zy-wcs.git - Gitblit

			@@ -7,12 +7,14 @@
			import com.core.common.Cools;
			import com.core.common.DateUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.domain.param.ForwardAGVTaskParam;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.RouteUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.VersionUtils;
			import com.zy.common.constant.AgvSiteConstant;
			import com.zy.common.model.LocTypeDto;
			import com.zy.common.model.MatDto;
			import com.zy.common.model.SearchLocParam;
			@@ -26,17 +28,20 @@
			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.enums.DevpType.DevpRequestType;
			import com.zy.core.enums.DevpType.DevpStateType;
			import com.zy.core.enums.DevpType.DevpTrayType;
			import com.zy.core.enums.DevpType.DevpWorkType;
			import com.zy.core.model.CrnSlave;
			import com.zy.core.model.DevpSlave;
			import com.zy.core.model.LedSlave;
			import com.zy.core.model.Task;
			import com.zy.core.model.command.CrnCommand;
			import com.zy.core.model.command.LedCommand;
			import com.zy.core.model.command.RgvCommand;
			import com.zy.core.model.protocol.CrnProtocol;
			import com.zy.core.model.protocol.RgvProtocol;
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.BarcodeThread;
			import com.zy.core.thread.LedThread;
			import com.zy.core.thread.RgvThread;
			import com.zy.core.thread.SiemensDevpThread;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			@@ -45,10 +50,10 @@
			import org.springframework.transaction.annotation.Transactional;
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

			import java.util.ArrayList;
			import java.util.Date;
			import java.util.List;
			import java.util.Set;
			import javax.annotation.Resource;
			import java.text.DecimalFormat;
			import java.text.SimpleDateFormat;
			import java.util.*;
			import java.util.stream.Collectors;

			/**
			@@ -87,31 +92,32 @@
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			@Autowired
			private WrkMastStaMapper wrkMastStaMapper;
			private WrkMastService wrkMastService;
			@Autowired
			private BasRgvService basRgvService;
			private OrderService orderService;
			@Autowired
			private BasRgvMapMapper basRgvMapMapper;
			private OrderDetlService orderDetlService;

			@Resource
			private ApiLogService apiLogService;

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

			public Integer wrkNo = 10000;

			/**
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			*/
			public synchronized void generateStoreWrkFile(Integer mark) {
			String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}

			// 获取入库站信息
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			@@ -119,106 +125,53 @@
			} else {
			staProtocol = staProtocol.clone();
			}

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

			// 判断是否满足入库条件
			if (!staProtocol.isLoading()){
			continue;
			}
			String barcode11 = barcodeThread.getBarcode();
			if (Cools.isEmpty(barcode11)){
			if (staProtocol.isAutoing()&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 9999 && staProtocol.isPakMk() && staProtocol.getStamp()==2){
			staProtocol.setStamp(3);
			News.info(""+mark+" - 7"+" - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode11, inSta.getStaNo());
			staProtocol.setWorkNo(9989);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
			}
			continue;
			}
			}
			if (staProtocol.isAutoing() && staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990)
			&& staProtocol.isPakMk() && staProtocol.getStamp()>=2 && staProtocol.getStamp()!=3) {// && !Cools.isEmpty(barcode)) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行");
			// try {
			// Thread.sleep(300);
			// }catch (Exception e){}
			if (staProtocol.stateType == DevpStateType.AUTO //自动
			&& staProtocol.workType == DevpWorkType.BUSY //忙碌
			&& staProtocol.requestType == DevpRequestType.IN //可入
			&& staProtocol.trayType == DevpTrayType.FULL // 满板
			&& staProtocol.isPakMk()) {

			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			staProtocol.setWorkNo( 9999);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			News.info(""+mark+" - 2"+" - 扫码失败1 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
			}
			continue;
			}
			} else {
			staProtocol.setWorkNo( 9999);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			News.info(""+mark+" - 3"+" - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
			}
			continue;
			}
			String barcode = staProtocol.getBarcode();

			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			//过滤判断，防止拣料再入库货物，经过入库站再入库时，被退回到退库站
			WrkMast wrkMast1 = wrkMastMapper.selectPakInStepBarcode(barcode);
			if (wrkMast1 !=null){
			if (wrkMast1.getIoType()==103 \|\| wrkMast1.getIoType()==107 \|\| wrkMast1.getIoType()==104){
			if (wrkMast != null) {
			int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
			if (wrkNo1 != 0){
			News.error(barcode + "条码已存在状态为（ 2.设备上走）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
			if (ledThread != null) {
			News.error(methodName + ":扫码失败，请重试");
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走）的任务,工作号="+ wrkMast.getWrkNo()));
			}
			continue;
			}
			}
			if (wrkMast != null) {
			News.error(""+mark+" - 4"+" - 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());
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.info("输送线下发(存在设备上走的工作档，直接下发！))："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());

