zy-wcs.git - Gitblit

			@@ -8,8 +8,10 @@
			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;
			@@ -97,6 +99,8 @@
			@Autowired
			private WrkMastService wrkMastService;
			@Autowired
			private WrkMastStaService wrkMastStaService;
			@Autowired
			private BasRgvMapService basRgvMapService;
			@Autowired
			private BasArmService basArmService;
			@@ -112,7 +116,7 @@
			private Integer inventoryNumber;

			public Integer wrkNo = 10000;

			public static final List<Integer> LEFT_POSITION = Arrays.asList(1018,2018);
			/**
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			@@ -125,7 +129,6 @@
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			BarcodeThread barcodeThreadMat = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcodeMat());
			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());
			@@ -139,13 +142,9 @@
			continue;
			}

			if (barcodeThreadMat == null) {
			continue;
			}

			String barcode = barcodeThread.getBarcode();

			String barcodeMat = barcodeThreadMat.getBarcode();
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			@@ -208,7 +207,8 @@
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& staProtocol.isPakMk()) {
			if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "00000000".equals(barcode)) {
			if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			// News.error(JSON.toJSONString(staProtocol));
			News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			// led 异常显示
			if (ledThread != null) {
			@@ -335,6 +335,7 @@
			// }
			// }
			else {
			News.error(JSON.toJSONString(staProtocol));
			staProtocol.setWorkNo(wrkNo);
			wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			@@ -971,7 +972,7 @@
			//mark - 3 - ....
			this.locToLoc(crn, crnProtocol,mark);
			//预调度
			this.crnRebackHp(crnProtocol, crnThread);
			// this.crnRebackHp(crnProtocol, crnThread);

			}
			// News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
			@@ -1046,68 +1047,68 @@
			} else {
			staProtocol = staProtocol.clone();
			}
			if (slave.getId() == 3) {
			SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
			if (staProtocol2 == null) {
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
			break;
			} else {
			staProtocol2 = staProtocol2.clone();
			}
			WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9996);
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9996); // 工作号
			// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX((short) 5); // 源库位排
			crnCommand.setSourcePosY((short) 1); // 源库位列
			crnCommand.setSourcePosZ((short) 4); // 源库位层
			crnCommand.setDestinationPosX((short) 6); // 目标库位排
			crnCommand.setDestinationPosY((short) 1); // 目标库位列
			crnCommand.setDestinationPosZ((short) 1); // 目标库位层
			// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.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={}", wrkMast9999.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast9999.setWrkSts(3L);
			wrkMast9999.setCrnStrTime(now);
			wrkMast9999.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast9999) == 0) {
			News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast9999.getWrkNo());
			}
			break;
			}
			}
			}
			// if (slave.getId() == 3) {
			// SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			// StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
			// if (staProtocol2 == null) {
			// News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
			// break;
			// } else {
			// staProtocol2 = staProtocol2.clone();
			// }
			// WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9996);
			// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			// if (staDetl == null) {
			// News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			// break;
			//// continue;
			// }
			// if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
			// // 堆垛机控制过滤
			// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			//// continue;
			// break;
			// }
			// // 已经存在吊车执行任务时，则过滤
			// if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			// break;
			//// return;
			// }
			// // 1.堆垛机开始移动
			// CrnCommand crnCommand = new CrnCommand();
			// crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			// crnCommand.setTaskNo((short) 9996); // 工作号
			//// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			// crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			// crnCommand.setSourcePosX((short) 5); // 源库位排
			// crnCommand.setSourcePosY((short) 1); // 源库位列
			// crnCommand.setSourcePosZ((short) 4); // 源库位层
			// crnCommand.setDestinationPosX((short) 6); // 目标库位排
			// crnCommand.setDestinationPosY((short) 1); // 目标库位列
			// crnCommand.setDestinationPosZ((short) 1); // 目标库位层
			//// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			// if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.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={}", wrkMast9999.getCrnNo(), JSON.toJSON(crnCommand));
			// } else {
			// // 修改工作档状态 11.生成出库ID => 12.吊车出库中
			// Date now = new Date();
			// wrkMast9999.setWrkSts(3L);
			// wrkMast9999.setCrnStrTime(now);
			// wrkMast9999.setModiTime(now);
			// if (wrkMastMapper.updateById(wrkMast9999) == 0) {
			// News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast9999.getWrkNo());
			// }
			// break;
			// }
			// }
			// }
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			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.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			@@ -1347,7 +1348,7 @@
			// continue;
			}
			// 判断堆垛机出库站状态
			// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {

			if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			@@ -2560,18 +2561,18 @@
			public synchronized void autoEmptyOut() {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			List<Integer> list = new ArrayList<>();
			list.add(1108);list.add(2031);
			list.add(1109);list.add(2031);
			for (Integer site:list){
			Integer emptyCount = wrkMastMapper.countPakOutEmpty(site);
			StaProtocol staProtocol = null;
			if(emptyCount >= 2 && site == 1108){
			if(emptyCount >= 2 && site == 1109){
			continue;
			}else if(emptyCount == 1 && site == 2031){
			continue;
			}
			//如果站点可出禁用，则不生成空盘出库任务
			switch (site){
			case 1108:staProtocol = devpThread.getStation().get(site - 2);break;
			case 1109:staProtocol = devpThread.getStation().get(site - 2);break;
			case 2031:staProtocol = devpThread.getStation().get(site);break;
			}
			if (staProtocol == null) {
			@@ -2611,11 +2612,12 @@
			}

			public synchronized void autoEmptyIn() {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			List<Integer> list = new ArrayList<>();
			list.add(1038);
			for (Integer site:list){
			StaProtocol staProtocol = devpThread.getStation().get(site);
			StaProtocol staProtocol1 = devpThread.getStation().get(1040);
			if (staProtocol == null) {
			return;
			} else {
			@@ -2625,9 +2627,11 @@
			&& staProtocol.isLoading() //有物
			&& staProtocol.isInEnable() //可入信号
			&& staProtocol.isPakMk()
			&& (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990) //工作号为0或者工作号是9991~9999（输送机留用）
			&& staProtocol1.isFull() //叠满信号
			&& (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990 ) //工作号为0或者工作号是9991~9999（输送机留用）
			) {

			System.out.println(staProtocol);
			try {
			Short loctype1 = 1;
			LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
			@@ -2788,45 +2792,107 @@
			// }
			// }


			/**
			* 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
			*/
			public synchronized void rgvCompleteWrkMastSta() {
			try{
			for (DevpSlave devp : slaveProperties.getDevp()) {
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			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();
			}
			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！3", rgv.getId());
			continue;
			}

			// 只有当RGV工位1等待WCS确认、自动
			if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING \|\| rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
			&& 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);
			if(rgvProtocol.getTaskNo1() == 9999){ // 预调度任务确认
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			Integer staNo = basRgvMap.getNowRoute();
			switch (staNo){
			case 1004: staNo = 1042; break;
			case 1007: staNo = 1105; break;
			}

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			boolean rgvComplete = false;
			// public synchronized void rgvCompleteWrkMastSta() {
			// try{
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			// 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();
			// }
			// BasRgv basRgv = basRgvService.selectById(rgv.getId());
			// if (basRgv == null) {
			// 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.getModeType() == RgvModeType.AUTO
			// ){
			//
			// 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();
			// switch (staNo){
			// case 1004: staNo = 1042; break;
			// case 1007: staNo = 1105; break;
			// }
			//
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(staNo);
			// boolean rgvComplete = false;

			// long now = System.currentTimeMillis();
			// if (staProtocol.isLoading()) {
			@@ -2836,176 +2902,140 @@
			// rgvProtocol.setLoadingStartTime(now);
			// }
			// }
			//
			// if (staProtocol.isLoading()) {
			// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
			// if (!rgvComplete){
			// log.error("小车复位失败，小车号{}！等待入库取货", rgvProtocol.getRgvNo());
			// }
			// }
			// }
			// if ( rgvProtocol.getTaskNo1()!=9999 && rgvProtocol.getTaskNo1() != 0){
			// 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;
			//// }
			// boolean rgvComplete = false;
			// rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),7,wrkMastSta.getWrkNo(),(short)2);
			// if (!rgvComplete){
			// log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			// break;
			// }
			// wrkMastSta.setUpdateTime(new Date());
			// 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");
			// }
			// break;
			// }
			// }
			//
			// 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());
			// }
			// }
			// // 只有当RGV工位2等待WCS确认、自动
			// if (rgvProtocol.getStatusType2() == RgvStatusType.WAITING
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// ){
			// 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.getTaskNo2());
			// if(wrkMastSta.getWrkSts() == 1){//取货确认
			// boolean rgvComplete = false;
			// rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),8,wrkMastSta.getWrkNo(),(short)1);
			// if (!rgvComplete){
			// log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			// break;
			// }
			// 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");
			// }
			// break;
			// }
			// 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;
			// }

			if (staProtocol.isLoading()) {
			rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！等待入库取货", rgvProtocol.getRgvNo());
			}
			}
			}
			if (rgvProtocol.getTaskNo1()!=0 && rgvProtocol.getTaskNo1()!=9999){
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
			if(wrkMastSta.getWrkSts() == 1){//取货确认
			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;
			// 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);

