
			*/
			public synchronized boolean jarMastGenerateExecute(JarSlave jarSlave,WrkMast wrkMast,Integer jarLocDigit,Integer staNo) {
			try{
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}

			JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
			JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
			if (jarOtherProtocol == null) {
			return false;
			}
			// if (jarOtherProtocol.modeType != JarModeType.AUTO){
			// return false;
			// }

			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}
			if (basJar.getJarMode()!=2){
			return false;
			}

			//自动、空闲、右门关闭、 Other左门关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			if (jarProtocol.statusType != JarStatusType.SOS){
			log.error("Jar任务创建===》执行===>行={}",4537);
			BasJarMast basJarMast = new BasJarMast(basJar, wrkMast, jarLocDigit);
			basJarMast.setJarEnterStaNo(staNo);//入硫化罐站点
			basJarMastService.insert(basJarMast);
			return true;
			}
			}

			} catch (Exception e){
			log.error("{}号硫化罐生成BasJarMast初始任务失败,异常原因={},工作号={},硫化库位={}",jarSlave.getId(),e.getMessage(),wrkMast,jarLocDigit);
			}
			return false;
			}

			/**
			* Jar任务完成 //完成
			*/
			public synchronized boolean jarMastGenerateComplete() {
			try{
			for (int[] ex : execute){
			try{
			WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
			wrkMastExecuteSou.setIoType(ex[0]);
			wrkMastExecuteSou.setWrkSts(ex[1]);
			wrkMastExecuteSou.setWrkType(1);
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			log.error("Jar任务完成===>行={}",4564);
			BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
			jarMastByWrkNo.setStatus(jarMastByWrkNo.getStatusComplete());
			if (!basJarMastService.updateById(jarMastByWrkNo)){
			log.error("硫化区域分段任务完成异常,BasJarMast={},异常信息={}",JSON.toJSONString(jarMastByWrkNo),"更新basJarMast失败");
			}
			wrkMastExecute.setWrkSts(wrkMastExecute.getWrkStsComplete());
			wrkMastExecute.setWrkType(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化区域分段任务完成异常,wrkMastExecute={},异常信息={}",JSON.toJSONString(wrkMastExecute),"更新wrkMastExecute失败");
			}
			}
			}catch (Exception e){
			log.error("硫化区域分段任务完成异常,execute={},异常信息={}",JSON.toJSONString(ex),e.getMessage());
			}
			}
			} catch (Exception e){
			log.error("硫化区域分段任务完成异常,异常信息={}",e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务创建 //完成
			*/
			public synchronized void jarWrkMastExecuteGenerate(Integer sign) {
			try{
			boolean[] signExecute = new boolean[]{false,false};
			switch (sign){
			case 1:
			case 2:
			case 3:
			case 4:
			signExecute = jarWrkMastExecuteGenerateJar(signExecute,sign);//硫化罐任务
			case 5:
			signExecute = jarWrkMastExecuteGenerateBurial(signExecute, sign);//冷却槽取输送线
			default:
			jarWrkMastExecuteGenerateSte(signExecute,sign);//小车移动
			}
			if (!signExecute[0] && !signExecute[1]){
			//Ste移动
			jarMastMove();
			}
			} catch (Exception e){
			log.error("硫化区域分段任务创建异常,异常信息={}",e.getMessage());
			}
			}

			public synchronized boolean[] jarWrkMastExecuteGenerateJar(boolean[] signExecute,Integer sign) {
			for (JarSlave jarSlave : slaveProperties.getJar()) {
			int i = jarSlave.getId()>2? 1:0;
			try{
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			continue;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			continue;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			continue;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			continue;
			}

			JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
			JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
			if (jarOtherProtocol == null) {
			continue;
			}
			// if (jarOtherProtocol.modeType != JarModeType.AUTO){
			// continue;
			// }

			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			continue;
			}
			//门作业无
			//自动、空闲、右门关闭、 Other左门关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			switch (sign){
			case 0:
			case 1:
			if (jarWrkMastExecuteGenerate1(jarSlave,sign)){
			signExecute[i] = true;
			break;//开门任务生成入硫化罐任务
			}
			case 2:
			if (jarWrkMastExecuteGenerate2(jarSlave,sign)){
			signExecute[i] = true;
			break;//关进料门
			}
			case 3:
			if (jarWrkMastExecuteGenerate3(jarSlave,sign)){
			signExecute[i] = true;
			break;//开出料门
			}
			case 4:
			if (jarWrkMastExecuteGenerate4(jarSlave,sign)){
			signExecute[i] = true;
			break;//出硫化罐 ===》入冷却槽
			}
			}
			}
			} catch (Exception e){
			log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			}
			}
			return signExecute;
			}

			public synchronized boolean[] jarWrkMastExecuteGenerateBurial(boolean[] signExecute,Integer sign) {
			for (JarSlave jarSlave : slaveProperties.getJar()) {
			if (jarSlave.getId()<5){
			continue;
			}
			try{
			if (signExecute[jarSlave.getId()-5]){
			continue;
			}
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			signExecute[jarSlave.getId()-5] = true;
			continue;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			signExecute[jarSlave.getId()-5] = true;
			continue;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			signExecute[jarSlave.getId()-5] = true;
			continue;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			continue;
			}

			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			continue;
			}
			//门作业无
			//自动、空闲、右门关闭、 Other左门关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0){
			if (jarWrkMastExecuteGenerate5(jarSlave,sign)){
			signExecute[jarSlave.getId()-5] = true;
			//出硫化罐 ===》入冷却槽
			}
			return signExecute;
			}
			} catch (Exception e){
			log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			}
			}
			return signExecute;
			}

			public synchronized boolean[] jarWrkMastExecuteGenerateSte(boolean[] signExecute,Integer sign) {
			for (JarSlave jarSlave : slaveProperties.getJar()) {
			if (jarSlave.getId()<5){
			continue;
			}
			try{
			if (signExecute[jarSlave.getId()-5]){
			continue;
			}
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			continue;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			continue;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			continue;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			continue;
			}

			JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
			JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
			if (jarOtherProtocol == null) {
			continue;
			}
			// if (jarOtherProtocol.modeType != JarModeType.AUTO){
			// continue;
			// }

			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			continue;
			}
			//门作业无
			//自动、空闲、右门关闭、 Other左门关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			switch (sign){
			case 5:
			if (jarWrkMastExecuteGenerate5(jarSlave,sign)){
			signExecute[jarSlave.getId()-5] = true;
			break;//出硫化罐 ===》入冷却槽
			}
			}
			}
			} catch (Exception e){
			log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			}
			}
			return signExecute;
			}

			/**
			* JarWrkMastExecute任务创建 //完成
			* 开门任务
			* 生成入硫化罐任务
			*/
			public synchronized boolean jarWrkMastExecuteGenerate1(JarSlave jarSlave,Integer sign) {
			try{
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			return false;
			}
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
			add(0);
			add(2);
			}});

			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarInSte().get(0).getSteNo(),1,SteStatusType.IDLE)){
			// return false;
			// }

			for (BasJarMast basJarMast : basJarMastList){
			JarSlave.StaStn staStn = null;
			for (JarSlave.StaStn staStn1 : jarSlave.getJarInSta()){
			if (staStn1.getStaNo().equals(basJarMast.getJarEnterStaNo())){
			staStn = staStn1;
			}
			}
			if (Cools.isEmpty(staStn)){
			continue;
			}
			//检测站点状态
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, staStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(staStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo()==basJarMast.getWrkNo().intValue()){