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

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

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

			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "工作档已存在该条码号===>>" + barcode;
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
			}
			}
			WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
			.eq("barcode", barcode)
			.in("io_type", 107,103,57));
			if (!Cools.isEmpty(checkPick)) {
			continue;
			}

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			@@ -233,58 +186,38 @@
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发2："+dto.getWorkNo()+","+dto.getStaNo());

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

			if (!result) {
			News.error(methodName + ":更新plc站点信息失败");

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

			// led 入库信息显示
			if (ledThread != null) {
			// 命令集合
			List<LedCommand> commands = new ArrayList<>();
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(dto.getWorkNo());
			ledCommand.setIoType(1);
			ledCommand.setTitle("全板入库");
			ledCommand.setLocNo(dto.getLocNo());
			ledCommand.setStaNo(dto.getStaNo());
			commands.add(ledCommand);
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, commands));
			// ledThread.errorReset();
			}
			} else {
			News.error(""+mark+" - 5"+" - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getBackSta().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");
			}

			// led 异常显示
			if (ledThread != null) {
			}else {
			// if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
			}
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			// }
			// News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}


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

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isAutoing()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
			+"、锁定标记"+ staProtocol.isPakMk()+"、入库印记：" + staProtocol.getStamp());
			}


			}
			}
			@@ -310,17 +243,19 @@
			staProtocol = staProtocol.clone();
			}

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

			// 判断是否满足入库条件
			if (!staProtocol.isLoading()){
			if (staProtocol.workType == DevpWorkType.BUSY){
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() == 9999)
			if (staProtocol.stateType == DevpStateType.AUTO
			&& staProtocol.requestType == DevpRequestType.IN
			&& staProtocol.trayType == DevpTrayType.FULL
			&& (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() == 9999)
			&& staProtocol.isPakMk()) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行");
			// 判断重复工作档
			@@ -336,6 +271,7 @@
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发3："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			if (result) {
			// 更新工作主档
			wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			@@ -348,9 +284,9 @@
			}

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isLoading()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
			+"、锁定标记"+ staProtocol.isPakMk()+"、入库印记：" + staProtocol.getStamp());
			News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.stateType+"、可入信号：" + staProtocol.requestType
			+"、空板信号："+ staProtocol.trayType+"、工作号：" + staProtocol.getWorkNo()
			+"、锁定标记"+ staProtocol.isPakMk());
			}
			}
			}
			@@ -366,19 +302,10 @@
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}





			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			@@ -388,12 +315,22 @@
			} else {
			staProtocol = staProtocol.clone();
			}
			String barcode = staProtocol.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			// News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行");

			if (staProtocol.stateType == DevpStateType.AUTO
			&& staProtocol.workType == DevpWorkType.BUSY
			&& staProtocol.requestType == DevpRequestType.IN
			&& staProtocol.isPakMk()) {
			WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
			if (wrkMast == null) {
			@@ -405,15 +342,6 @@
			continue;
			}

			// 拣、盘、并作业站转换
			// int stnNo = 0;
			// if (wrkMast.getStaNo() == 109) {
			// stnNo = 127;
			// } else if (wrkMast.getStaNo() == 113) {
			// stnNo = 128;
			// } else {
			// log.error("{}号任务数据异常！", wrkMast.getWrkNo());
			// }
			// 获取目标站
			Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			.eq("type_no", wrkMast.getIoType() - 50)
			@@ -422,25 +350,26 @@
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (Cools.isEmpty(staDesc)) {
			News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			staProtocol.setWorkNo(9989);
			staProtocol.setWorkNo(wrkNo++);
			staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发4："+9989+","+(pickSta.getStaNo().shortValue()-(short)1));
			//LED
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "此为拣料、并板、盘点再入库.请放在"+pickSta.getBackSta().shortValue()+"站点";
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errorMsg));
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			}
			continue;
			}

			try {
			// 保存工作明细档历史档
			if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作明细档历史档失败");
			}
			// 保存工作明细档历史档 //因为兼容u8工作模式不能生成历史工作明细
			// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			// throw new CoolException("保存工作明细档历史档失败");
			// }
			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作主档历史档失败");
			@@ -481,19 +410,142 @@
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发5："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			if (!result) {
			News.error(""+mark+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}

