Merge remote-tracking branch 'origin/jshdwcs' into jshdwcs

lty

2025-09-23 766b76e287b7be3a51a9448d5045c39ec6c245f8

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

@@ -8,11 +8,18 @@
import com.core.common.DateUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.ArmOrderAssignmentParam;
import com.zy.asrs.entity.param.ArmTaskAssignmentParam;
import com.zy.asrs.entity.param.CombParam;
import com.zy.asrs.entity.result.OrderDetlValueResultUtil;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.PostMesDataUtils;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.asrs.utils.core.ReturnT;
import com.zy.common.constant.ArmConstant;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.SearchLocParam;
@@ -93,9 +100,16 @@
    private WrkMastService wrkMastService;
    @Autowired
    private BasRgvMapService basRgvMapService;
    @Autowired
    private BasArmService basArmService;
    @Autowired
    private BasArmMastService basArmMastService;

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

    @Value("${wms.comb}")
    private String wmsComb;
    @Value("${inventory.number}")
    private Integer inventoryNumber;

@@ -813,51 +827,63 @@
            } else {
                staProtocolIn = staProtocolIn.clone();
            }
            StaProtocol staProtocolOut = devpThread.getStation().get(1015);
            if (staProtocolOut == null) {
                continue;
            } else {
                staProtocolOut = staProtocolOut.clone();
            }
            if(staProtocolOut.getWorkNo() != null && staProtocolOut.getStaNo() == 4006){
                WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
                WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9997);
                if(wrkMast == null){
            int[] outStaNos = {1015, 2016};
            for (int outStaNo : outStaNos) {
                StaProtocol staProtocolOut = devpThread.getStation().get(outStaNo);// 盘点出库衔接站点（可能是 1015，也可能是 2016）
                if (staProtocolOut == null) {
                    continue;
                } else {
                    staProtocolOut = staProtocolOut.clone();
                }
                try {
                    TransplantWork param = new TransplantWork();
                    param.setWorkNo(wrkMastOut.getWrkNo());
                    param.setBarcode(wrkMastOut.getBarcode());
                    param.setSourceStaNo(1015);
                    param.setStaNo(wrkMastOut.getStaNo());
                    String response = new HttpHandler.Builder()
                            .setUri(wmsUrl)
                            .setPath("/rpc/auto/TransplantingIn/v1")
                            .setJson(JSON.toJSONString(param))
                            .build()
                            .doPost();
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)) {
                        staProtocolOut.setWorkNo(9997);
                        devpThread.setPakMk(staProtocolOut.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolOut));

                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
                        }
                if (staProtocolOut.getWorkNo() != null && staProtocolOut.getStaNo() == 4006) {
                    WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
                    WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9997);
                    if (wrkMastOut == null) {
                        continue;
                    }
                    if (wrkMast != null) {
                        News.info("已存在斜街任务，等待任务完成");
                        continue;
                    }
                    try {
                        TransplantWork param = new TransplantWork();
                        param.setWorkNo(wrkMastOut.getWrkNo());
                        param.setBarcode(wrkMastOut.getBarcode());
                        param.setSourceStaNo(outStaNo);
                        param.setStaNo(wrkMastOut.getStaNo());

                } catch (Exception e) {
                    e.printStackTrace();
                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/auto/TransplantingOut/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();

                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            staProtocolOut.setWorkNo(9997);
                            devpThread.setPakMk(staProtocolOut.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolOut));

                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }
                }
            }

            if(staProtocolIn.getWorkNo() != null &&staProtocolIn.getStaNo() != 4001){
                WrkMast wrkMastIn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo());
                WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9996);
                if(wrkMast == null){
                if(wrkMastIn == null){
                    continue;
                }
                if(wrkMast != null){
                    News.info("已存在斜街任务，等待任务完成");
                    continue;
                }
                try {
@@ -868,7 +894,7 @@
                    param.setStaNo(wrkMastIn.getStaNo());
                    String response = new HttpHandler.Builder()
                            .setUri(wmsUrl)
                            .setPath("/rpc/auto/TransplantingOut/v1")
                            .setPath("/rpc/auto/TransplantingIn/v1")
                            .setJson(JSON.toJSONString(param))
                            .build()
                            .doPost();
@@ -2764,7 +2790,56 @@
//        }
//    }