			//检测RGV状态
			StaProtocol staProtocolRGV = devpThread.getStation().get(staStn.getRgvNo());
			if (staProtocolRGV == null) {
			continue;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV.rgvBoolean(1)){
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.statusType .equals(JarStatusType.WAITING2) \|\| jarProtocol.statusType .equals(JarStatusType.SOS)){
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			continue;
			}
			JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
			JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
			if (jarOtherProtocol == null) {
			return false;
			}
			// if (jarOtherProtocol.modeType != JarModeType.AUTO){
			// continue;
			// }

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

			//门作业无
			//自动、空闲、右门关闭、 Other左门关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			if (!jarProtocol.isLeftDoor() && basJarMast.getStatus()==0){
			//生成开门任务 OpenTheDoor
			if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,basJar.getJarNo(),new int[]{basJar.getEnterSteNo(),basJar.getEnterRgvNo(),1,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			}
			return true;
			} else if (jarProtocol.isLeftDoor()){
			//生成入硫化罐任务
			if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,basJar.getJarNo(),new int[]{basJar.getEnterSteNo(),basJar.getEnterRgvNo(),5,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			}
			return true;
			}
			// else if (jarProtocol.statusType == JarStatusType.IDLE && jarProtocol.isLeftDoor()){
			// log.error("JarWrkMastExecute任务创建===>执行异常===》硫化罐空闲但是门未关===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			// }
			}
			return false;
			} else {
			log.error("JarWrkMastExecute任务创建===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(staProtocolRGV)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			return false;
			}
			}
			}

			} catch (Exception e){
			log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务创建 //完成
			* 关进料门
			*/
			public synchronized boolean jarWrkMastExecuteGenerate2(JarSlave jarSlave,Integer sign) {
			try{
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			return false;
			}
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
			add(4);
			}});
			if (basJarMastList.size() != 7){
			return false;
			}

			BasJarMast basJarMastSign = basJarMastList.get(0);
			if (Cools.isEmpty(basJarMastSign)){
			return false;
			}
			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarInSte().get(0).getSteNo(),1,SteStatusType.IDLE)){
			// return false;
			// }

			JarSlave.RgvStn rgvStn = jarSlave.getJarInRgv().get(0);

			if (jarWrkMastExecuteGenerateRgvStatus(rgvStn.getRgvNo(),rgvStn.getDevpPlcId(),1)){
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

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

			//门作业无
			if (jarProtocol.isAutoing() && jarProtocol.statusType == JarStatusType.WAITING3 && jarProtocol.jarErr==0
			&& jarProtocol.isRightDoor() && jarProtocol.isLeftDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			//关进料门
			if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMastSign,basJar.getJarNo(),new int[]{basJar.getEnterSteNo(),basJar.getEnterRgvNo(),2,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMastSign));
			}
			return true;
			}
			return false;
			} else {
			log.error("JarWrkMastExecute任务创建===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(rgvStn)+";BasJarMast:"+JSON.toJSONString(basJarMastSign));
			return false;
			}
			} catch (Exception e){
			log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务创建 //完成
			* 开出料门
			*/
			public synchronized boolean jarWrkMastExecuteGenerate3(JarSlave jarSlave,Integer sign) {
			try{
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			return false;
			}
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
			add(6);
			}});
			if (basJarMastList.size() != 7){
			return false;
			}
			if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),5)!=0){
			return false;
			}

			BasJarMast basJarMastSign = basJarMastList.get(0);
			if (Cools.isEmpty(basJarMastSign)){
			return false;
			}
			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarInSte().get(0).getSteNo(),2,SteStatusType.IDLE)){
			// return false;
			// }

			//判断RGV状态
			JarSlave.RgvStn rgvStn = jarSlave.getJarOutRgv().get(0);

			if (jarWrkMastExecuteGenerateRgvStatus(rgvStn.getRgvNo(),rgvStn.getDevpPlcId(),1)){
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

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

			//门作业无
			if (jarProtocol.isAutoing() && jarProtocol.statusType == JarStatusType.WAITING2 && jarProtocol.jarErr==0
			&& !jarProtocol.isLeftDoor() && !jarProtocol.isRightDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			//开出料门
			if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMastSign,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),3,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMastSign));
			}
			return true;
			}
			return false;
			} else {
			log.error("JarWrkMastExecute任务创建===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(rgvStn)+";BasJarMast:"+JSON.toJSONString(basJarMastSign));
			return false;
			}
			} catch (Exception e){
			log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务创建 //完成
			* 出硫化罐 ===》入冷却槽
			*/
			public synchronized boolean jarWrkMastExecuteGenerate4(JarSlave jarSlave,Integer sign) {
			try{
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			return false;
			}
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
			add(8);
			}});
			if (basJarMastList.isEmpty()){
			return false;
			}

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

			BasJarMast jarMastByJarIdMin = basJarMastService.getJarMastByJarIdMin(jarSlave.getId(),8,8);
			if (Cools.isEmpty(jarMastByJarIdMin)){
			return false;
			}
			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarOutSte().get(0).getSteNo(),2,SteStatusType.IDLE)){
			// return false;
			// }

			//判断RGV状态
			JarSlave.RgvStn rgvStn = jarSlave.getJarOutRgv().get(0);

			if (jarWrkMastExecuteGenerateRgvStatus(rgvStn.getRgvNo(),rgvStn.getDevpPlcId(),1)){
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

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

			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;
			}

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

			if (!basJarMastService.updateById(jarMastByJarIdMin)){
			log.error("JarWrkMastExecute任务创建===>jarMastByJarIdMin更新失败===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByJarIdMin));
			}
			return true;
			}
			return false;
			} else {
			log.error("JarWrkMastExecute任务创建===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(rgvStn)+";BasJarMast:"+JSON.toJSONString(jarMastByJarIdMin));
			return false;
			}
			} catch (Exception e){
			log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务创建 //完成
			* 冷却完成上输送线
			*/
			public synchronized boolean jarWrkMastExecuteGenerate5(JarSlave jarSlave,Integer sign) {
			try{
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			return false;
			}
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusListB(jarSlave.getId(), new ArrayList<Integer>() {{
			add(12);//冷却完成
			}});
			if (basJarMastList.isEmpty()){
			return false;
			}

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

			BasJarMast jarMastByJarIdMin = basJarMastService.getJarMastByJarIdMinB(jarSlave.getId(),12,12);
			if (Cools.isEmpty(jarMastByJarIdMin)){
			return false;
			}
			//
			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarOutSte().get(0).getSteNo(),3,SteStatusType.IDLE)){
			// return false;
			// }

			//判断RGV状态
			JarSlave.RgvStn rgvStn = jarSlave.getJarOutRgv().get(0);

			if (jarWrkMastExecuteGenerateRgvStatus(rgvStn.getRgvNo(),rgvStn.getDevpPlcId(),1)){
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			//门作业无
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0){
			//冷却完成上输送线
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByJarIdMin,basJar.getBurial(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),9,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByJarIdMin));
			}
			return true;
			}
			return false;
			} else {
			log.error("JarWrkMastExecute任务创建===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(rgvStn)+";BasJarMast:"+JSON.toJSONString(jarMastByJarIdMin));
			return false;
			}
			} catch (Exception e){
			log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			}
			return false;
			}

