zy-wcs.git - Gitblit

			@@ -9,6 +9,7 @@
			import com.core.exception.CoolException;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.BasCrnErrorMapper;
			import com.zy.asrs.mapper.BasRgvErrMapper;
			import com.zy.asrs.mapper.WaitPakinMapper;
			import com.zy.asrs.mapper.WrkMastMapper;
			import com.zy.asrs.service.*;
			@@ -29,6 +30,7 @@
			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;
			@@ -40,7 +42,6 @@
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.beans.factory.annotation.Value;
			import org.springframework.scheduling.annotation.Async;
			import org.springframework.stereotype.Service;
			import org.springframework.transaction.annotation.Transactional;
			import org.springframework.transaction.interceptor.TransactionAspectSupport;
			@@ -68,8 +69,6 @@
			@Autowired
			private WrkDetlService wrkDetlService;
			@Autowired
			private WaitPakinMapper waitPakinMapper;
			@Autowired
			private LocMastService locMastService;
			@Autowired
			private StaDescService staDescService;
			@@ -85,6 +84,10 @@
			private BasErrLogService basErrLogService;
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			@Autowired
			private BasRgvErrMapper basRgvErrMapper;
			@Autowired
			private BasRgvErrLogService basRgvErrLogService;

			@Value("${wms.url}")
			private String wmsUrl;
			@@ -93,7 +96,7 @@
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			*/
			public void generateStoreWrkFile() {
			public synchronized void generateStoreWrkFile() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			@@ -104,8 +107,6 @@
			continue;
			}
			String barcode = barcodeThread.getBarcode();

			barcode = "80011105";

			if (!Cools.isEmpty(barcode)) {
			log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			@@ -197,64 +198,6 @@
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}


			// // 检索库位
			// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			// List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
			// StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos, locTypeDto, 0);
			// // 工作号
			// int workNo = startupDto.getWorkNo();
			// // 插入工作明细档
			// wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);
			//
			// // 插入工作主档
			// wrkMast = new WrkMast();
			// wrkMast.setWrkNo(workNo);
			// wrkMast.setIoTime(new Date());
			// wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			// wrkMast.setIoType(1); // 入出库状态：1.入库
			// wrkMast.setIoPri(10D); // 优先级：10
			// wrkMast.setCrnNo(startupDto.getCrnNo());
			// wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
			// wrkMast.setStaNo(startupDto.getStaNo());
			// wrkMast.setLocNo(startupDto.getLocNo());
			// wrkMast.setBarcode(barcode); // 托盘码
			// wrkMast.setFullPlt("Y"); // 满板：Y
			// wrkMast.setPicking("N"); // 拣料
			// wrkMast.setExitMk("N"); // 退出
			// wrkMast.setEmptyMk("N"); // 空板
			// wrkMast.setLinkMis("N");
			// // 操作人员数据
			// wrkMast.setAppeTime(new Date());
			// wrkMast.setModiTime(new Date());
			// Integer insert = wrkMastMapper.insert(wrkMast);
			// if (insert == 0) {
			// throw new CoolException("保存工作档失败");
			// }
			// // 更新目标库位状态
			// LocMast locMast = locMastService.selectById(startupDto.getLocNo());
			// locMast.setLocSts("S"); // S.入库预约
			// locMast.setModiTime(new Date());
			// if (!locMastService.updateById(locMast)){
			// throw new CoolException("改变库位状态失败");
			// }
			// // 将入库通知档修改为已启动
			// if (wrkMastMapper.updateWaitPakInStep1(barcode) == 0) {
			// throw new CoolException("修改入库通知档状态为已启动失败");
			// }
			//
			// // 命令下发区 --------------------------------------------------------------------------
			//
			// // 更新站点信息且下发plc命令
			// barcodeThread.setBarcode("");
			// staProtocol.setWorkNo((short) workNo);
			// staProtocol.setStaNo(startupDto.getStaNo().shortValue());
			// 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");
			// }