    /**
     * 小车上工位左右移动
     *
     */
    public synchronized boolean rgvStaMove(Long workNo) {
        try {
            for (RgvSlave rgv : slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                } else {
                    rgvProtocol = rgvProtocol.clone();
                }
                if(rgvProtocol.isLoaded2ing() && rgvProtocol.isLoaded1ing()){
                    continue;
                }
                if(rgvProtocol.isLoaded1ing() && !rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo1() != 0){
                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
                    Short moveSta =0;

                    if(wrkMastSta.getStaEnd()< 1036 || (2000 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd()<2031)){
                        moveSta = 2;
                        boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),7,wrkMastSta.getWrkNo(),moveSta);
                        if (!rgvComplete){
                            log.error("小车工位移动失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }
                    }
                }
                if(!rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo2() != 0){
                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
                    Short moveSta =0;

                    if(wrkMastSta.getStaEnd()> 2030 || (1036 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd()<2000)){
                        moveSta = 1;
                        boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),8,wrkMastSta.getWrkNo(),moveSta);
                        if (!rgvComplete){
                            log.error("小车工位移动失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }
                    }
                }


            }
        }catch (Exception e){
            log.error("小车复位线程报错！"+e);
        }
    }
    /**
     *  完成小车任务
     */
@@ -2785,13 +2860,26 @@
                    log.error("{}号RGV尚未在数据库进行维护！3", rgv.getId());
                    continue;
                }
                //放货确认
                if(rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
                    boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
                    if (!rgvComplete){
                        log.error("小车放货复位失败，小车号{}！", rgvProtocol.getRgvNo());
                    }
                }
                if(rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
                    boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 6);
                    if (!rgvComplete){
                        log.error("小车放货复位失败，小车号{}！", rgvProtocol.getRgvNo());
                    }
                }

                // 只有当RGV工位1等待WCS确认、自动
                if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
                if (rgvProtocol.getStatusType1() == RgvStatusType.WAITING
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
                ){
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);

                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType1(),rgvProtocol);
                    if(rgvProtocol.getTaskNo1() == 9999){ // 预调度任务确认
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        Integer staNo = basRgvMap.getNowRoute();
@@ -2820,10 +2908,19 @@
                            }
                        }
                    }
                    if (rgvProtocol.getTaskNo1()!=0 && rgvProtocol.getTaskNo1()!=9999){
                    if ( rgvProtocol.getTaskNo1()!=9999){
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
                        if(null == wrkMastSta){
                            log.error("小车无任务");
                            continue;
                        }
                        if(wrkMastSta.getWrkSts() == 1){//取货确认
                            if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
                                continue;
                            }
                            wrkMastSta.setUpdateTime(new Date());
                            wrkMastSta.setWrkSts(2);
//                            wrkMastSta.setWorkSta(2);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                                log.error("更新小车任务成功");
@@ -2832,59 +2929,76 @@
                            }
                            boolean rgvComplete = false;

                            rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
                            rgvComplete = rgvStaMove(wrkMastSta.getWrkNo());
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                                break;
                            }
                            break;
                        }
                        if (Cools.isEmpty(wrkMastSta) || 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;
                        }

                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                        StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
                        if (staProtocol == null) {
                            continue;
                        } else {
                            staProtocol = staProtocol.clone();
                        }
                        if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                            continue;
                        }
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast)){
                            if (!staProtocol.isPakMk()){
                                continue;
                            }
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast.getWrkNo());
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            log.error("rgv任务完成给输送线下发命令："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
                            if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
                                continue;
                            }
                        }
                        boolean rgvComplete = false;

                        rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),3);
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }
                        WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1());
                        wrkMast1.setPdcType("Y");

                        wrkMastService.updateById(wrkMast1);