			/**
			* 判断STE小车状态 //完成
			* 1：A面进料面
			* 2：B面出料面
			* 3：冷却槽B面上输送线
			*/
			public synchronized boolean jarWrkMastExecuteGenerateSteStatus(Integer steNo,Integer type,SteStatusType steStatusType,boolean chargeSign) {
			try{
			//判断小车状态
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			if (steThread == null) {
			return false;
			}
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) {
			return false;
			}
			if (steProtocol.getMode() != (short)1) {
			log.error(steNo + "号小车离线，无法操作");
			return false;
			}
			if (steProtocol.getChargeStatus()!=0){
			log.error(steNo + "号小车在充电，等待....");
			return false;
			}
			if (steProtocol.getCharge()<31.0F && chargeSign){
			log.error(steNo + "号小车当前电量过低，准备充电...当前电量"+steProtocol.getCharge().toString());
			return false;
			}
			if (!steProtocol.getStatusType().equals(steStatusType)) {
			log.error(steNo + "号小车状态不是"+JSON.toJSONString(steStatusType)+"，等待....");
			return false;
			}
			switch (type){
			case 1:
			if (!steProtocol.getLocaType().equals(SteLocaType.POINT20)) {
			log.error(steNo + "号小车不在A面平移车，无法操作");
			return false;
			}
			break;
			case 2:
			if (!steProtocol.getLocaType().equals(SteLocaType.POINT23)) {
			log.error(steNo + "号小车不在B面平移车，无法操作");
			return false;
			}
			break;
			case 3:
			if (!steProtocol.getLocaType().equals(SteLocaType.POINT26) && !steProtocol.getLocaType().equals(SteLocaType.POINT25)) {
			log.error(steNo + "号小车不在水槽B端，无法操作");
			return false;
			}
			break;
			default: return false;
			}
			return true;
			} catch (Exception e){
			log.error("{}号小车状态判断状态异常,异常原因={}",steNo,e.getMessage());
			}
			return false;
			}

			public synchronized boolean jarWrkMastExecuteGenerateSteStatusCharge(Integer steNo,Integer type,SteStatusType steStatusType,boolean chargeSign) {
			try{
			//判断小车状态
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			if (steThread == null) {
			return false;
			}
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) {
			return false;
			}
			if (steProtocol.getMode() != (short)1) {
			log.error(steNo + "号小车离线，无法操作");
			return false;
			}
			if (steProtocol.getCharge()<31.0F && chargeSign){
			log.error(steNo + "号小车当前电量过低，准备充电...当前电量"+steProtocol.getCharge().toString());
			return false;
			}
			if (!steProtocol.getStatusType().equals(steStatusType)) {
			log.error(steNo + "号小车状态不是"+JSON.toJSONString(steStatusType)+"，等待....");
			return false;
			}
			switch (type){
			case 1:
			if (!steProtocol.getLocaType().equals(SteLocaType.POINT20)) {
			log.error(steNo + "号小车不在A面平移车，无法操作");
			return false;
			}
			break;
			case 2:
			if (!steProtocol.getLocaType().equals(SteLocaType.POINT23)) {
			log.error(steNo + "号小车不在B面平移车，无法操作");
			return false;
			}
			break;
			case 3:
			if (!steProtocol.getLocaType().equals(SteLocaType.POINT26) && !steProtocol.getLocaType().equals(SteLocaType.POINT25)) {
			log.error(steNo + "号小车不在水槽B端，无法操作");
			return false;
			}
			break;
			default: return false;
			}
			return true;
			} catch (Exception e){
			log.error("{}号小车状态判断状态异常,异常原因={}",steNo,e.getMessage());
			}
			return false;
			}

			/*
			* 判断RGV小车状态 //完成
			* RGV1;//小车无货空闲
			* RGV2;//小车输送线取货到位
			* RGV3;//小车运行中
			* RGV3;//小车运行中
			* RGV4;//小车改左侧货物目标站取1（左）货物
			* RGV5;//小车改右侧货物目标站取2（右）货物
			* RGV6;//上位机清除平移车资料
			* */
			public synchronized boolean jarWrkMastExecuteGenerateRgvStatus(Integer rgvNo,Integer rgvPlcId,Integer type) {
			try{
			//检测RGV状态
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvPlcId);
			StaProtocol staProtocolRGV = devpThread.getStation().get(rgvNo);
			if (staProtocolRGV == null) {
			return false;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV == null) {
			return false;
			}

			return staProtocolRGV.rgvBoolean(type);
			} catch (Exception e){
			log.error("{}号RGV状态判断状态异常,异常原因={}",rgvNo,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务创建===>执行 //完成
			*/
			public synchronized boolean jarWrkMastExecuteGenerateExecute(BasJar basJar,BasJarMast basJarMast,Integer id,int[] digit) {
			try {
			WrkMastExecute wrkMastExecute = new WrkMastExecute(basJarMast);
			wrkMastExecute.setJarId(id);
			wrkMastExecute.setSteId(digit[0]);//穿梭板ID
			wrkMastExecute.setRgvId(basJar.getEnterRgvNo());//RGV ID enter
			wrkMastExecute.setRgvEndId(basJar.getOutRgvNo());//RGV ID out
			wrkMastExecute.setIoType(digit[2]);//任务类型 0: 未知 1: 开进料门 2: 关进料门 3: 开出料门 4: 关出料门 5: 入硫化罐 6: 入冷却槽 7: 穿梭车进冷却槽 8: 穿梭车离开冷却槽 9: 出冷却槽 10：A=>B 11:B=>A 100:小车充电任务
			wrkMastExecute.setType(digit[3]);//设备 0: 未知 1: 硫化罐 2: 冷却槽 3: 硫化罐==>冷却槽
			return wrkMastExecuteService.insert(wrkMastExecute);
			} catch (Exception e) {
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常原因："+e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务创建===>执行 //完成
			*/
			public synchronized boolean jarWrkMastExecuteGenerateExecuteMove(BasJar basJar,BasJarMast basJarMast,Integer id,int[] digit) {
			try {
			WrkMastExecute wrkMastExecute = new WrkMastExecute(basJarMast);
			wrkMastExecute.setJarId(id);
			wrkMastExecute.setSteId(digit[0]);//穿梭板ID
			wrkMastExecute.setRgvId(basJar.getEnterRgvNo());//RGV ID enter
			wrkMastExecute.setRgvEndId(basJar.getOutRgvNo());//RGV ID out
			wrkMastExecute.setIoType(digit[2]);//任务类型 0: 未知 1: 开进料门 2: 关进料门 3: 开出料门 4: 关出料门 5: 入硫化罐 6: 入冷却槽 7: 穿梭车进冷却槽 8: 穿梭车离开冷却槽 9: 出冷却槽 10：A=>B 11:B=>A
			wrkMastExecute.setType(digit[3]);//设备 0: 未知 1: 硫化罐 2: 冷却槽 3: 硫化罐==>冷却槽
			return wrkMastExecuteService.insert(wrkMastExecute);
			} catch (Exception e) {
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常原因："+e.getMessage());
			}
			return false;
			}