			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			@@ -272,7 +215,7 @@
			* wms入库
			* 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
			*/
			public void generateStoreWrkFile0() {
			public synchronized void generateStoreWrkFile0() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			@@ -452,7 +395,6 @@
			/**
			* 堆垛机站出库到出库站
			*/
			@Async
			public synchronized void crnStnToOutStn() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			@@ -539,20 +481,20 @@
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc(crn, crnProtocol); // 入库
			this.crnStnToLoc1(crn, crnProtocol); // 入库
			crnProtocol.setLastIo("O");
			} else if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn(crn, crnProtocol); // 出库
			this.locToCrnStn1(crn, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn(crn, crnProtocol); // 出库
			this.locToCrnStn1(crn, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc(crn, crnProtocol); // 入库
			this.crnStnToLoc1(crn, crnProtocol); // 入库
			crnProtocol.setLastIo("O");
			}
			}
			@@ -590,20 +532,20 @@
			// 如果最近一次是入库模式
			if (rgvProtocol.getLastIo().equals("I")) {
			if (basRgv.getInEnable().equals("Y")) {
			// this.rgvInStnToLoc(rgv, rgvProtocol); // 入库
			this.rgvInStn(rgv, rgvProtocol); // 入库
			rgvProtocol.setLastIo("O");
			} else if (basRgv.getOutEnable().equals("Y")) {
			// this.locToCrnStn(rgv, crnProtocol); // 出库
			this.rgvOutStn(rgv, rgvProtocol); // 出库
			rgvProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (rgvProtocol.getLastIo().equals("O")) {
			if (basRgv.getOutEnable().equals("Y")) {
			// this.locToCrnStn(rgv, crnProtocol); // 出库
			this.rgvOutStn(rgv, rgvProtocol); // 出库
			rgvProtocol.setLastIo("I");
			} else if (basRgv.getInEnable().equals("Y")) {
			// this.rgvInStnToLoc(rgv, rgvProtocol); // 入库
			this.rgvInStn(rgv, rgvProtocol); // 入库
			rgvProtocol.setLastIo("O");
			}
			}
			@@ -752,7 +694,7 @@
			}
			continue;
			} else if (shallowLoc.getLocSts().equals("Q")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			@@ -800,10 +742,144 @@
			}

			/**
			* 入库 ===>> 堆垛机站到库位
			* 2022-12-03 TQS修改，先遍历查询同台堆垛机工作档所有站点入库任务LIST，根据工作档任务排序优先级高于根据堆垛机入库站点排序
			*/
			public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
			for(WrkMast wrkMast : wrkMasts){
			if (wrkMast == null) {
			continue;
			}

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
			if(crnStn1.getStaNo() == wrkMast.getStaNo()){
			crnStn = crnStn1;
			break;
			} else {
			continue;
			}
			}
			if(Cools.isEmpty(crnStn)){
			continue;
			}

			boolean flag = false;
			// 获取堆垛机入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			continue;
			}

			// 获取库位信息
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			if (locMast == null) {
			log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
			continue;
			}
			if (!locMast.getLocSts().equals("S") && !locMast.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={}", wrkMast.getLocNo(), locMast.getLocSts());
			continue;
			}

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			continue;
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			continue;
			}

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

			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			}
			continue;
			} else if (shallowLoc.getLocSts().equals("Q")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			}
			}

			// 命令下发区 --------------------------------------------------------------------------
			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.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
			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));
			} 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);
			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());
			}
			}
			}

			}

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
			*/
			public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
			public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			@@ -894,7 +970,7 @@
			log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			@@ -937,137 +1013,173 @@
			}
			}

			// /**
			// * 出库 ===>> 库位到堆垛机站
			// */
			// public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
			// for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// // 获取工作状态为11（生成出库ID）的出库工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			// if (wrkMast == null) {
			// continue;
			// }
			// // 工作档状态判断
			// if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null){
			// log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
			// continue;
			// }
			// // 获取源库位信息
			// LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			// if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
			// log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			// continue;
			// }
			// // 获取堆垛机出库站信息
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			// StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			//
			//// // 入出库模式判断
			//// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
			//
			//
			// // 查询站点详细信息
			// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			// if (staDetl == null) {
			// log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			// continue;
			// }
			// // 判断堆垛机出库站状态
			// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
			// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// // 命令下发区 --------------------------------------------------------------------------
			//
			// // 堆垛机控制过滤
			// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			/**
			* 出库 ===>> 库位到堆垛机站
			* 2022-12-03 TQS修改，先遍历查询工作档所有站点出库任务LIST，根据工作档任务排序优先级高于根据堆垛机入库站点排序
			*/
			public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast == null) {
			continue;
			}