                        wrkMastSta.setWrkSts(3);
                        wrkMastStaMapper.updateById(wrkMastSta);
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
//                        if(wrkMastSta.getWrkSts() == 4){//行走确认
//                            wrkMastSta.setWrkSts(2);
//                            try{
//                                wrkMastStaMapper.updateById(wrkMastSta);
//                                log.error("更新小车任务成功");
//                            }catch (Exception e){
//                                log.error("更新小车任务失败");
//                            }
//                            boolean rgvComplete = false;
//
//                            rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
//                            if (!rgvComplete){
//                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
//                                break;
//                            }
//                            break;
//                        }
//                        if (Cools.isEmpty(wrkMastSta) || 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;
//                        }
//
//                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
//                        StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
//                        if (staProtocol == null) {
//                            continue;
//                        } else {
//                            staProtocol = staProtocol.clone();
//                        }
//                        if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
//                            continue;
//                        }
//                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
//                        if (!Cools.isEmpty(wrkMast)){
//                            if (!staProtocol.isPakMk()){
//                                continue;
//                            }
//                            // 下发站点信息
//                            staProtocol.setWorkNo(wrkMast.getWrkNo());
//                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            log.error("rgv任务完成给输送线下发命令："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
//                            if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
//                                continue;
//                            }
//                        }
//                        boolean rgvComplete = false;
//
//                        rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),3);
//                        if (!rgvComplete){
//                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
//                            break;
//                        }
//                        WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1());
//                        wrkMast1.setPdcType("Y");
//
//                        wrkMastService.updateById(wrkMast1);
//
//                        wrkMastSta.setWrkSts(3);
//                        wrkMastStaMapper.updateById(wrkMastSta);
//                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
//                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
                    }

                    else {
@@ -2892,14 +3006,19 @@
                    }
                }
                // 只有当RGV工位2等待WCS确认、自动
                if ((rgvProtocol.getStatusType2() == RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)
                if (rgvProtocol.getStatusType2() == RgvStatusType.WAITING
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
                ){
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType2(),rgvProtocol);
                    if (rgvProtocol.getTaskNo2() !=0 ){
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
                        if(wrkMastSta.getWrkSts() == 1){//缺货确认
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
                        if(wrkMastSta.getWrkSts() == 1){//取货确认
                            boolean rgvComplete = false;
                            rgvComplete = rgvComplete2((int) rgvProtocol.getRgvNo(),8,wrkMastSta.getWrkNo());
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                                break;
                            }
                            wrkMastSta.setWrkSts(2);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
@@ -2907,67 +3026,65 @@
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            boolean rgvComplete = false;

                            rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                                break;
                            }
                            break;
                        }
                        if (Cools.isEmpty(wrkMastSta) || 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;
                        }
//                        if(wrkMastSta.getWrkSts() == 4){//行走后确认
//                            wrkMastSta.setWrkSts(2);
//                            try{
//                                wrkMastStaMapper.updateById(wrkMastSta);
//                                log.error("更新小车任务成功");
//                            }catch (Exception e){
//                                log.error("更新小车任务失败");
//                            }
//                            boolean rgvComplete = false;
//
//                            rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
//                            if (!rgvComplete){
//                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
//                                break;
//                            }
//                            break;
//                        }
//                        if (Cools.isEmpty(wrkMastSta) || 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;
//                        }

                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                        StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
                        if (staProtocol == null) {
                            continue;
                        } else {
                            staProtocol = staProtocol.clone();
                        }
                        if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                            continue;
                        }
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast)){
                            if (!staProtocol.isPakMk()){
                                continue;
                            }
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast.getWrkNo());
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            log.error("rgv任务完成给输送线下发命令："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
                            if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
                                continue;
                            }
                        }
                        int sourceSta = wrkMast.getSourceStaNo();
                        boolean rgvComplete = false;
//                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
//                        StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
//                        if (staProtocol == null) {
//                            continue;
//                        } else {
//                            staProtocol = staProtocol.clone();
//                        }
//                        if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
//                            continue;
//                        }
//                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
//
//                        int sourceSta = wrkMast.getSourceStaNo();
//                        boolean rgvComplete = false;
//
//                        //双工位出入库不同工位复位
//                        rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),6);

                        //双工位出入库不同工位复位
                        rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),6);

                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }
                        WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1());
                        wrkMast1.setPdcType("Y");

                        wrkMastService.updateById(wrkMast1);

                        wrkMastSta.setWrkSts(3);
                        wrkMastStaMapper.updateById(wrkMastSta);
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
//                        if (!rgvComplete){
//                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
//                            break;
//                        }
//                        WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1());
//                        wrkMast1.setPdcType("Y");
//
//                        wrkMastService.updateById(wrkMast1);
//
//                        wrkMastSta.setWrkSts(3);
//                        wrkMastStaMapper.updateById(wrkMastSta);
//                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
//                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
                    }
                    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());
                        log.error("小车复位失败，小车号{},等待wcs确认！",rgvProtocol.getRgvNo());
                    }
                }
                //当小车无任务时取消锁定
@@ -3000,9 +3117,9 @@
                continue;
            }
            //小车无任务时跳过
            if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0){
                continue;
            }
//            if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0){
//                continue;
//            }
            //入库放货
            if(rgvThread.isPakIn()){
                for(RgvSlave.RgvStn rgvStn : rgv.getRgvInPStn()){//入库放货站点
@@ -3023,7 +3140,7 @@
                        continue;
                    }