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

			}

			}
			// News.infoNoLog(""+mark+" - 0"+" - 拣料、并板、盘点再入库 ===》执行完成");
			}


			//盘点再入库
			public synchronized void stnToCrnStnPick2(){
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta()) {
			// 获取拣料入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.stateType == DevpStateType.AUTO
			&& staProtocol.workType == DevpWorkType.BUSY
			&& staProtocol.requestType == DevpRequestType.IN
			&& staProtocol.trayType == DevpTrayType.FULL
			// && staProtocol.getWorkNo() > 0
			&& staProtocol.isPakMk()){

			String barcode = staProtocol.getBarcode();



			if(!Cools.isEmpty(barcode)) {
			// log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if("00000000".equals(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			}
			continue;
			}
			}
			WrkMast wrkMast = wrkMastMapper.selectPickStep2(barcode);
			if (wrkMast == null) {
			// 无盘点数据
			continue;
			}

			// 获取库位号
			try {
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", wrkMast.getSourceLocNo()));
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(107);
			param.setSourceStaNo(pickSta.getStaNo()); //作业站点
			if (!Cools.isEmpty(locMast)){
			param.setLocType1(locMast.getLocType1());
			}else {
			param.setLocType1(locTypeDto.getLocType1());
			}

			String response = "";
			log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			try {
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin2/loc/v1")
			.setJson(JSON.toJSONString(param))
			// .setTimeout(15, TimeUnit.SECONDS)
			.build()
			.doPost();
			} catch(Exception e){
			log.error("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
			e.printStackTrace();
			continue;
			}
			log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response);
			if(response.equals("")) {
			continue;
			}
			JSONObject jsonObject = JSON.parseObject(response);
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			Integer code = jsonObject.getInteger("code");
			if (code == 200) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			if (Cools.isEmpty(dto) \|\| Cools.isEmpty(dto.getStaNo())) {
			log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
			} else {
			log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位成功===>>" + jsonObject.toJSONString());
			try {
			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setStaNo((short)161);
			devpThread.setPakMk(staProtocol.getSiteId(), false);

			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库任务下发成功===>>" + staProtocol);

			ledThread.errorReset();
			log.error("盘点后led错误删除");

			} catch (Exception e) {
			log.error("盘点再入库失败===>>" + e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			} catch (Exception e) {
			log.error("stnToCrnStnPick2===>>fail", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			}

			}

			}
			}

			/**
			@@ -512,7 +564,7 @@
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// if (staProtocol.stateType == DevpStateType.AUTO && staProtocol.workType == DevpWorkType.BUSY && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
			if (wrkMast == null) {
			@@ -533,22 +585,29 @@
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行");
			log.info("堆垛机出库完成 - 开始执行");

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

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

			// 更新工作档状态为14失败
			wrkMast.setWrkSts(14L);
			wrkMast.setWrkSts(13L);
			if (wrkMast.getStaNo() == 1024 \|\| wrkMast.getStaNo() == 1028) {
			wrkMast.setWrkSts(14L);
			}
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位堆垛机
			log.error("出库任务完成下发堆垛机复位,{}", wrkMast.getWrkNo());
			crnThread.setResetFlag(true);
			} else {
			News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			@@ -562,7 +621,7 @@
			+"、货叉位置："+crnProtocol.forkPosType+"==HOME：0 // 货叉原位：" + CrnForkPosType.HOME);
			}

			}
			// }
			}
			}
			// News.infoNoLog(""+mark+" - 0"+" - 堆垛机站出库到出库站 ===》执行完成");
			@@ -705,14 +764,14 @@
			News.error(""+mark+" - 1"+" - 2"+" - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			if ( staProtocol.stateType == DevpStateType.AUTO&& staProtocol.workType == DevpWorkType.BUSY&& staProtocol.getWorkNo() > 0 && staProtocol.requestType == DevpRequestType.IN
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			News.errorNoLog(""+mark+" - 1"+" - 3"+" - 堆垛机入库站信息(以下需要全true):"
			+"自动信号"+staProtocol.isAutoing()+"有物信号"+staProtocol.isLoading()
			+"工作号>0"+staProtocol.getWorkNo()+"可入信号"+staProtocol.isInEnable()
			+"自动信号"+staProtocol.stateType+"有物信号"+staProtocol.workType
			+"工作号>0"+staProtocol.getWorkNo()+"可入信号"+staProtocol.requestType
			+"能入信号（wms设置）.equals(\"Y\")"+staDetl.getCanining());
			continue;
			}
			@@ -769,13 +828,13 @@
			News.warnNoLog(""+mark+" - 1"+" - 12"+" - // F、D 库位状态={}",shallowLoc.getLocSts());
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc,mark);
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);

			if (moveLocForDeepLoc(slave, shallowLoc,mark)){
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			}