			/*
			* JarWrkMastExecute任务创建==>下发
			* Action
			* */
			public synchronized void jarWrkMastExecuteAction(Integer sign,Integer sign2) {
			if (sign2==0){
			jarWrkMastExecuteActionOne(sign);
			} else if (sign2 == 1){
			jarWrkMastExecuteActionTwo(sign);
			} else if (sign2 == 2){
			jarWrkMastExecuteActionThree(sign);
			}
			}
			public synchronized void jarWrkMastExecuteActionOne(Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, null,0);
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			if (wrkMastExecute.getWrkSts()!=0){
			continue;
			}
			/*
			* 任务类型 0: 未知
			* 1: 开进料门 2: 关进料门 3: 开出料门 4: 关出料门
			* 5: 入硫化罐
			* 6: 入冷却槽
			* 7: 穿梭车进冷却槽 8: 穿梭车离开冷却槽
			* 9: 出冷却槽
			* 10：A=>B 11:B=>A
			* 100：充电任务
			* */
			log.error("JarWrkMastExecute任务创建==>下发===>行={}",5326);
			switch (wrkMastExecute.getIoType()){
			case 1://1: 开进料门
			case 3://3: 开出料门
			if (jarWrkMastExecuteActionExecute1(wrkMastExecute,sign)){
			break;
			}
			continue;
			case 2:
			case 4:
			if (jarWrkMastExecuteActionExecute2(wrkMastExecute,sign)){
			break;
			}
			continue;
			case 5:
			if (jarWrkMastExecuteActionExecute5(wrkMastExecute,sign)){
			break;
			}
			continue;
			case 6:
			if (jarWrkMastExecuteActionExecute6(wrkMastExecute,sign)){
			break;
			}
			continue;
			case 7:
			case 8:
			if (jarWrkMastExecuteActionExecute7(wrkMastExecute,sign)){
			break;
			}
			continue;
			case 9:
			if (jarWrkMastExecuteActionExecute9(wrkMastExecute,sign)){
			break;
			}
			continue;
			case 10:
			case 11:
			if (jarWrkMastExecuteActionExecute10(wrkMastExecute,sign)){
			break;
			}
			continue;
			case 100:
			if (jarWrkMastExecuteActionExecute100(wrkMastExecute,sign)){
			break;
			}
			continue;
			}
			}
			} catch (Exception e){
			log.error("JarWrkMastExecute任务创建===>Action==>下发"+e.getMessage());
			}

			}

			/*
			* JarWrkMastExecute任务创建==>下发
			* Action
			* */
			public synchronized void jarWrkMastExecuteActionTwo(Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, null,2);
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			/*
			* 任务类型 0: 未知
			* 1: 开进料门 2: 关进料门 3: 开出料门 4: 关出料门
			* 5: 入硫化罐
			* 6: 入冷却槽
			* 7: 穿梭车进冷却槽 8: 穿梭车离开冷却槽
			* 9: 出冷却槽
			* 10：A=>B 11:B=>A
			* */
			switch (wrkMastExecute.getIoType()){
			case 1://1: 开进料门
			case 3://3: 开出料门
			if (jarWrkMastExecuteActionExecute1(wrkMastExecute,sign)){
			break;
			}
			return;
			case 2:
			case 4:
			if (jarWrkMastExecuteActionExecute2(wrkMastExecute,sign)){
			break;
			}
			return;
			case 5:
			if (jarWrkMastExecuteActionExecute5(wrkMastExecute,sign)){
			break;
			}
			return;
			case 6:
			if (jarWrkMastExecuteActionExecute6(wrkMastExecute,sign)){
			break;
			}
			return;
			case 7:
			case 8:
			if (jarWrkMastExecuteActionExecute7(wrkMastExecute,sign)){
			break;
			}
			return;
			case 9:
			if (jarWrkMastExecuteActionExecute9Two(wrkMastExecute,sign)){
			break;
			}
			return;
			case 10:
			case 11:
			if (jarWrkMastExecuteActionExecute10(wrkMastExecute,sign)){
			break;
			}
			return;
			}
			}
			} catch (Exception e){
			log.error("JarWrkMastExecute任务创建===>Action==>下发"+e.getMessage());
			}

			}

			/*
			* JarWrkMastExecute任务创建==>下发
			* Action
			* */
			public synchronized void jarWrkMastExecuteActionThree(Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, null,4);
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			/*
			* 任务类型 0: 未知
			* 1: 开进料门 2: 关进料门 3: 开出料门 4: 关出料门
			* 5: 入硫化罐
			* 6: 入冷却槽
			* 7: 穿梭车进冷却槽 8: 穿梭车离开冷却槽
			* 9: 出冷却槽
			* 10：A=>B 11:B=>A
			* */
			switch (wrkMastExecute.getIoType()){
			case 5:
			if (jarWrkMastExecuteActionExecute5Three(wrkMastExecute,sign)){
			break;
			}
			return;
			case 6:
			if (jarWrkMastExecuteActionExecute6Three(wrkMastExecute,sign)){
			break;
			}
			return;
			}
			}
			} catch (Exception e){
			log.error("JarWrkMastExecute任务创建===>Action==>下发"+e.getMessage());
			}

			}


			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 1、3开进料门
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute1(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
			// return false;
			// }
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
			if (staProtocolRGV == null) {
			return false;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV == null) {
			return false;
			}

			StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			if (staProtocolRGVOther == null) {
			return false;
			} else {
			staProtocolRGVOther = staProtocolRGVOther.clone();
			}
			if (staProtocolRGVOther == null) {
			return false;
			}


			if (staProtocolRGV.rgvBoolean(1) && 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;
			}
			//门作业无
			//自动、空闲、进料们关闭需打开
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			log.error("1、3开进料门==>任务下发===>行={}",5546);
			if (!jarProtocol.isLeftDoor() && !jarProtocol.isRightDoor()){
			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.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);
			}
			} else {
			//直接开门/关门
			if (!jarDoorTake(wrkMastExecute,JarTaskModeType.OPEN_THE_DOOR)){
			log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);

			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			}else if (jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()){
			//直接完成
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.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;
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 2、4:关进料门
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute2(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.statusType .equals(JarStatusType.WAITING2) \|\| jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
			// return false;
			// }

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

			StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			if (staProtocolRGVOther == null) {
			return false;
			} else {
			staProtocolRGVOther = staProtocolRGVOther.clone();
			}
			if (staProtocolRGVOther == null) {
			return false;
			}

			if (staProtocolRGV.rgvBoolean(1) && 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;
			}
			//门作业无
			//自动、空闲、进料们打开需关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			log.error("2、4:关门==>任务下发===>行={}",5667);
			if (jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()){
			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.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);
			}
			} else {
			//直接关门
			if (!jarDoorTake(wrkMastExecute,JarTaskModeType.CLOSE_THE_DOOR)){
			log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);

			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			} else if (!jarProtocol.isLeftDoor() && !jarProtocol.isRightDoor()){
			//直接完成
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.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;
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 5:入硫化罐
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute5(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.statusType .equals(JarStatusType.WAITING2) \|\| jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

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

			StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			if (staProtocolRGVOther == null) {
			return false;
			} else {
			staProtocolRGVOther = staProtocolRGVOther.clone();
			}
			if (staProtocolRGVOther == null) {
			return false;
			}
			if (staProtocolRGV.rgvBoolean(1) && 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;
			}
			//门作业无
			//自动、空闲、进料们打开需关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			log.error("5:入硫化罐==>任务下发===>行={}",5667);
			//判断小车状态 //入硫化罐小车可临时屏蔽
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE,true)){
			return false;
			}
			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){

			//调车 == > 取货
			if (!jarRgvGetTake(wrkMastExecute
			,SteAndJarUtil.getRgvStaRow(wrkMastExecute.getJarEnterStaNo())==1
			,SteAndJarUtil.getRgvStaRow(wrkMastExecute.getJarEnterStaNo())==3)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			return true;
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else {
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.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;
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* io_type==>5:入硫化罐 : wrkSts ==>4：rgv取货完成
			* =====>wrkSts ==>5：Ste穿梭版入硫化罐(清楚RGV资料)
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute5Three(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecute);
			if (wrkMastExecuteByJarNo.size()!=1 \|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
			return false;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.statusType .equals(JarStatusType.WAITING2) \|\| jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
			// return false;
			// }

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

			StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			if (staProtocolRGVOther == null) {
			return false;
			} else {
			staProtocolRGVOther = staProtocolRGVOther.clone();
			}
			if (staProtocolRGVOther == null) {
			return false;
			}