                    if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isInEnable()
                            && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                        flag = true;
                    }
@@ -3035,31 +3152,40 @@
                        continue;
                    }
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
//                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    Integer wrkNo = 0;
//                    Integer wrkNo = 0;
                    if(rgvProtocol.getTaskNo2() != 0){
                        wrkNo = rgvProtocol.getTaskNo2();
                    }else{
                        wrkNo = rgvProtocol.getTaskNo1();
                    }
                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(wrkNo));//根据站点工作号和小车工作范围检索任务档
//                    else{
//                        wrkNo = rgvProtocol.getTaskNo1();
//                    }
                    if(!rgvProtocol.isLoaded2ing()){
                        continue;
                    }
                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());//根据站点工作号和小车工作范围检索任务档
                    if( null == wrkMastSta ) {
                        News.infoNoLog( " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                        continue;
                    }
                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null); //命令下发
                    if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
                        continue;
                    }

                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null,2); //命令下发
                    if (sign){
                        try{
                            wrkMastSta.setWrkSts(3);
                            wrkMastStaMapper.updateById(wrkMastSta);
                            log.error("更新小车任务成功");
                        }catch (Exception e){
                            log.error("更新小车任务失败");
                        }
                        boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
                        if (!signMap){
                            log.error("货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                        }
//                        boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
//                        if (!signMap){
//                            log.error("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());
                    }
@@ -3086,7 +3212,7 @@
                        continue;
                    }

                    if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isOutEnable()
                    if (staProtocol.isAutoing() && !staProtocol.isLoading()   && staProtocol.isOutEnable()
                            && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
                        flag = true;
                    }
@@ -3098,32 +3224,34 @@
                        continue;
                    }
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    Integer wrkNo = 0;
//                    Integer wrkNo = 0;
                    if(rgvProtocol.getTaskNo1() != 0){
                        wrkNo = rgvProtocol.getTaskNo1();
                    }else{
                        wrkNo = rgvProtocol.getTaskNo2();
                    }
                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(wrkNo));//根据站点工作号和小车工作范围检索任务档
//                    else{
//                        wrkNo = rgvProtocol.getTaskNo2();
//                    }
                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());//根据站点工作号和小车工作范围检索任务档

                    if( null == wrkMastSta ) {
                        News.infoNoLog( " - 1" + " - 4" + " - 查询无待出库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                        News.infoNoLog( " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                        continue;
                    }
                    wrkMastSta.setWrkSts(2);
                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null); //命令下发
                    if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
                        continue;
                    }
                    Integer pos = 2;
                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null,pos); //命令下发
                    if (sign){
                        try{
                            wrkMastSta.setWrkSts(3);
                            wrkMastStaMapper.updateById(wrkMastSta);
                            log.error("更新小车任务成功");
                        }catch (Exception e){
                            log.error("更新小车任务失败");
                        }
                        boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
                        if (!signMap){
                            log.error("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());
                    }
@@ -3156,17 +3284,19 @@
            }

            // 只有当RGV空闲 并且 无任务时才继续执行
            if ((rgvProtocol.getStatusType1() == RgvStatusType.IDLE || rgvProtocol.getStatusType2() == RgvStatusType.IDLE)
            if ((rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE)
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvThread.isPakMk()) {
                News.warnNoLog(""+mark+" - 0"+" - 开始执行RGV入出库作业下发");
                // 如果最近一次是入库模式
//                rgvRunWrkMastInTest();

                if (rgvProtocol.getLastIo().equals("I")) {
                    if (basRgv.getInEnable().equals("Y") && rgvThread.isPakIn()) {
                    if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
                        //mark - 1 - ....
                        this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); //  入库
                        rgvProtocol.setLastIo("O");
                    } else if (basRgv.getOutEnable().equals("Y") && rgvThread.isPakOut()) {
                    } else if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
                        //mark - 2 - ....
                        this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); //  出库
                        rgvProtocol.setLastIo("I");
@@ -3174,10 +3304,10 @@
                }
                // 如果最近一次是出库模式
                else if (rgvProtocol.getLastIo().equals("O")) {
                    if (basRgv.getOutEnable().equals("Y") && rgvThread.isPakOut()) {
                    if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
                        this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); //  出库
                        rgvProtocol.setLastIo("I");
                    } else if (basRgv.getInEnable().equals("Y") && rgvThread.isPakIn()) {
                    } else if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
                        this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); //  入库
                        rgvProtocol.setLastIo("O");
                    }
@@ -3198,6 +3328,44 @@
                rgvOutExecute();