			}
			continue;
			} else if (shallowLoc.getLocSts().equals("Q")) {
			@@ -803,6 +862,7 @@
			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
			crnCommand.setTraySize(locMast.getLocType1());
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			News.error(""+mark+" - 1"+" - 16"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			@@ -883,8 +943,8 @@
			// continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			if (staProtocol.stateType == DevpStateType.AUTO && staProtocol.workType == DevpWorkType.IDLE && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.requestType == DevpRequestType.OUT) {
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			@@ -925,10 +985,10 @@
			// if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())
			// \|\| Cools.isEmpty(waitWrkMast)) {
			if (Cools.isEmpty(waitWrkMast)) {
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc,mark);
			if (moveLocForDeepLoc(slave, shallowLoc,mark)){
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			}
			}
			News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			@@ -964,6 +1024,7 @@
			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
			crnCommand.setTraySize(sourceSta.getLocType1()); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			News.error(""+mark+" - 2"+" - 13"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			@@ -1126,6 +1187,10 @@
			News.error(""+mark+" - 3"+" - 2"+" - 工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
			return;
			}
			if(sta.getLocType1() != sourceSta.getLocType1()){
			News.error("移库目标库位类型与源库位类型不符");
			return;
			}
			// 获取堆垛机信息并判断是否可入出
			BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
			if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
			@@ -1158,6 +1223,7 @@
			crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 目标库位层
			crnCommand.setTraySize(sourceSta.getLocType1()); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			News.error(""+mark+" - 3"+" - 4"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			@@ -1188,11 +1254,8 @@
			}
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行对工作档的完成操作");
			if (crnProtocol.getTaskNo() == 9999) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行对工作档的完成操作，任务号:"+crnProtocol.getTaskNo());

			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			@@ -1211,12 +1274,13 @@
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			log.error(wrkMast.getWrkNo()+"任务修改状态4成功，复位堆垛机={}",crnThread.getCrnProtocol().getCrnNo());
			News.warnNoLog(""+mark+" - 2"+" - 修改成功后复位堆垛机 : 堆垛机号={}",crnThread.getCrnProtocol().getCrnNo());
			crnThread.setResetFlag(true);
			}
			}

			}

			}
			// News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成");
			}
			@@ -1368,16 +1432,18 @@
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
			}

			if (!staProtocol.isLoading()){
			if (staProtocol.workType == DevpWorkType.IDLE){
			continue;
			}

			// 站点条件判断
			if (staProtocol.isAutoing()
			&& staProtocol.isInEnable()
			&& staProtocol.isEmptyMk()
			&& (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999)
			&& staProtocol.isPakMk()&& staProtocol.getStamp()>=2) {
			if (staProtocol.stateType == DevpStateType.AUTO
			&& staProtocol.workType == DevpWorkType.BUSY
			&& staProtocol.requestType == DevpRequestType.IN
			&& staProtocol.trayType == DevpTrayType.EMPTY
			&& staProtocol.isPakMk()
			&& ((staProtocol.getWorkNo() !=0 && staProtocol.getWorkNo() > 9700) \|\| staProtocol.getSiteId() == 1025)
			) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行：空栈板初始化入库,叉车入库站放货");

			try {
			@@ -1386,7 +1452,7 @@
			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			param.setSourceStaNo(emptyInSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			param.setLocType1((short) 0);
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			@@ -1402,6 +1468,7 @@
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发6："+dto.getWorkNo()+","+staProtocol.getSiteId());
			if (!result) {
			News.errorNoLog(""+mark+" - 1"+" - 更新plc站点信息失败");
			throw new CoolException("更新plc站点信息失败");
			@@ -1418,26 +1485,26 @@
			ledCommand.setLocNo(dto.getLocNo());
			ledCommand.setStaNo(dto.getStaNo());
			commands.add(ledCommand);
			MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, commands));
			MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(1, commands));
			// ledThread.errorReset();
			}
			} else {
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			News.errorNoLog(""+mark+" - 2"+" - 更新plc站点信息失败");
			throw new CoolException("更新plc站点信息失败");
			}