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
			if(crnStn1.getStaNo() == wrkMast.getSourceStaNo()){
			crnStn = crnStn1;
			break;
			} else {
			continue;
			}
			}
			if(Cools.isEmpty(crnStn)){
			continue;
			}

			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null) {
			log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
			continue;
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			break;
			// continue;
			// }
			//
			// // 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());
			// LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			// if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			// if (null == waitWrkMast) {
			// log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			// } else {
			// if(waitWrkMast.getWrkSts() == 11) {
			// waitWrkMast.setIoPri(15D);
			// waitWrkMast.setModiTime(new Date());
			// if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			// log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			// }
			// continue;
			// } else {
			//
			// }
			// }
			// } else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// // 此标记避免多次执行移库任务
			// if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			// wrkMast.setUpdMk("Y");
			// wrkMastMapper.updateById(wrkMast);
			// // 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			// moveLocForDeepLoc(slave, shallowLoc);
			// }
			// log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
			} else {
			staProtocol = staProtocol.clone();
			}

			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
			if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
			continue;
			}

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			// }
			// }
			//
			// // 已经存在吊车执行任务时，则过滤
			// if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			// 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.LOC_MOVE); // 任务模式: 库位移转
			// 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(crnStn.getRow().shortValue()); // 目标库位排
			// 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));
			// } 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);
			// 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());
			// }
			// }
			// }
			// }
			// }
			break;
			}

			// 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());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			if (waitWrkMast.getWrkSts() == 11) {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			} else {

			}
			}
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			//2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			// 此标记避免多次执行移库任务
			// if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())
			// \|\| Cools.isEmpty(waitWrkMast)) {
			if (Cools.isEmpty(waitWrkMast)) {
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			}
			log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			}
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// 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.LOC_MOVE); // 任务模式: 库位移转
			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(crnStn.getRow().shortValue()); // 目标库位排
			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));
			} 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);
			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());
			}
			break;
			}
			}
			}

			}

			/**
			* 入库 ===>> RGV入库站到站
			* 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 void rgvInStn(RgvSlave slave, RgvProtocol rgvProtocol) {
			// 获取工作状态为2（设备上走）,且货物在RGV入库接驳站的入库工作档,查找最多2笔
			public synchronized List<WrkMast> getRgvInTask(RgvSlave slave){
			List<WrkMast> wrkMastTask = new ArrayList<>();
			List<Integer> staNos = new ArrayList<>();
			for (RgvSlave.RgvStn rgvStn : slave.getRgvInStn()) {
			for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) {
			staNos.add(rgvStn.getStaNo());
			}
			List<WrkMast> wrkMasts1 = new ArrayList<>();
			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.getRgvInStn()) {
			for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) {
			if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
			plcId = rgvStn.getDevpPlcId();
			break;
			@@ -1075,147 +1187,616 @@
			}

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, plcId);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getRgvSstaNo());
			if (staProtocol == null) {
			//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 {
			staProtocol = staProtocol.clone();
			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;
			}

			// WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
			// for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			// boolean flag = false;
			// // 获取堆垛机入库站信息
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			// StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// // 查询站点详细信息
			// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			// if (staDetl == null) {
			// log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			// continue;
			// }
			// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			// && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			// flag = true;
			// }
			// if (!flag) {
			// continue;
			// }
			// // 获取工作状态为2（设备上走）的入库工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
			// if (null == wrkMast) {
			//// log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			// continue;
			// }
			// // 获取库位信息
			// LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			// if (locMast == null) {
			// log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
			// continue;
			// }
			// if (!locMast.getLocSts().equals("S") && !locMast.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={}", wrkMast.getLocNo(), locMast.getLocSts());
			// continue;
			// }
			//
			// // 堆垛机控制过滤
			// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			// }
			//
			// // 已经存在吊车执行任务时，则过滤
			// if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			// continue;
			// }
			//
			// // 双深库位且浅库位有货，则需先对浅库位进行库位移转
			// if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
			// String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
			// LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			// if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			// if (null == waitWrkMast) {
			// log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			// } else {
			// waitWrkMast.setIoPri(15D);
			// waitWrkMast.setModiTime(new Date());
			// if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			// log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			// }
			// continue;
			// }
			//
			// } else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// // 此标记避免多次执行移库任务
			// if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			// wrkMast.setUpdMk("Y");
			// wrkMast.setIoPri(14D);
			// wrkMastMapper.updateById(wrkMast);
			// // 生成工作档,将浅库位移转到新的库位中
			// moveLocForDeepLoc(slave, shallowLoc);
			// // 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			//// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			// }
			// continue;
			// } else if (shallowLoc.getLocSts().equals("Q")) {
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			// if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			// continue;
			// }
			// }
			// }
			//
			// // 命令下发区 --------------------------------------------------------------------------
			// 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.LOC_MOVE); // 任务模式: 库位移转
			// crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			// crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			// crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			// crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
			// 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));
			// } else {
			//
			//// long startTime = System.currentTimeMillis();
			//// while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
			////
			//// if (true) {
			//// break;
			//// }
			////
			//// try{
			//// Thread.sleep(500);
			//// }catch(Exception ignore){}
			//// }
			//
			// // 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);
			// 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());
			// }
			// }
			// }
			/**
			* 入库 ===>> RGV入库站到站
			*/
			public synchronized void rgvInStn(RgvSlave slave, RgvProtocol rgvProtocol) {
			//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
			List<WrkMast> wrkMastTask = getRgvInTask(slave);
			if(wrkMastTask.size() <= 0){
			return;
			}