            }
        }
    }
    public synchronized void rgvRunWrkMastInTest(){
        BasRgvMap basRgvMap = basRgvMapMapper.selectById(1);
        List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
        basRgvMap.setNowRoute(1021); //更新小车当前位置站点号
        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(342);//根据站点工作号和小车工作范围检索任务档

//        WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, 1);
        boolean result = false;
//        if(wrkMastSta2 != null && rgvProtocol.getRgvNo() == 1){ //距离计算   2楼单入库口不需要计算
//            result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta2.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
//        }
//        if(result){//若小车距离放货点距离近于取货点则跳过取货 true跳过取货/false优先取货
//            rgvThread.setPakRgv(false);
//            continue;
//        }
        wrkMastSta.setWorkSta(1);
        wrkMastSta.setRgvNo(1);
        wrkMastSta.setStaStart(1035);
        Short direction = 2;//双工位最终抵达位置
        boolean sign = false;
//        sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction,); //命令下发
        if (sign){
            wrkMastSta.setWrkSts(1);
            try{
                wrkMastStaMapper.updateById(wrkMastSta);
                log.error("更新小车任务成功");
            }catch (Exception e){
                log.error("更新小车任务失败");
            }
//            rgvThread.setPakOut(false);//出库不允许
            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
            if (!signMap){
                log.error("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());
        }
    }
    /**
@@ -3242,7 +3410,7 @@
            }


            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                flag = true;
            }
@@ -3254,9 +3422,10 @@
                continue;
            }
            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
            List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
//            List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
//            WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getWorkNo());//根据站点工作号和小车工作范围检索任务档

            if( null == wrkMastSta ) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
@@ -3271,20 +3440,14 @@
                rgvThread.setPakRgv(false);
                continue;
            }
            wrkMastSta.setWorkSta(wrkMastSta2 != null ? 1 : 2);
            wrkMastSta.setWorkSta(wrkMastSta2 !=null ? 1 : 2);
            wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
            Short direction = 2;//双工位最终抵达位置
            boolean sign = false;
            //若取货为工位2且取货口前一站点有物，给双工位同时下发指令
            if(wrkMastSta.getWorkSta() == 2 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0){
                WrkMastSta wrkMastSta3 = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol2.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
                wrkMastSta3.setWorkSta(1);
                wrkMastSta3.setRgvNo((int) rgvProtocol.getRgvNo());
                sign =  rgvTakeFullAll2(basRgvMap.getRgvNo(), wrkMastSta, wrkMastSta3);
            }else{
                sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction); //命令下发
            }
            if (sign){
//            if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
//                continue;
//            }
            if(Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd()) && wrkMastSta.getWrkSts() == 4){
                wrkMastSta.setWrkSts(1);
                try{
                    wrkMastStaMapper.updateById(wrkMastSta);
@@ -3292,11 +3455,18 @@
                }catch (Exception e){
                    log.error("更新小车任务失败");
                }
            }
            //若取货为工位2且取货口前一站点有物，给双工位同时下发指令
            if(wrkMastSta.getWorkSta() == 2 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0 && sign){
//                WrkMastSta wrkMastSta3 = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol2.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
//                wrkMastSta3.setWorkSta(1);
//                wrkMastSta3.setRgvNo((int) rgvProtocol.getRgvNo());
//                sign =  rgvTakeFullAll2(basRgvMap.getRgvNo(), wrkMastSta, wrkMastSta3);
            }else{
                sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction,1); //命令下发
            }
            if (sign){
                rgvThread.setPakOut(false);//出库不允许
                boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
                if (!signMap){
                    log.error("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());
            }
@@ -3335,6 +3505,7 @@
            } else {
                staProtocol = staProtocol.clone();
            }

            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
            if (staDetl == null) {
@@ -3342,7 +3513,7 @@
                continue;
            }