			// staProtocol.setWorkNo(wrkNo++);
			// staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// News.errorNoLog(""+mark+" - 2"+" - 更新plc站点信息失败");
			// throw new CoolException("更新plc站点信息失败");
			// }
			//
			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
			MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
			}
			}
			News.error(""+mark+" - 3"+" - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			// News.error(""+mark+" - 3"+" - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			@@ -1445,8 +1512,8 @@
			}

			} else {
			News.errorNoLog(""+mark+" - 4"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isAutoing()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
			News.errorNoLog(""+mark+" - 4"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.stateType+"、可入信号：" + staProtocol.workType
			+"、空板信号："+ staProtocol.trayType+"、工作号：" + staProtocol.getWorkNo()
			+"、锁定标记"+ staProtocol.isPakMk());
			}
			}
			@@ -1458,7 +1525,6 @@
			* 出库 ===>> 工作档信息写入led显示器
			*/
			public synchronized void ledExecute(Integer mark) {

			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			@@ -1469,18 +1535,14 @@
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (null == staProtocol \|\| null == staProtocol.getWorkNo() \|\| 0 == staProtocol.getWorkNo() \|\| !staProtocol.isLoading()) {
			if (null == staProtocol \|\| null == staProtocol.getWorkNo() \|\| 0 == staProtocol.getWorkNo() \|\| staProtocol.workType == DevpWorkType.IDLE) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 获取工作档数据
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			// if (null == wrkMast \|\| wrkMast.getWrkSts() < 14 \|\| wrkMast.getIoType() < 100) { continue; }
			if (null == wrkMast) {
			continue;
			}
			News.warnNoLog(""+mark+" - 0"+" - 开始执行:出库 ===>> 工作档信息写入led显示器");
			if (null == wrkMast) { continue; }
			wrkMasts.add(wrkMast);
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			@@ -1511,16 +1573,50 @@
			ledCommand.setEmptyMk(true);
			break;
			default:
			News.error(""+mark+" - 1"+" - 任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			break;
			}
			ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			ledCommand.setLocNo(wrkMast.getLocNo());
			ledCommand.setStaNo(wrkMast.getStaNo());
			// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
			ledCommand.setBarcode(wrkMast.getBarcode());
			if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs())));
			List<WrkDetl> wrkDetls =wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkMast.getWrkNo()));

			wrkDetls.forEach(wrkDetl -> {
			Double total = 0.0;
			EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
			LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
			if (Cools.isEmpty(locDetl)) {
			total = wrkDetl.getAnfme();
			} else {
			total = locDetl.getAnfme();
			}
			if (!Cools.isEmpty(wrkDetl.getOrderNo())){
			OrderDetl orderDetl = orderDetlService.selectOne(new EntityWrapper<OrderDetl>().eq("order_no", wrkDetl.getOrderNo())
			.eq("matnr", wrkDetl.getMatnr()).eq("batch", wrkDetl.getBatch()));
			if (wrkMast.getIoType() == 101 \|\| wrkMast.getIoType() == 1) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total,orderDetl.getTemp1(),orderDetl.getTemp2()));
			}
			if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() \|\| 0 == wrkDetl.getInspect())) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total,orderDetl.getTemp1(),orderDetl.getTemp2()));
			}
			if (wrkMast.getIoType() == 107 \|\| wrkMast.getIoType() == 104) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total,orderDetl.getTemp1(),orderDetl.getTemp2()));
			}
			}else {
			if (wrkMast.getIoType() == 101 \|\| wrkMast.getIoType() == 1) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			}
			if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() \|\| 0 == wrkDetl.getInspect())) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			}
			if (wrkMast.getIoType() == 107 \|\| wrkMast.getIoType() == 104) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			}
			}


			});
			}
			commands.add(ledCommand);
			}
			@@ -1531,32 +1627,11 @@
			if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
			continue;
			}
			// 命令下发 -------------------------------------------------------------------------------
			// if (!commands.isEmpty()) {
			// if (led.getId() < 7) {
			// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
			// News.error(""+mark+" - 2"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			// continue;
			// } else {
			// ledThread.setLedMk(false);
			// }
			// } else {
			// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
			// News.error(""+mark+" - 3"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			// continue;
			// } else {
			// ledThread.setLedMk(false);
			// }
			// }
			//
			// }
			// 命令下发 -------------------------------------------------------------------------------
			if (!commands.isEmpty()) {
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
			News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
			News.error("{}号LED显示内容命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			}else {
			ledThread.setLedMk(false);
			}
			}

			@@ -1566,7 +1641,6 @@
			wrkMast.setOveMk("Y");
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.errorNoLog(""+mark+" - 4"+" - 更新工作档失败");
			throw new CoolException("更新工作档失败");
			}
			}
			@@ -1580,17 +1654,13 @@
			}