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

			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
			//判断小车状态
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE,true)){
			return false;
			}
			//调车 == > 取货
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT22.id,SteTaskModeType.STE_WFFH_13,false,wrkMastExecute.getJarId())){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(5);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else {
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.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;
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 6:入冷却槽
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute6(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

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

			StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			if (staProtocolRGVOther == null) {
			return false;
			} else {
			staProtocolRGVOther = staProtocolRGVOther.clone();
			}
			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;
			}
			//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("6:入冷却槽==>任务下发===>行={}",6002);
			//判断小车状态
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE,true)){
			return false;
			}

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

			//调车 == > 取货
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT21.id,SteTaskModeType.STE_WFQH_12,false,wrkMastExecute.getJarId())){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else {
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.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;
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 6:入冷却槽
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute6Three(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecute);
			if (wrkMastExecuteByJarNo.size()!=1 \|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
			return false;
			}

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

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

			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
			// return false;
			// }

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

			StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			if (staProtocolRGVOther == null) {
			return false;
			} else {
			staProtocolRGVOther = staProtocolRGVOther.clone();
			}
			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;
			}
			//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("6:入冷却槽 Three==>任务下发===>行={}",6115);

			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
			//判断小车状态
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.WAITING2,false)){
			return false;
			}
			//调车 == > 取货
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT25.id,SteTaskModeType.STE_WFFH_13,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(5);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else {
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,1)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.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;
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 7：穿梭车进冷却槽 7 B=>C
			* 8：穿梭车离开冷却槽 8 C=>B
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute7(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecute);
			if (wrkMastExecuteByJarNo.size()!=1 \|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
			return false;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			// 获取硫化罐信息
			JarThread jarThreadOther = (JarThread) SlaveConnection.get(SlaveType.Jar, SteAndJarUtil.getRgvJarNo(wrkMastExecute.getJarId()));
			JarProtocol jarProtocolOther = jarThreadOther.getJarProtocol();
			if (jarProtocolOther == null) {
			return false;
			}
			if (jarProtocolOther.modeType != JarModeType.AUTO){
			return false;
			}

			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！！！",jarProtocolOther.getJarNo());
			return false;
			}

			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
			// return false;
			// }

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

			StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			if (staProtocolRGVOther == null) {
			return false;
			} else {
			staProtocolRGVOther = staProtocolRGVOther.clone();
			}
			if (staProtocolRGVOther == null) {
			return false;
			}

			if (staProtocolRGV.rgvBoolean(1) && 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;
			}
			//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
			&& jarProtocolOther.isLeftDoor() && jarProtocolOther.isRightDoor()
			){
			log.error("7：穿梭车进冷却槽 7 B=>C//8：穿梭车离开冷却槽 8 C=>B Three==>任务下发===>行={}",6245);
			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocolOther.getJarNo())){
			//判断小车状态
			if (wrkMastExecute.getIoType()==7){ //7 B=>C
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE,true)){
			//调车 == > 移动
			if (jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT26.id,SteTaskModeType.STE_MOVE_14,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.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(),3,SteStatusType.IDLE,false)){
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			} else { //8 C=>B
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE,false)){
			//调车 == > 移动
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT26.id,SteLocaType.POINT23.id,SteTaskModeType.STE_MOVE_14,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.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 {
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.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;
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 9：出冷却槽
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute9(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}

			// // 获取硫化罐信息
			// JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			// JarProtocol jarProtocol = jarThread.getJarProtocol();
			// if (jarProtocol == null) {
			// return false;
			// }
			// if (jarProtocol.modeType != JarModeType.AUTO){
			// return false;
			// }
			// if (jarProtocol.getJarTemperature()>50){
			// log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			// return false;
			// }
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			if (Cools.isEmpty(basJar)){
			log.error("{}号冷却槽查询设备档案无信息！！！",wrkMastExecute.getJarId());
			return false;
			}

			// // 获取硫化罐信息
			// JarThread jarThreadOther = (JarThread) SlaveConnection.get(SlaveType.Jar, SteAndJarUtil.getRgvJarNo(wrkMastExecute.getJarId()));
			// JarProtocol jarProtocolOther = jarThreadOther.getJarProtocol();
			// if (jarProtocolOther == null) {
			// return false;
			// }
			// if (jarProtocolOther.modeType != JarModeType.AUTO){
			// return false;
			// }
			//
			// BasJar basJarOther = basJarMapper.selectByJarNo(jarProtocolOther.getJarNo());
			// if (Cools.isEmpty(basJarOther)){
			// log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocolOther.getJarNo());
			// return false;
			// }

			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
			// return false;
			// }
			//
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol = devpThread.getStation().get(basJar.getStaNo());
			if (staProtocol == null) {
			return false;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol == null) {
			return false;
			}
			if (staProtocol.getWorkNo()!=0 \|\| !staProtocol.isAutoing() \|\| staProtocol.isLoading()){
			return false;
			}
			//
			// StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			// if (staProtocolRGVOther == null) {
			// return false;
			// } else {
			// staProtocolRGVOther = staProtocolRGVOther.clone();
			// }
			// if (staProtocolRGVOther == null) {
			// return false;
			// }
			//
			// if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
			// if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
			// //移走 == > 2
			// if (jarRgvTake(wrkMastExecute,2)){
			// log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			// wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			// }
			// 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
			// ){
			//判断小车状态
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE,true)){
			log.error("9：出冷却槽==>任务下发===>行={}",6410);

			//调车 == > 取货
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT26.id,SteLocaType.POINT24.id,SteTaskModeType.STE_WFQH_12,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},冷却槽数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(basJar),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(1);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},冷却槽数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(basJar),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;
			// }
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 9：出冷却槽
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute9Two(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastExecute.getJarOutStaNo());
			if (staProtocol == null) {
			return false;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol == null) {
			return false;
			}
			if (staProtocol.getWorkNo()!=0 \|\| !staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			return false;
			}

			//判断STE小车状态
			if (jarWrkMastExecuteGenerateSteStatus(wrkMastExecute.getSteId(),3,SteStatusType.IDLE,false)){
			log.error("9：出冷却槽Two==>任务下发===>行={}",6468);
			// 下发站点信息
			staProtocol.setWorkNo(wrkMastExecute.getWrkNo().intValue());
			staProtocol.setStaNo(wrkMastExecute.getOutStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, 2, new Task(2, staProtocol))) {
			return false;
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("输送线出库目标站命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},放货站点数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(staProtocol),sign);
			}
			}
			return true;
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 10：A=>B\11：B=>A
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute10(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecute);
			if (wrkMastExecuteByJarNo.size()!=1 \|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
			return false;
			}

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

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

			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
			// return false;
			// }

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

			StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			if (staProtocolRGVOther == null) {
			return false;
			} else {
			staProtocolRGVOther = staProtocolRGVOther.clone();
			}
			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;
			}
			//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,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()))){
			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;
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