            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isOutEnable()
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
                    && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
                flag = true;
            }
@@ -3354,9 +3525,9 @@
                continue;
            }
            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
            List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
//            List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getWorkNo());//根据站点工作号和小车工作范围检索任务档
            if( null == wrkMastSta ) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                continue;
@@ -3371,20 +3542,12 @@
                continue;
            }
            WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
            wrkMastSta.setWorkSta(wrkMastSta1 != null ? 2 : 1);//若1号工位有任务给2号工位
            wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//若1号工位有任务给2号工位
            wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
            boolean sign = false;
            Short direction = 1;//工位1方向
            //若取货为工位2且取货口前一站点有物，给双工位同时下发指令
            if(wrkMastSta.getWorkSta() == 1 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0){
                WrkMastSta wrkMastSta3 = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol2.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
                wrkMastSta3.setWorkSta(2);
                wrkMastSta3.setRgvNo((int) rgvProtocol.getRgvNo());
                sign =  rgvTakeFullAll2(basRgvMap.getRgvNo(), wrkMastSta, wrkMastSta3);
            }else{
                sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction); //命令下发
            }
            if (sign){
            if(Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd()) && wrkMastSta.getWrkSts() == 4){
                wrkMastSta.setWrkSts(1);
                try{
                    wrkMastStaMapper.updateById(wrkMastSta);
@@ -3392,11 +3555,17 @@
                }catch (Exception e){
                    log.error("更新小车任务失败");
                }
            }
            if(wrkMastSta.getWorkSta() == 1 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0 && sign){
//                WrkMastSta wrkMastSta3 = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol2.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
//                wrkMastSta3.setWorkSta(2);
//                wrkMastSta3.setRgvNo((int) rgvProtocol.getRgvNo());
//                sign =  rgvTakeFullAll2(basRgvMap.getRgvNo(), wrkMastSta, wrkMastSta3);
            }else{
                sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction,2); //命令下发
            }
            if (sign){
                rgvThread.setPakIn(false);//入库不允许
                boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
                if (!signMap){
                    log.error("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());
            }
@@ -3845,21 +4014,45 @@
    /*
     * 小车取货至工位任务
     * */
    public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta,Short direction){
    public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta,Short direction,Integer pos){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            boolean pakIn1 = true;
            boolean pakIn2 = true;
            rgvCommand.setRgvNo(rgvId); // RGV编号
            if(wrkMastSta.getWrkSts() == 0){//取货
                if(wrkMastSta.getWorkSta() == 2){//出库RGV取货
            if(wrkMastSta.getWrkSts() == 0){//初始后行走
                    rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位1工作号
                    rgvCommand.setTaskStatus1(RgvTaskStatusType.X_MOVE); // 工位1任务模式:  取放货
                    rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd());   //工位1 放货后要去的位置
                    rgvCommand.setTargetPosition1(wrkMastSta.getStaStart());   //工位1目标站点
                    rgvCommand.setCommand(true);   //工位1任务确认
//                }
                wrkMastSta.setWrkSts(4);
                try{
                    wrkMastStaMapper.updateById(wrkMastSta);
                    log.error("更新小车任务成功");
                }catch (Exception e){
                    log.error("更新小车任务失败");
                }
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                    return false;
                } else {
                    return true;
                }
            }
            if(wrkMastSta.getWrkSts() == 1){//取货
                if(pos == 2){//出库RGV取货
                    rgvCommand.setAckFinish2(false);  // 工位2任务完成确认位
                    rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位2工作号
                    rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 工位2任务模式:  取放货
                    rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd());   //工位2 放货后要去的位置
                    rgvCommand.setTargetPosition2(wrkMastSta.getStaStart());   //工位2目标站点
                    rgvCommand.setDirection2(direction);
                    rgvCommand.setTargetPosition1(wrkMastSta.getStaStart());   //工位2目标站点
                    rgvCommand.setDirection2((short)2);
//                    rgvCommand.setWrkTaskMove2(direction);
                    rgvCommand.setCommand(true);   //工位1任务确认
                    pakIn1 = false;
                }else{  //入库RGV取货
@@ -3868,11 +4061,12 @@
                    rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 工位1任务模式:  取放货
                    rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd());   //工位1 放货后要去的位置
                    rgvCommand.setTargetPosition1(wrkMastSta.getStaStart());   //工位1目标站点
                    rgvCommand.setDirection1(direction);
                    rgvCommand.setDirection1((short)1);
//                    rgvCommand.setWrkTaskMove1(direction);
                    rgvCommand.setCommand(true);   //工位1任务确认
                }
                if(!pakIn1){
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
                        //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                        return false;
@@ -3880,7 +4074,7 @@
                        return true;
                    }
                }else{
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                        //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                        return false;
@@ -3890,12 +4084,13 @@
                }
            }
            if(wrkMastSta.getWrkSts() == 2) {//放货
                if((wrkMastSta.getWorkSta() == 2)){ //工位2任务放货
                if((pos == 2)){ //工位2任务放货
                    rgvCommand.setAckFinish2(false);  // 工位2任务完成确认位
                    rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位2工作号
                    rgvCommand.setTaskStatus2(RgvTaskStatusType.PUT); // 工位2任务模式:  放货
                    rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd());   //工位2 放货后要去的位置
                    rgvCommand.setTargetPosition2(wrkMastSta.getStaEnd());   //工位2目标站点
                    rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd());   //工位2目标站点
                    rgvCommand.setDirection2((short)2);
                    rgvCommand.setCommand(true);   //工位1任务确认
                    pakIn2 = false;
                }else{  //工位1任务放货
@@ -3904,9 +4099,10 @@
                    rgvCommand.setTaskStatus1(RgvTaskStatusType.PUT); // 工位1任务模式:  放货
                    rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd());   //工位1 放货后要去的位置
                    rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd());   //工位1目标站点
                    rgvCommand.setDirection1((short)1);
                    rgvCommand.setCommand(true);   //工位1任务确认
                }
                if(!pakIn2){
                if(pakIn2){
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                        //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
@@ -4171,4 +4367,235 @@
        }
    }