			}
			// News.infoNoLog(""+mark+" - 0"+" - 出库 ===>> 工作档信息写入led显示器执行完成");
			}

			/**
			* 其他 ===>> LED显示器复位，显示默认信息
			*/
			public synchronized void ledReset(Integer mark) {

			// News.warnNoLog(""+mark+" - 0"+" - 开始执行:其他 ===>> LED显示器复位，显示默认信息");
			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());
			// 命令集合
			@@ -1598,10 +1668,8 @@
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			}
			if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
			if (staProtocol == null) { continue; }
			if (staProtocol.getWorkNo() != 0 \|\| staProtocol.isErr()) {
			reset = false;
			break;
			}
			@@ -1609,16 +1677,15 @@
			// 获取led线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// led显示默认内容
			if (reset && !ledThread.isLedMk()) {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
			News.error(""+mark+" - 1"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			} else {

			if (reset) {
			if (ledThread == null) {
			continue;
			}
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
			News.error("{}号LED显示默认命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			}
			}
			}
			// News.infoNoLog(""+mark+" - 0"+" - 执行完成：其他 ===>> LED显示器复位，显示默认信息");
			}

			/**
			@@ -1701,7 +1768,7 @@
			* 因双深库位阻塞，对浅库位进行移转（立即执行版)
			* tip：同步
			*/
			private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc,Integer mark) {
			private synchronized boolean moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc,Integer mark) {

			try {
			News.warnNoLog(""+mark+"moveLocForDeepLoc"+" - 0"+" - 开始执行:因双深库位阻塞，对浅库位进行移转（立即执行版)");
			@@ -1747,80 +1814,83 @@

			if (null == loc) {
			News.error(""+mark+"moveLocForDeepLoc"+" - 1"+" - 双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			throw new CoolException("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			}

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 2"+" - 保存工作档失败");
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 3"+" - 保存工作档明细失败");
			throw new CoolException("保存工作档明细失败");
			// throw new CoolException("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			return false;
			}else {
			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getLocSts().equals("F") ? "Y" : "N"); // 满板：Y
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 2"+" - 保存工作档失败");
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 3"+" - 保存工作档明细失败");
			throw new CoolException("保存工作档明细失败");
			}
			}
			}
			}
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 4"+" - 更新源库位状态失败");
			throw new CoolException("更新源库位状态失败");
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 4"+" - 更新源库位状态失败");
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 5"+" - 源库位出库失败");
			throw new CoolException("源库位出库失败");
			}
			} else {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 5"+" - 源库位出库失败");
			throw new CoolException("源库位出库失败");
			}
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 6"+" - 更新目标库位状态失败");
			throw new CoolException("更新目标库位状态失败");
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 6"+" - 更新目标库位状态失败");
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 7"+" - 移转失败");
			throw new CoolException("移转失败");
			}
			} else {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 7"+" - 移转失败");
			throw new CoolException("移转失败");
			}

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

			/**
			@@ -1974,68 +2044,7 @@
			}
			}

			/**
			* 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();
			}


			}

			public synchronized void outOfDevp(Integer mark) {

			@@ -2054,631 +2063,186 @@
			// News.infoNoLog(""+mark+" - 0"+" - outOfDevp执行完成");
			}


			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
			StaProtocol staProtocol = devpThread.getStation().get(autoOutSite);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() //自动
			&& !staProtocol.isLoading() //无物
			&& staProtocol.isOutEnable() //可出信号
			&& staProtocol.getWorkNo() == 0
			) {
			WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(autoOutSite);
			if (null != pakoutEmpty) {
			return;
			}
			try {
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/emptyOut/v1")
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			JSONObject data = (JSONObject) jsonObject.get("data");
			News.info((String) data.get("msg"));
			public synchronized void forwardAGVInTasks() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta agvSta : devp.getAgvOutSta()) {
			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(agvSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
			staProtocol = staProtocol.clone();
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			if (!(staProtocol.stateType == DevpStateType.AUTO)){
			continue;
			}
			if (staProtocol.getWorkNo() == 0){
			continue;
			}
			// WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getWorkNo()).eq("wrk_sts", 13));
			// if(!Cools.isEmpty(wrkMast1)){
			// continue;
			// }
			//查询状态为2的任务
			//查询状态为2的任务
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
			.eq("wrk_no", staProtocol.getWorkNo())
			.in("io_type",101,110,103,104,107)
			.eq("wrk_sts", 13));
			if (Cools.isEmpty(wrkMast)) {
			// log.error(agvSta.getStaNo()+"站,转发agv任务未找到对应任务,任务号："+staProtocol.getWorkNo());
			continue;
			}
			ForwardAGVTaskParam forwardAGVTaskParam = new ForwardAGVTaskParam();
			getAgvTaskParam(forwardAGVTaskParam,wrkMast,staProtocol.getSiteId());
			String request = forwardAGVHttpRequest(wrkMast.getStaNo(),forwardAGVTaskParam, "10.0.100.110:8182", "/rcms/services/rest/hikRpcService/genAgvSchedulingTask");
			if ("SUCCESS".equals(request)) {
			wrkMast.setWrkSts(14L);
			boolean update = wrkMastService.updateById(wrkMast);
			if (update){
			log.info("入库转发AGV任务完成,任务号:"+wrkMast.getWrkNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			}
			}