			// RGV控制过滤，必须满足自动、空闲，没有任务号
			if (!rgvProtocol.getStatusType().equals(CrnStatusType.IDLE)
			\|\| rgvProtocol.getModeType() != RgvModeType.AUTO
			\|\| rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getTaskNo2() != 0) {
			return;
			}

			// 已经存在RGV执行任务时，则过滤
			if(wrkMastMapper.selectRgvInWorking(slave.getId()).size() > 0){
			return;
			}

			if(wrkMastTask.size() == 2){
			//有2笔RGV待入库任务，2个工位，取货、放货任务同时下发
			WrkMast wrkMast1 = wrkMastTask.get(0);
			WrkMast wrkMast2 = wrkMastTask.get(1);
			if(Cools.isEmpty(wrkMast1) \|\| Cools.isEmpty(wrkMast2)){
			log.error("工作档RGV入库数据为空");
			return;
			}
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(slave.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.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(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 工位2任务模式: 取放货
			rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点
			rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, 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={}", slave.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 6.RGV入库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(6L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}

			wrkMast2.setWrkSts(6L);
			wrkMast2.setCrnStrTime(now);
			wrkMast2.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast2) == 0) {
			log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中失败！！，工作号={}", wrkMast2.getWrkNo());
			}
			}
			} else if(wrkMastTask.size() == 1){
			//只有1笔RGV待入库任务，先下发取货任务，取货后再判断是否有下一笔待入库任务
			WrkMast wrkMast1 = wrkMastTask.get(0);
			if(Cools.isEmpty(wrkMast1)){
			log.error("工作档RGV入库数据为空");
			return;
			}
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(slave.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 6.RGV入库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(6L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}
			}
			}
			}

			/**
			* 出库 ===>> RGV出库站到站
			*/
			public synchronized void rgvOutStn(RgvSlave slave, RgvProtocol rgvProtocol) {
			//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
			List<WrkMast> wrkMastTask = getRgvOutTask(slave);
			if(wrkMastTask.size() <= 0){
			return;
			}

			// RGV控制过滤，必须满足自动、空闲，没有任务号
			if (!rgvProtocol.getStatusType().equals(CrnStatusType.IDLE)
			\|\| rgvProtocol.getModeType() != RgvModeType.AUTO
			\|\| rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getTaskNo2() != 0) {
			return;
			}

			// 已经存在RGV执行任务时，则过滤
			if(wrkMastMapper.selectRgvOutWorking(slave.getId()).size() > 0){
			return;
			}

			if(wrkMastTask.size() == 2){
			//有2笔RGV待入库任务，2个工位，取货、放货任务同时下发
			WrkMast wrkMast1 = wrkMastTask.get(0);
			WrkMast wrkMast2 = wrkMastTask.get(1);
			if(Cools.isEmpty(wrkMast1) \|\| Cools.isEmpty(wrkMast2)){
			log.error("工作档RGV入库数据为空");
			return;
			}
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(slave.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.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(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 工位2任务模式: 取放货
			rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点
			rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, 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={}", slave.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 14.出库完成 => 16.RGV出库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(16L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}