    /*
     * 小车复位
     * */
    public synchronized boolean rgvComplete2(Integer rgvId,Integer step,Long workNo){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(step, new RgvCommand(),workNo))) {
                //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;
        }
    }

    public synchronized boolean rgvComplete3(Integer rgvId,Integer step,Long workNo,Short moveSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(step, new RgvCommand(),workNo,moveSta))) {
                //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;
        }
    }




    /*
     * arm任务完成自动组托
     * */
    public synchronized void armMissionAccomplished() {
        try{
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历拣料入库口
                for (DevpSlave.Sta armSta : devp.getArmSta()) {
                    // 获取条码扫描仪信息
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, armSta.getBarcode());
                    if (barcodeThread == null) {
                        continue;
                    }
                    String barcode = barcodeThread.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                            continue;
                        }
                    } else {
                        continue;
                    }

                    List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>()
                            .eq("arm_no", armSta.getArmNo())
                            .eq("sta_no", armSta.getStaNo())
                            .eq("status", 1));
                    for (BasArm basArm : basArmList) {
                        if (basArm.getStatus()!=1){
                            continue;
                        }
                        try{
                            List<BasArmMast> basArmMastList = basArmMastService.selectList(
                                    new EntityWrapper<BasArmMast>()
                                            .eq("arm_no", basArm.getArmNo())
                                            .eq("sorting_line", basArm.getSortingLineSou())
                                            .eq("status", 3)
                            );
                            if (basArmMastList.isEmpty()){
                                continue;
                            }
                            CombParam combParam = new CombParam(basArmMastList);
                            combParam.setBarcode(barcode);
                            //arm任务完成自动组托
                            ReturnT<String> result = new PostMesDataUtils().postMesData("arm任务完成自动组托",wmsUrl, wmsComb, combParam);
                            if (result.getCode()==200){
                                basArmMastService.updateArmMastStatus(basArm.getArmNo(),basArm.getSortingLineSou(),3,4);
                            } else {
                                log.error("机械臂抓取任务完成："+JSON.toJSON(basArmMastList)+"===》自动组托失败，等待重试");
                            }
                        }  catch (Exception e){
                            log.error("arm编号："+basArm.getArmNo()+"====》机械臂抓取任务完成"+e.getMessage());
                        }
                        break;
                    }
                }
            }
        } catch (Exception e){
            log.error("机械臂抓取任务完成组托失败"+e.getMessage());
        }
    }
    public synchronized void armMissionAccomplishedScanToCheckIn() {
        try{
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历拣料入库口
                for (DevpSlave.Sta armSta : devp.getArmSta()) {