			}
			}

			}

			public synchronized void autoEmptyIn() {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			Integer autoInSite = 12;
			StaProtocol staProtocol = devpThread.getStation().get(autoInSite);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			private void getAgvTaskParam(ForwardAGVTaskParam agvTaskCreateParam,WrkMast param,Integer staNo){
			String sourceSite = "";
			if (staNo == 1040 \|\| staNo == 1042) {
			sourceSite = "a";
			} else if (staNo == 2010 \|\| staNo == 2012) {
			sourceSite = "b";
			} else if(staNo == 3010 \|\| staNo ==3012) {
			sourceSite = "c";
			} else if(staNo == 2000 \|\| staNo ==2002) {
			sourceSite = "d";
			}
			if (staProtocol.isAutoing() //自动
			&& staProtocol.isLoading() //有物
			&& staProtocol.isInEnable() //可入信号
			&& (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990) //工作号为0或者工作号是9991~9999（输送机留用）
			) {
			List<ForwardAGVTaskParam.PositionCodePaths> agvTaskParamList = Arrays.asList(
			//起始位
			new ForwardAGVTaskParam.PositionCodePaths(staNo.toString(),"05"),
			//目标位
			new ForwardAGVTaskParam.PositionCodePaths(sourceSite,"04")
			);
			Date date = new Date();
			DecimalFormat df = new DecimalFormat("0000");
			String wrkNo = "Crn"+df.format(param.getWrkNo())+date.getTime()/1000;
			agvTaskCreateParam.setReqCode(wrkNo);
			agvTaskCreateParam.setReqTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
			agvTaskCreateParam.setTaskTyp("GT4");
			// agvTaskCreateParam.setCtnrCode(param.getBarcode());
			agvTaskCreateParam.setPositionCodePath(agvTaskParamList);
			agvTaskCreateParam.setCtnrTyp("2");
			agvTaskCreateParam.setPriority("1");
			agvTaskCreateParam.setTaskCode(wrkNo);

			}

			private String forwardAGVHttpRequest(int sta, Object requestParam, String url, String path){
			// 先绑定
			boolean flag = bindPodAndBerth(String.valueOf(sta));
			if (!flag) {
			return "error";
			}
			String response = "";
			String success = "error";
			try {
			response = new HttpHandler.Builder()
			.setUri(url)
			// .setHttps(true)
			.setPath(path)
			.setJson(JSONObject.toJSONString(requestParam))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);

			String message = jsonObject.get("code").toString();
			if(("0").equals(message) \|\| ("请求编号已存在").contains(message)){
			success = "SUCCESS";
			}else {
			success = message;
			}
			// log.info("转发agv任务：请求体:"+JSONObject.toJSONString(requestParam)+",返回值:"+jsonObject);
			}catch (Exception e){

			} finally {
			try {
			LocTypeDto locTypeDto = new LocTypeDto((short) 1, (short) 1, (short) 1);


			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/emptyIn/v1")
			.setJson(JSON.toJSONString(locTypeDto))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			News.info((String) jsonObject.get("msg"));
			} else {
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
			}
			// 保存接口日志
			apiLogService.save(
			"出库呼叫agv",
			url + path,
			null,
			"127.0.0.1",
			JSONObject.toJSONString(requestParam),
			response,
			success.equals("SUCCESS")
			);
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("", e);
			}
			}
			return success;
			}