			wrkMast2.setWrkSts(16L);
			wrkMast2.setCrnStrTime(now);
			wrkMast2.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast2) == 0) {
			log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中失败！！，工作号={}", wrkMast2.getWrkNo());
			}
			}
			} else if(wrkMastTask.size() == 1){
			//只有1笔RGV待入库任务，先下发取货任务，取货后再判断是否有下一笔待入库任务
			WrkMast wrkMast1 = wrkMastTask.get(0);
			if(Cools.isEmpty(wrkMast1)){
			log.error("工作档RGV入库数据为空");
			return;
			}
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(slave.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 14.出库完成 => 16.RGV出库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(16L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}
			}
			}
			}

			/**
			* 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;
			}

			/**
			* 根据RGV完成信号，执行对工作档的完成操作，和RGV的任务下发
			*/
			public synchronized void rgvFinished() {
			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;
			}
			// 工位1状态：取货完成等待确认91 并且任务完成位 = 1
			if (rgvProtocol.statusType1 == RgvStatusType.FETCHWAITING && rgvProtocol.getTaskNo1() != 0) {
			//工位1取货完成后，工位2是无货空闲状态时，准备给工位2发任务，确认是否有待执行RGV任务
			if (rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() == 0
			&& rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() == 0
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			) {
			WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
			if (wrkMast1 == null) {
			log.error("RGV工位1处于等待确认且取货任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgv.getId(), rgvProtocol.getTaskNo1());
			continue;
			}
			List<WrkMast> wrkMastTask = new ArrayList<>();
			List<WrkMast> list = new ArrayList<>();
			Integer type = 0;//1入库，2出库
			if(wrkMast1.getWrkSts()==6L){
			wrkMastTask = getRgvInTask(rgv);
			list = wrkMastMapper.selectRgvInWorking(rgv.getId());
			type = 1;
			} else if(wrkMast1.getWrkSts()==16L){
			wrkMastTask = getRgvOutTask(rgv);
			list = wrkMastMapper.selectRgvOutWorking(rgv.getId());
			type = 2;
			}
			if(wrkMastTask.size() > 0){//有继续执行任务，下发取货任务给工位2
			// 已经存在RGV执行任务时，则过滤
			if (list.size() > 1) {
			continue;
			}
			WrkMast wrkMast2 = wrkMastTask.get(0);
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgv.getId()); // RGV编号
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式: 取货
			rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点
			rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast2.getRgvNo(), 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={}", rgv.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 6.RGV入库取货中
			Date now = new Date();
			wrkMast2.setWrkSts(type==1 ? 6L : 16L);
			wrkMast2.setCrnStrTime(now);
			wrkMast2.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast2) == 0) {
			log.error("工位2修改工作档状态 2/14.设备上走 => 6/16.RGV入库取货中失败！！，工作号={}", wrkMast2.getWrkNo());
			}
			}
			} else {//没有继续执行任务，下发放货任务给工位1
			if(type == 1 && wrkMast1.getWrkSts() != 6L){//RGV入库取货中
			continue;
			}
			if(type == 2 && wrkMast1.getWrkSts() != 16L){//RGV出库取货中
			continue;
			}

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgv.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 6.RGV入库取货中 => 7.RGV入库放货中
			Date now = new Date();
			wrkMast1.setWrkSts(type==1 ? 7L : 17L);
			wrkMast1.setCrnEndTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}
			log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
			}
			}
			} else if (rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() > 0
			&& rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() > 0
			&& rgvProtocol.statusType2 == RgvStatusType.FETCHWAITING){
			// 工位2状态：也是取货完成等待确认91 并且任务完成位 = 1, 工位1、2同时下发放货任务
			WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
			WrkMast wrkMast2 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo2().intValue());
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgv.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式: 放货
			rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点
			rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) {
			//step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 6.RGV入库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(wrkMast1.getWrkSts()==6L ? 7L : 17L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}

			wrkMast2.setWrkSts(wrkMast2.getWrkSts()==6L ? 7L : 17L);
			wrkMast2.setCrnStrTime(now);
			wrkMast2.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast2) == 0) {
			log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中失败！！，工作号={}", wrkMast2.getWrkNo());
			}
			}
			}
			}