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

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

			if (staProtocolRGV.rgvBoolean(1) \|\| staProtocolRGV.rgvBoolean(2)){
			//门作业无
			//自动、空闲、
			log.error("100:充电任务==>任务下发===>行={}",6899);
			//判断小车状态
			if (!jarWrkMastExecuteGenerateSteStatusCharge(basJar.getEnterSteNo(),1,SteStatusType.IDLE,false)){
			return false;
			}
			//调车 == > 取货
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT20.id,SteTaskModeType.START_CHARGE,false,wrkMastExecute.getJarId())){
			log.error("穿梭板Ste充电命令下发失败，ste号={},任务数据={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute));
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(99);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste充电命令下发失败===>更新wrkMastExecute失败，ste号={},任务数据={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute));
			}
			return true;
			}
			return false;
			} catch (Exception e){
			log.error("穿梭板Ste充电命令下发失败,异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/*
			* Rgv 动作移动
			* */
			public synchronized boolean jarRgvMoveTake(WrkMastExecute wrkMastExecute,Integer endRow){
			try {
			StaProtocol staProtocol = new StaProtocol();
			staProtocol.setSiteId(wrkMastExecute.getRgvId());
			staProtocol.setEndRow(endRow.shortValue());
			// 下发站点信息
			if (!MessageQueue.offer(SlaveType.Devp, 2, new Task(9, staProtocol))) {
			log.error("平衡车Rgv命令下发失败，堆垛机号={},任务数据={},下发数据={}", wrkMastExecute.getRgvId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocol));
			return false;
			}
			return true;
			}catch (Exception e){
			log.error("平衡车Rgv命令下发失败，Rgv号={},任务数据={},endRow={}", wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(endRow));
			}
			return false;
			}

			/*
			* Rgv 动作取货
			* */
			public synchronized boolean jarRgvGetTake(WrkMastExecute wrkMastExecute,boolean RGV4,boolean RGV5){
			try {
			StaProtocol staProtocol = new StaProtocol();
			staProtocol.setSiteId(wrkMastExecute.getRgvId());
			staProtocol.setRGV4(RGV4);
			staProtocol.setRGV5(RGV5);
			// 下发站点信息
			if (!MessageQueue.offer(SlaveType.Devp, 2, new Task(10, staProtocol))) {
			log.error("平衡车Rgv命令下发失败，堆垛机号={},任务数据={},下发数据={}", wrkMastExecute.getRgvId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocol));
			return false;
			}
			return true;
			}catch (Exception e){
			log.error("平衡车Rgv命令下发失败，Rgv号={},任务数据={},RGV4={},RGV5={}", wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(RGV4), JSON.toJSON(RGV5));
			}
			return false;
			}

			/*
			* Rgv 动作取货完成复位
			* */
			public synchronized boolean jarRgvGetFuTake(WrkMastExecute wrkMastExecute,boolean RGV6){
			try {
			StaProtocol staProtocol = new StaProtocol();
			staProtocol.setSiteId(wrkMastExecute.getRgvId());
			staProtocol.setRGV6(RGV6);
			// 下发站点信息
			if (!MessageQueue.offer(SlaveType.Devp, 2, new Task(11, staProtocol))) {
			log.error("平衡车Rgv命令下发失败，堆垛机号={},任务数据={},下发数据={}", wrkMastExecute.getRgvId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocol));
			return false;
			}
			return true;
			}catch (Exception e){
			log.error("平衡车Rgv命令下发失败，Rgv号={},任务数据={},RGV6={}", wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(RGV6));
			}
			return false;
			}

			/*
			* Ste 动作
			* */
			public synchronized boolean jarSteTake(WrkMastExecute wrkMastExecute,Integer startLoad,Integer endLoad,SteTaskModeType steTaskModeType,boolean complete,Integer siteId){
			try {
			SteCommand steCommand = new SteCommand();
			steCommand.setTaskNo(wrkMastExecute.getWrkNo().intValue());
			steCommand.setSteNo(wrkMastExecute.getSteId());
			steCommand.setStartLoad(startLoad);
			steCommand.setEndLoad(endLoad);
			steCommand.setTaskModeType(steTaskModeType);
			steCommand.setComplete(complete);
			if (!complete){
			steCommand.setTaskMode(steTaskModeType.id.shortValue());
			}
			steCommand.setJarNo(siteId.shortValue());
			if (!MessageQueue.offer(SlaveType.Ste, steCommand.getSteNo(), new Task(2, steCommand))) {
			log.error("穿梭车Ste命令下发失败，堆垛机号={},任务数据={},下发数据={},complete={}", steCommand.getSteNo(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steCommand),complete);
			return false;
			}
			return true;
			}catch (Exception e){
			log.error("穿梭车Ste命令下发失败，堆垛机号={},任务数据={},complete={}", wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(complete));
			}
			return false;
			}

			/*
			* Jar 动作
			* */
			public synchronized boolean jarDoorTake(WrkMastExecute wrkMastExecute,JarTaskModeType jarTaskModeType){
			try{
			JarCommand jarCommand = new JarCommand();
			jarCommand.setJarNo(wrkMastExecute.getJarId());
			jarCommand.setTaskModeType(jarTaskModeType);
			if (!MessageQueue.offer(SlaveType.Jar, jarCommand.getJarNo(), new Task(2, jarCommand))) {
			log.error("硫化罐Jar命令下发失败，堆垛机号={},任务数据={},下发数据={}", jarCommand.getJarNo(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarCommand));
			return false;
			}
			return true;
			}catch (Exception e){
			log.error("硫化罐Jar命令下发失败，堆垛机号={},任务数据={},下发数据={}", wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarTaskModeType));
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务完成 //完成
			*/
			public synchronized void jarWrkMastExecuteGenerateComplete(Integer sign) {
			try{
			switch (sign){
			case 1:
			case 5:
			case 9:
			if (jarWrkMastExecuteGenerateSteComplete(sign)){
			break;
			}
			case 2:
			case 6:
			case 10:
			if (jarWrkMastExecuteGenerateJarComplete(sign)){
			break;
			}
			case 3:
			case 7:
			case 11:
			if (jarWrkMastExecuteGenerateRgvComplete1(sign)){
			break;
			}
			case 4:
			case 8:
			case 12:
			if (jarWrkMastExecuteGenerateRgvComplete2(sign)){
			break;
			}
			default:
			return;
			}
			}catch (Exception e){
			log.error("JarWrkMastExecute任务完成报错！"+e);
			}
			}

			/**
			* JarWrkMastExecute任务完成 ===>Ste //完成
			*/
			public synchronized boolean jarWrkMastExecuteGenerateSteComplete(Integer sign) {
			try{
			for (SteSlave steSlave : slaveProperties.getSte()) {
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steSlave.getId());
			if (steThread == null) {
			continue;
			}
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) {
			continue;
			}
			if (steProtocol.getMode()==(short)1 && steProtocol.taskNo!=0 && steProtocol.getChargeStatus()==0){
			// if (steProtocol.statusType.equals(SteStatusType.WAITING)){
			//
			// }
			List<WrkMastExecute> wrkMastExecuteByWrkNoList = wrkMastExecuteService.getWrkMastExecuteByWrkNoList(steProtocol.getTaskNo().longValue());
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteByWrkNoList){
			if (!Cools.isEmpty(wrkMastExecute)){
			switch (wrkMastExecute.getIoType()){
			case 6:
			if (wrkMastExecute.getWrkSts()==3){//==>4
			//1：RGV小车移动、2：RGV小车到位、3：Ste穿梭版取货、4：取货完成等待下一步、5：Ste穿梭版放货至冷却池、6：放货完成、7：更新完成 //io_type = 6
			//ste任务等待完成
			if (steProtocol.statusType.equals(SteStatusType.WAITING)){
			//ste任务完成
			if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭车Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			}
			return true;
			}
			}
			log.error("穿梭车Ste命令下发失败===>下发异常，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(steProtocol),sign);
			return true;
			}
			case 5:
			if (wrkMastExecute.getWrkSts()==5){
			//1：RGV小车移动、2：RGV小车到位、3：rgv取货、4：rgv取货完成、5：Ste穿梭版入硫化罐、6：入罐完成、7：更新完成 //io_type = 5
			//ste任务完成
			if (steProtocol.statusType.equals(SteStatusType.WAITING)){
			//ste任务完成
			if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			wrkMastExecute.setWrkSts(6);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭车Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			}
			return true;
			}
			}
			log.error("穿梭车Ste命令下发失败===>下发异常，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			return true;
			}
			continue;
			case 7:
			case 8:
			case 10:
			case 11:
			//1：RGV小车移动、2：RGV小车到位、3：Ste穿梭版移动中、4：移动完成、5：更新完成
			if (wrkMastExecute.getWrkSts()==3){
			//ste任务完成
			if (steProtocol.statusType.equals(SteStatusType.WAITING)){
			//ste任务完成
			if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭车Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			}
			return true;
			}
			}
			log.error("穿梭车Ste命令下发失败===>下发异常，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			return true;
			}
			continue;
			case 9:
			if (wrkMastExecute.getWrkSts()==1){
			//1：Ste穿梭版取放货中、2：放货完成等待下一步、3：输送线任务下发完成、4：更新完成 //io_type = 9
			//ste任务完成
			if (steProtocol.statusType.equals(SteStatusType.WAITING)){
			//ste任务完成
			if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			wrkMastExecute.setWrkSts(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭车Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			}
			return true;
			}
			}
			log.error("穿梭车Ste命令下发失败===>下发异常，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			continue;
			}
			default: continue;
			}
			}