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

			// 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.setStartRoute(lockEndRoute);
			basRgvMapMapper.updateById(basRgvMapOther);
			return true;
			}catch (Exception e){
			log.error("小车地图更新出错！");
			private boolean bindPodAndBerth(String sta) {
			String staMap = AgvSiteConstant.SiteMap.get(sta);
			if (staMap == null) {
			log.error("没有找到该站点的入库映射:{}",sta);
			return false;
			}
			}
			JSONObject jsonObject = new JSONObject();
			jsonObject.put("reqCode",UUID.randomUUID().toString().replace("-", "")); // 请求唯一值
			jsonObject.put("ctnrTyp","2"); // 容器类型2
			jsonObject.put("stgBinCode",staMap); // 仓位编号，根据客仓编号转换
			jsonObject.put("indBind","1"); // 1绑定，0解绑

			/*
			* 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！2", 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.getTaskNo1()==9999)
			&& (rgvProtocol.getTaskNo2()==0 \|\| rgvProtocol.getTaskNo2()==9999)
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			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);
			}
			}


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

			// 只有当RGV等待WCS确认、自动
			if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			) {
			log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
			if (rgvProtocol.getTaskNo1()!=0){
			if (rgvProtocol.getTaskNo1()==9999){
			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().intValue());
			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;
			}
			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){
			if (rgvProtocol.getTaskNo2()==9999){
			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().intValue());
			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;
			}
			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);
			}
			}
			/**
			* 执行小车搬运任务
			*/
			public synchronized void rgvRunWrkMastFullSta() {
			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！4", 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
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=1 \|\| wrkMastSta.getWrkType()!=3){//1:满版 3：取放
			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;
			}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);
			}
			}
			/**
			* 执行小车搬运任务
			*/
			public synchronized void rgvRunWrkMastEmptyStaPut() {//放
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！5", rgvSlave.getId());
			continue;
			}

			// 只有当RGV空闲、自动,工位二有物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded2()==1 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=2 \|\| (wrkMastSta.getWrkType()!=2 && wrkMastSta.getWrkType()!=4)){// 2:空板 2:放 4：拆盘
			continue;
			}
			boolean sign = false;
			if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//放
			sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
			}else {
			continue;
			}
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
			if (signMap){
			wrkMastSta.setWrkSts(2);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return;
			}else {
			log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			}
			}catch (Exception e){
			log.error("3933行执行小车放空板任务下发失败");
			log.error("3933行"+e);
			}
			}

			public synchronized void rgvRunWrkMastEmptyStaTake() {//取
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！6", rgvSlave.getId());
			continue;
			}

			// 只有当RGV空闲、自动,工位二无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded2()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=1){// 2:空板 1:取
			continue;
			}
			boolean sign = false;
			if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//取
			sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
			} else {
			continue;
			}
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
			if (signMap){
			wrkMastSta.setWrkSts(1);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return;
			}else {
			log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			}
			}catch (Exception e){
			log.error("3989行执行小车取空板任务下发失败");
			log.error("3989行"+e);
			}
			}

			/*
			* 有任务但未执行此时需要调整小车位置
			* */
			public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
			try{
			Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
			if (integer==0){
			return;
			}
			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！1", 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(rgvProtocol.getRgvNo());
			if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			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);
			}
			}

			/*
			* 小车XY移动避让
			* */
			public synchronized boolean rgvAvoidanceXY(Integer rgvId){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1((short)9999); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 工位1任务模式: 回原点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(9, 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;
			String body = jsonObject.toJSONString();
			String response = "";
			boolean success = false;
			String url = "10.0.100.110:8182";
			String path = "/rcms/services/rest/hikRpcService/bindCtnrAndBin";
			try {
			response = new HttpHandler.Builder()
			.setUri(url)
			.setPath(path)
			.setJson(body)
			.build()
			.doPost();
			JSONObject res = JSON.parseObject(response);
			if (res.getInteger("code").equals(0)) {
			success = true;
			} else {
			return true;
			log.error("出库调用agv绑定仓位失败！！！url：{}；request：{}；response：{}", url + path, body, response);
			}
			}catch (Exception e){
			return false;

			} catch (Exception e) {
			log.error("出库调用agv绑定仓位异常", e);
			} finally {
			// try {
			// 保存接口日志
			// apiLogService.save(
			// "调用agv绑定仓位",
			// ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_BIND_PATH,
			// null,
			// "127.0.0.1",
			// body,
			// response,
			// success
			// );
			// } catch (Exception e) {
			// log.error("", e);
			// }
			}
			return success;
			}


			/*
			* 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.Crn, 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.Crn, 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.Crn, rgvId, new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			}

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

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

			/*
			* 小车复位
			* */
			public synchronized boolean rgvComplete(Integer rgvId){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			if (!MessageQueue.offer(SlaveType.Crn, 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;
			}
			}

			}