			}
			}

			/**
			* 入出库 ===>> RGV出库站到堆垛机入库站/系统入库站
			* rgvInDStnToCrnStn
			*/
			public synchronized void rgvDestStnToCrnStn() {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			// 遍历入库任务的RGV出库站
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvDestStn()) {
			// 获取RGV出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档List
			// List<WrkMast> wrkMasts = wrkMastMapper.selectRgvInStep2(staProtocol.getSiteId());
			List<WrkMast> wrkMasts = wrkMastMapper.selectRgvDestStep2(staProtocol.getSiteId());
			for(WrkMast wrkMast : wrkMasts){
			// 判断工作档条件
			if (wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null
			\|\| wrkMast.getRgvSstaNo() == null \|\| wrkMast.getRgvDstaNo() == null) {
			continue;
			}

			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, wrkMast.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// 判断RGV状态等待确认,工位1
			if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())
			&& rgvProtocol.statusType1 == RgvStatusType.WAITING) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			// 更新工作档状态为2,14
			wrkMast.setWrkSts(wrkMast.getWrkSts()==7L ? 2L : 14L);
			wrkMast.setOnlineYn("Y");
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位RGV工位1
			rgvThread.setResetFlag1(true);
			} else {
			log.error("RGV工位1接驳，更新工作档的工作状态为{}失败！！！ [工作号:{}]", wrkMast.getWrkSts()==7L ? 2L : 14L, wrkMast.getWrkNo());
			}
			}
			// 判断RGV状态等待确认,工位2
			if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo2().equals(wrkMast.getWrkNo().shortValue())
			&& rgvProtocol.statusType2 == RgvStatusType.WAITING) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			// 更新工作档状态为2,14
			wrkMast.setWrkSts(wrkMast.getWrkSts()==7L ? 2L : 14L);
			wrkMast.setOnlineYn("Y");
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位RGV工位2
			rgvThread.setResetFlag2(true);
			} else {
			log.error("RGV工位2接驳，更新工作档的工作状态为{}失败！！！ [工作号:{}]", wrkMast.getWrkSts()==7L ? 2L : 14L, wrkMast.getWrkNo());
			}
			}
			}

			}
			}
			}
			}

			/**
			* 出库 ===>> RGV出库站到系统出库站
			*/
			public synchronized void rgvOutDStnToOutStn() {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			// 遍历出库任务的RGV出库站
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvDestStn()) {
			// 获取RGV出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档List
			List<WrkMast> wrkMasts = wrkMastMapper.selectRgvOutStep2(staProtocol.getSiteId());
			for(WrkMast wrkMast : wrkMasts){
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null
			\|\| wrkMast.getRgvSstaNo() == null \|\| wrkMast.getRgvDstaNo() == null) {
			continue;
			}

			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, wrkMast.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// 判断RGV状态等待确认,工位1
			if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())
			&& rgvProtocol.statusType1 == RgvStatusType.WAITING) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			// 更新工作档状态为14
			wrkMast.setWrkSts(14L);
			wrkMast.setOnlineYn("Y"); //控制WMS将工作状态14转15的时机，只有RGV运搬完成后才可以转
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位RGV工位1
			rgvThread.setResetFlag1(true);
			} else {
			log.error("RGV工位1接驳，更新工作档的工作状态为2失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			}
			// 判断RGV状态等待确认,工位2
			if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo2().equals(wrkMast.getWrkNo().shortValue())
			&& rgvProtocol.statusType2 == RgvStatusType.WAITING) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			// 更新工作档状态为14
			wrkMast.setWrkSts(14L);
			wrkMast.setOnlineYn("Y"); //控制WMS将工作状态14转15的时机，只有RGV运搬完成后才可以转
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位RGV工位2
			rgvThread.setResetFlag2(true);
			} else {
			log.error("RGV工位2接驳，更新工作档的工作状态为2失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			}
			}

			}
			}
			}
			}

			/**
			* 库位移转
			*/
			public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
			public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
			// 获取工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
			if (null == wrkMast) {
			@@ -1283,8 +1864,7 @@
			/**
			* 执行对工作档的完成操作
			*/
			@Async
			public void storeFinished() {
			public synchronized void storeFinished() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			@@ -1325,10 +1905,141 @@
			}

			/**
			* 异常信息记录
			*/
			public synchronized void recErr() {
			try {
			this.recCrnErr();
			this.recRgvErr();
			} catch (Exception e) {
			log.error("recErr fail", e);
			}
			}