			}
			}
			}
			return true;
			}catch (Exception e){
			log.error("JarWrkMastExecute任务完成 ===>Ste报错！"+e);
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务完成 ===>Jar //完成
			* //硫化完成修改任务状态
			*/
			public synchronized boolean jarWrkMastExecuteGenerateJarComplete(Integer sign) {
			try{
			for (JarSlave jarSlave : slaveProperties.getJar()) {
			if (jarSlave.getId()>4){
			continue;
			}
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			continue;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			continue;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			continue;
			}
			//WAITING2(4, "硫化完成"),
			if (jarProtocol.getJarErr()==0 && jarProtocol.getStatusType().equals(JarStatusType.WAITING2)
			&& jarProtocol.isRightDoor() && jarProtocol.isLeftDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0
			){
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
			add(5);//硫化中
			}});
			if (basJarMastList.isEmpty()){
			continue;
			}
			Integer integer = basJarMastService.updateStatus(jarProtocol.getJarNo(), 5, 6);
			if (basJarMastList.size()!=integer){
			log.error("{}号硫化罐硫化完成修改硫化档案状态结果数量不一致！！！查询资料数量={}，更新返回数量={}",jarProtocol.getJarNo(),basJarMastList.size(),integer);
			}
			} else if (jarProtocol.getJarErr()==0
			&& jarProtocol.isRightDoor() && jarProtocol.isLeftDoor()
			&& jarProtocol.leftDoorOpen!=1 && jarProtocol.leftDoorOpen!=3
			&& jarProtocol.rightDoorOpen!=1 && jarProtocol.rightDoorOpen!=3
			&& (jarProtocol.leftDoorOpen==2 \|\| jarProtocol.rightDoorOpen==2)){
			WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
			wrkMastExecuteSou.setWrkSts(3);
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
			if (wrkMastExecuteList.isEmpty()){
			WrkMastExecute execute = new WrkMastExecute();
			execute.setJarId(jarProtocol.getJarNo());
			//直接关门
			if (!jarDoorTake(execute,JarTaskModeType.OPEN_THE_DOOR_COMPLETE)){
			log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			execute.getJarId(), JSON.toJSON(execute), JSON.toJSON(jarProtocol),sign);
			}
			return true;
			}
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			if (wrkMastExecute.getIoType() == 1 \|\| wrkMastExecute.getIoType() == 3){
			//直接关门
			if (!jarDoorTake(wrkMastExecute,JarTaskModeType.OPEN_THE_DOOR_COMPLETE)){
			log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			}
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("平衡车Rgv命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			return false;
			}
			return true;
			}
			}
			} else if (jarProtocol.getJarErr()==0
			&& jarProtocol.isRightDoor() && jarProtocol.isLeftDoor()
			&& jarProtocol.leftDoorClose!=1 && jarProtocol.leftDoorClose!=3
			&& jarProtocol.rightDoorClose!=1 && jarProtocol.rightDoorClose!=3
			&& (jarProtocol.leftDoorClose==2 \|\| jarProtocol.rightDoorClose==2)){
			WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
			wrkMastExecuteSou.setWrkSts(3);
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
			if (wrkMastExecuteList.isEmpty()){
			WrkMastExecute execute = new WrkMastExecute();
			execute.setJarId(jarProtocol.getJarNo());
			//直接关门
			if (!jarDoorTake(execute,JarTaskModeType.CLOSE_THE_DOOR_COMPLETE)){
			log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			execute.getJarId(), JSON.toJSON(execute), JSON.toJSON(jarProtocol),sign);
			}
			return true;
			}
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			if (wrkMastExecute.getIoType() == 2 \|\| wrkMastExecute.getIoType() == 4){
			//直接关门
			if (!jarDoorTake(wrkMastExecute,JarTaskModeType.CLOSE_THE_DOOR_COMPLETE)){
			log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			}
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("平衡车Rgv命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			return false;
			}
			return true;
			}
			}
			}
			}
			return true;
			}catch (Exception e){
			log.error("//硫化完成修改任务状态报错！"+e);
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务完成 ===>RGV移动 //完成
			*/
			public synchronized boolean jarWrkMastExecuteGenerateRgvComplete1(Integer sign) {
			try{
			WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
			wrkMastExecuteSou.setWrkSts(1);
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			if (wrkMastExecute.getIoType() == 9){
			continue;
			}
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocolRGV = devpThread.getStation().get(wrkMastExecute.getRgvId());
			if (staProtocolRGV == null) {
			continue;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV == null) {
			continue;
			}

			StaProtocol staProtocolRGVEnd = devpThread.getStation().get(wrkMastExecute.getRgvEndId());
			if (staProtocolRGVEnd == null) {
			continue;
			} else {
			staProtocolRGVEnd = staProtocolRGVEnd.clone();
			}
			if (staProtocolRGVEnd == null) {
			continue;
			}
			if (staProtocolRGV.getNowRow() == staProtocolRGVEnd.getNowRow()
			&& staProtocolRGV.getNowRow() == SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId())){
			wrkMastExecute.setWrkSts(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("平衡车Rgv命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},平衡车Rgv数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocolRGV),sign);
			return false;
			}
			return true;
			}
			}
			return true;
			}catch (Exception e){
			log.error("JarWrkMastExecute任务完成 ===>RGV移动！异常"+e);
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务完成 ===>RGV取货 //完成
			*/
			public synchronized boolean jarWrkMastExecuteGenerateRgvComplete2(Integer sign) {
			try{
			WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
			wrkMastExecuteSou.setWrkSts(3);
			wrkMastExecuteSou.setIoType(5);
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocolRGV = devpThread.getStation().get(wrkMastExecute.getRgvId());
			if (staProtocolRGV == null) {
			continue;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV == null) {
			continue;
			}


			if ( staProtocolRGV.rgvBoolean(2)
			&& staProtocolRGV.getNowRow() == SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId())){
			//调车 == > 取货完成复位
			if (!jarRgvGetFuTake(wrkMastExecute,true)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocolRGV),sign);
			return true;
			}
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("平衡车Rgv命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},平衡车Rgv数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocolRGV),sign);
			return true;
			}
			return true;
			}
			}
			return true;
			}catch (Exception e){
			log.error(" JarWrkMastExecute任务完成 ===>RGV取货异常！"+e);
			}
			return false;
			}