                    List<BasArmMast> basArmMastList = basArmMastService.selectList(
                            new EntityWrapper<BasArmMast>()
                                    .eq("arm_no", armSta.getArmNo())
                                    .eq("sta_no", armSta.getStaNo())
                                    .eq("status", 4)
                    );

                    if (basArmMastList.isEmpty()){
                        continue;
                    }
                    // 获取站点信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(armSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }

                    if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                        int workNo = commonService.getWorkNo(6);//待完善
                        // 更新站点信息 且 下发plc命令
                        staProtocol.setWorkNo(workNo);
                        staProtocol.setStaNo(armSta.getStaNoEnd().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："+workNo+","+armSta.getStaNoEnd());
                        if (!result) {
                            News.error(""+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                        }
                        basArmMastService.updateArmMastStatus(basArmMastList.get(0).getArmNo(),basArmMastList.get(0).getSortingLine(),4,5);
                    }
                }
            }
        } catch (Exception e){
            log.error("组托完成驱动托盘扫码入库失败"+e.getMessage());
        }
    }

    /*
     * arm任务下发
     * */
    public synchronized void armTaskAssignment() {
        try{
            List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<>());
            for (BasArm basArm : basArmList) {
                if (basArm.getStatus()!=1){
                    continue;
                }
                try{
                    List<BasArmMast> basArmMastListRuning = basArmMastService.selectList(
                            new EntityWrapper<BasArmMast>()
                                    .eq("arm_no", basArm.getArmNo())
                                    .eq("sorting_line", basArm.getSortingLineSou())
                                    .eq("status", 1)
                    );
                    List<BasArmMast> basArmMastListRuning3 = basArmMastService.selectList(
                            new EntityWrapper<BasArmMast>()
                                    .eq("arm_no", basArm.getArmNo())
                                    .eq("sorting_line", basArm.getSortingLineSou())
                                    .eq("status", 3)
                    );
                    if (basArmMastListRuning.isEmpty() && basArmMastListRuning3.isEmpty()){
                        List<BasArmMast> basArmMastList = basArmMastService.selectList(
                                new EntityWrapper<BasArmMast>()
                                        .eq("arm_no", basArm.getArmNo())
                                        .eq("sorting_line", basArm.getSortingLineSou())
                                        .eq("status", 0)
                        );
                        if (basArmMastList.isEmpty()){
                            continue;
                        }
                        if (basArmMastList.size()>1){
                            log.error("arm编号："+basArm.getArmNo()+"====》拆码垛任务异常禁止下发！！！任务待执行数量大于1！！！");
                            continue;
                        }
                        BasArmMast basArmMast = basArmMastList.get(0);
                        List<BasArmMast> basArmMastListOrder = basArmMastService.selectList(
                                new EntityWrapper<BasArmMast>()
                                        .eq("arm_no", basArm.getArmNo())
                                        .eq("sorting_line", basArm.getSortingLineSou())
                                        .eq("sku", basArmMast.getSku())
                                        .eq("order_no", basArmMast.getOrderNo())
                        );
                        if (basArmMastListOrder.size()==1){
                            OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getSku());

                            if (Cools.isEmpty(orderDetlValueResultUtil)){
                                continue;
                            }
                            //订单下发
                            try{
                                ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
//                                订单下发(SKU+订单)
                                ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取订单（SKU）下发：",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_ADAPTOR, armOrderAssignmentParam);
                                if (result.getCode()==200){
                                    basArmMast.setStatus(1);
                                    basArmMastService.updateById(basArmMast);
                                } else {
                                    log.error("机械臂抓取订单（SKU）下发："+JSON.toJSON(basArmMast)+"===》订单信息下发失败");
                                }
                            } catch (Exception e){
                                log.error("机械臂抓取订单（SKU）下发："+JSON.toJSON(basArmMast)+"===》订单下发订单信息下发失败");
                                continue;
                            }
                        }
                        ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArm.getSortingLineSou());
                        //设置工作空间就绪
                        ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取任务下发：通知工作空间已就绪",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_WORKSPACE, armTaskAssignmentParam);
                        if (result.getCode()==200){
                            basArmMast.setStatus(1);
                            basArmMastService.updateById(basArmMast);
                        } else {
                            log.error("机械臂抓取任务："+JSON.toJSON(basArmMast)+"===》任务信息下发失败");
                        }
                    }
                }  catch (Exception e){
                    log.error("arm编号："+basArm.getArmNo()+"====》拆码垛任务下发失败"+e.getMessage());
                }
            }
        }catch (Exception e){
            log.error("arm任务下发失败"+e.getMessage());
        }
    }

}