			/**
			* RGV异常信息记录
			*/
			public synchronized void recRgvErr() {
			Date now = new Date();
			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;
			}
			if (true) {
			// 有任务
			if (rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getTaskNo2() != 0) {
			Integer taskNo = rgvProtocol.getTaskNo1() > 0 ? rgvProtocol.getTaskNo1().intValue() : rgvProtocol.getTaskNo2().intValue();
			BasRgvErrLog latest = basRgvErrLogService.findLatestByTaskNo(rgv.getId(), taskNo);
			// 有异常
			if (latest == null) {
			if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(taskNo);
			if (wrkMast == null) {
			continue;
			}
			BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
			String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName();
			BasRgvErrLog basRgvErrLog = new BasRgvErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			rgv.getId(), // 堆垛机
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			(int) rgvProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			);

			if (!basRgvErrLogService.insert(basRgvErrLog)) {
			log.error("RGV异常记录失败 ===>> [id:{}] [error:{}]", rgv.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (rgvProtocol.getAlarm() == null \|\| rgvProtocol.getAlarm() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basRgvErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", rgv.getId(), latest.getId());
			}
			}
			}
			// 无任务
			} else {
			BasRgvErrLog latest = basRgvErrLogService.findLatest(rgv.getId());
			// 有异常
			if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != rgvProtocol.getAlarm().intValue())) {
			BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
			String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName();
			BasRgvErrLog basRgvErrLog = new BasRgvErrLog(
			null, // 编号
			null, // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			rgv.getId(), // 堆垛机
			null, // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int) rgvProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			);

			if (!basRgvErrLogService.insert(basRgvErrLog)) {
			log.error("RGV异常记录失败 ===>> [id:{}] [error:{}]", rgv.getId(), errName);
			}
			}
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basRgvErrLogService.updateById(latest)) {
			log.error("RGV异常记录修复失败 ===>> [id:{}] [errLogId:{}]", rgv.getId(), latest.getId());
			}
			}
			}
			}
			}

			}
			}

			/**
			* 堆垛机异常信息记录
			*/
			@Async
			public void recCrnErr() {
			public synchronized void recCrnErr() {
			Date now = new Date();
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			@@ -1443,14 +2154,12 @@
			}
			}


			// -------------------------------------------------------------------------------

			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			@Async
			public void storeEmptyPlt() {
			public synchronized void storeEmptyPlt() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			@@ -1564,8 +2273,7 @@
			/**
			* 出库 ===>> 工作档信息写入led显示器
			*/
			@Async
			public void ledExecute() {
			public synchronized void ledExecute() {
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			@@ -1681,35 +2389,7 @@
			/**
			* 其他 ===>> LED显示器复位，显示默认信息
			*/
			@Async
			public void ledReset() {
			// for (LedSlave led : slaveProperties.getLed()) {
			// // 获取输送线plc线程
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// // 命令集合
			// boolean reset = true;
			// for (Integer staNo : led.getStaArr()) {
			// // 获取叉车站点
			// StaProtocol staProtocol = devpThread.getStation().get(staNo);
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// if (staProtocol.getWorkNo() != 0) {
			// reset = false;
			// break;
			// }
			// }
			// // 获取led线程
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
			// // led显示默认内容
			// if (reset) {
			// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
			// log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			// }
			// }
			// }
			public synchronized void ledReset() {
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			@@ -2097,7 +2777,7 @@
			/**
			* 入出库模式切换函数
			*/
			public void ioConvert() {
			public synchronized void ioConvert() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			@@ -2157,7 +2837,7 @@

			}

			public void outOfDevp() {
			public synchronized void outOfDevp() {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
			for (WrkMast wrkMast : wrkMasts) {
			if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
			@@ -2171,7 +2851,7 @@
			}


			public void autoEmptyOut() {
			public synchronized void autoEmptyOut() {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			Integer autoOutSite = 12;
			//如果站点可出禁用，则不生成空盘出库任务
			@@ -2210,7 +2890,7 @@
			}
			}

			public void autoEmptyIn() {
			public synchronized void autoEmptyIn() {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			Integer autoInSite = 12;
			StaProtocol staProtocol = devpThread.getStation().get(autoInSite);