			/**
			* Jar任务穿梭车移动任务 //完成
			*/
			public synchronized boolean jarMastMove() {
			try{
			for (SteSlave steSlave : slaveProperties.getSte()){
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steSlave.getId());
			if (steThread == null) {
			continue;
			}
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) {
			continue;
			}

			if (wrkMastExecuteService.selectNoStart(steSlave.getId())!=0){
			continue;
			}

			if (wrkMastExecuteService.selectMoveStart(steSlave.getId())!=0){
			continue;
			}

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

			if (!wrkMastExecutesB.isEmpty() \|\| !wrkMastExecutesC.isEmpty()){
			WrkMastExecute wrkMastExecute = !wrkMastExecutesB.isEmpty() ? wrkMastExecutesB.get(0) : wrkMastExecutesC.get(0);
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",wrkMastExecute.getJarId());
			return false;
			}
			BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
			//A==>B
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),10,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
			}
			continue;
			}
			}
			} else if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),2,SteStatusType.IDLE,false)){
			List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null);
			if (wrkMastExecutes.isEmpty()){
			List<WrkMastExecute> wrkMastExecutesA = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null);
			List<WrkMastExecute> wrkMastExecutesC = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null);
			List<WrkMastExecute> wrkMastExecutes100 = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 100, null);
			if (!wrkMastExecutes100.isEmpty()){
			WrkMastExecute wrkMastExecute = wrkMastExecutes100.get(0);
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",wrkMastExecute.getJarId());
			return false;
			}

			BasJarMast jarMastByWrkNo = new BasJarMast(basJar);
			jarMastByWrkNo.setWrkNo(Integer.toUnsignedLong(wrkMastExecute.getWrkNo().intValue()));//工作号
			jarMastByWrkNo.setJarEnterStaNo(basJar.getEnterRgvNo());
			jarMastByWrkNo.setEnterStaNo(basJar.getEnterRgvNo());
			jarMastByWrkNo.setOutStaNo(basJar.getOutRgvNo());
			//B==>A
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),11,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
			}
			continue;
			}
			if (!wrkMastExecutesA.isEmpty()){
			WrkMastExecute wrkMastExecute = wrkMastExecutesA.get(0);
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",wrkMastExecute.getJarId());
			return false;
			}
			BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
			//B==>A
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),11,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
			}
			continue;
			}

			if (!wrkMastExecutesC.isEmpty()){
			WrkMastExecute wrkMastExecute = wrkMastExecutesC.get(0);
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",wrkMastExecute.getJarId());
			return false;
			}
			BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
			//B==>C
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),7,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
			}
			continue;
			}
			}
			} else if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),3,SteStatusType.IDLE,false)){
			List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null);
			if (wrkMastExecutes.isEmpty()){
			List<WrkMastExecute> wrkMastExecutesB = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null);
			List<WrkMastExecute> wrkMastExecutesA = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null);
			List<WrkMastExecute> wrkMastExecutes100 = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 100, null);
			if (!wrkMastExecutes100.isEmpty()){
			WrkMastExecute wrkMastExecute = wrkMastExecutes100.get(0);
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",wrkMastExecute.getJarId());
			return false;
			}

			BasJarMast jarMastByWrkNo = new BasJarMast(basJar);
			jarMastByWrkNo.setWrkNo(Integer.toUnsignedLong(wrkMastExecute.getWrkNo().intValue()));//工作号
			jarMastByWrkNo.setJarEnterStaNo(basJar.getEnterRgvNo());
			jarMastByWrkNo.setEnterStaNo(basJar.getEnterRgvNo());
			jarMastByWrkNo.setOutStaNo(basJar.getOutRgvNo());
			//C==>B
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),8,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
			}
			continue;
			}
			if (!wrkMastExecutesB.isEmpty() \|\| !wrkMastExecutesA.isEmpty()){
			WrkMastExecute wrkMastExecute = !wrkMastExecutesB.isEmpty() ? wrkMastExecutesB.get(0) : wrkMastExecutesA.get(0);
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",wrkMastExecute.getJarId());
			return false;
			}
			BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
			//C==>B
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),8,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
			}
			continue;
			}
			}
			}
			}catch (Exception e){
			log.error("硫化区域分段任务完成异常,steProtocol={},异常信息={}",JSON.toJSONString(steProtocol),e.getMessage());
			}

			WrkMastExecute wrkMastExecute = wrkMastExecuteService.selectStart(steSlave.getId());


			}
			} catch (Exception e){
			log.error("硫化区域分段任务完成异常,异常信息={}",e.getMessage());
			}
			return false;
			}
			/**
			* ste充电任务创建 //完成
			*/
			public synchronized boolean jarChargeGenerate() {
			try{
			//80%电量无任务充电 >50电量有任务断电
			//30%电量不接取任务无进行中任务充电 >50电量有任务断电
			for (SteSlave steSlave : slaveProperties.getSte()){
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steSlave.getId());
			if (steThread == null) {
			continue;
			}
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null \|\| steProtocol.getChargeStatus()!=0) {
			continue;
			}
			WrkMastExecute wrkMastExecuteByCharge = wrkMastExecuteService.getWrkMastExecuteByCharge(steSlave.getId());
			if (!Cools.isEmpty(wrkMastExecuteByCharge)){
			continue;
			}

			if (steProtocol.getCharge()<30.0F){
			if (wrkMastExecuteService.selectMoveStartCharge(steSlave.getId())!=0){
			continue;
			}
			} else if (steProtocol.getCharge()<80.0F){
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusListCharge(steSlave.getId(), new ArrayList<Integer>() {{
			add(5);
			add(11);
			add(16);
			}});
			if(!basJarMastList.isEmpty()){
			continue;
			}
			if (wrkMastExecuteService.selectNoStart(steSlave.getId())!=0){
			continue;
			}
			if (wrkMastExecuteService.selectMoveStart(steSlave.getId())!=0){
			continue;
			}
			} else {
			continue;
			}

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

			if (steProtocol.getCharge()>95.0F \|\| steProtocol.getFullCharge()){
			} else if (steProtocol.getCharge()>50.0F){
			if (wrkMastExecuteService.selectNoStartCharge(steSlave.getId())==0){
			if (wrkMastExecuteService.selectMoveStart(steSlave.getId())==0){
			continue;
			}
			}
			} else {
			continue;
			}

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

			try{
			if (jarWrkMastExecuteGenerateSteStatusCharge(steSlave.getId(),1,SteStatusType.CHARGE,true)){
			//完成充电任务
			//调车 == > 断开充电
			if (!jarSteTake(wrkMastExecuteByCharge,SteLocaType.POINT20.id,SteLocaType.POINT20.id,SteTaskModeType.CLOSE_CHARGE,true,wrkMastExecuteByCharge.getJarId())){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={}",
			wrkMastExecuteByCharge.getSteId(), JSON.toJSONString(wrkMastExecuteByCharge));
			}
			wrkMastExecuteByCharge.setWrkType(2);
			wrkMastExecuteByCharge.setWrkSts(100);
			if (!wrkMastExecuteService.updateById(wrkMastExecuteByCharge)){
			log.error("充电任务完成命令下发失败===>更新wrkMastExecute失败，ste号={},任务数据={}",
			wrkMastExecuteByCharge.getSteId(), JSON.toJSONString(wrkMastExecuteByCharge));
			}
			}
			}catch (Exception e){
			log.error("充电任务完成异常,steProtocol={},异常信息={}",JSON.toJSONString(steProtocol),e.getMessage());
			}
			}
			} catch (Exception e){
			log.error("硫化区域分段任务完成异常,异常信息={}",e.getMessage());
			}
			return false;
			}

			}