			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 {
			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());
			}
			}
			// 只有当RGV工位2等待WCS确认、自动
			if ((rgvProtocol.getStatusType2() == RgvStatusType.WAITING \|\| rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)
			&& 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);
			if (rgvProtocol.getTaskNo2() !=0 ){
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
			if(wrkMastSta.getWrkSts() == 1){//缺货确认
			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;

			//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");
			}
			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());
			}
			}
			//当小车无任务时取消锁定
			if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0){
			rgvThread.setPakMk(true);
			rgvThread.setPakIn(true);
			rgvThread.setPakOut(true);
			}
			}
			}
			}catch (Exception e){
			log.error("小车复位线程报错！"+e);
			}
			}
			// 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！",rgvProtocol.getRgvNo());
			// }
			// }
			// //当小车无任务时取消锁定
			// if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0){
			// rgvThread.setPakMk(true);
			// rgvThread.setPakIn(true);
			// rgvThread.setPakOut(true);
			// }
			// }
			// }
			// }catch (Exception e){
			// log.error("小车复位线程报错！"+e);
			// }
			// }

			/**
			* rgv放货任务下发
			@@ -3015,7 +3045,7 @@
			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			if (rgvProtocol.getStatusType1() != RgvStatusType.IDLE && rgvProtocol.getModeType() != RgvModeType.AUTO) {
			continue;
			}
			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			@@ -3024,10 +3054,16 @@
			continue;
			}
			//小车无任务时跳过
			if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0){
			if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0 ){
			continue;
			}
			//入库放货
			if(!rgvThread.isPaking()){
			continue;
			}
			List<WrkMastSta> wrkMastStaLock = wrkMastStaService.selectLockWrk(rgv.getId());
			if(wrkMastStaLock.size() == 1){
			continue;
			}
			if(rgvThread.isPakIn()){
			for(RgvSlave.RgvStn rgvStn : rgv.getRgvInPStn()){//入库放货站点
			boolean flag = false;
			@@ -3047,8 +3083,7 @@
			continue;
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			@@ -3059,30 +3094,27 @@
			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;
			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
			Integer workNo = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2() : rgvProtocol.getTaskNo1(); //入库放货优先工位2执行
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNoPut(workNo);
			WrkMast wrkMast = wrkMastMapper.selectByWrkNo(workNo);
			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


			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			if (sign){
			try{
			rgvThread.setPaking(false);
			wrkMast.setSheetNo("2");
			wrkMastSta.setWrkSts(2);
			wrkMastStaMapper.updateById(wrkMastSta);
			wrkMastMapper.updateById(wrkMast);
			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());
			@@ -3110,8 +3142,7 @@
			continue;
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isOutEnable()
			&& staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			@@ -3122,32 +3153,31 @@
			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;
			if(rgvProtocol.getTaskNo1() != 0){
			wrkNo = rgvProtocol.getTaskNo1();
			Integer workNo = 0;
			if(rgvThread.isPakToCrn()){
			workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1():rgvProtocol.getTaskNo2(); //正常情况出库放货优先工位1放
			}else{
			wrkNo = rgvProtocol.getTaskNo2();
			workNo = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2():rgvProtocol.getTaskNo1(); //接驳情况优先工位2放
			}
			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

			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNoPut(workNo);//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());
			continue;
			}
			wrkMastSta.setWrkSts(2);
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null); //命令下发
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			if (sign){
			try{
			rgvThread.setPaking(false);
			wrkMastSta.setWrkSts(2);
			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());
			}
			@@ -3157,15 +3187,55 @@
			rgvThread.setPakRgv(true);//优先放货完成，开启预调度
			}
			}
			/**
			* rgv任务完成
			*/
			public synchronized void rgvTaskComplete(){
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取堆垛机信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			Long taskNo1 = Long.valueOf(rgvProtocol.getTaskNo1());
			Long taskNo2 = Long.valueOf(rgvProtocol.getTaskNo2());
			List<WrkMastSta> wrkMastStaList = wrkMastStaService.selectList(
			new EntityWrapper<WrkMastSta>()
			.eq("wrk_sts" ,2)
			.eq("rgv_no", rgvProtocol.getRgvNo())
			);
			for(WrkMastSta wrkMastSta : wrkMastStaList){
			if(!Objects.equals(wrkMastSta.getWrkNo(), taskNo1) && !Objects.equals(wrkMastSta.getWrkNo(), taskNo2)){
			try{
			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.info("更新小车工作档至完成成功");
			}catch (Exception e){
			log.error("更新小车工作档至完成失败");
			}
			}
			}
			if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
			&& !rgvProtocol.isLoaded1ing()
			&& !rgvProtocol.isLoaded2ing()){
			rgvThread.setPakRgv(true);
			rgvThread.setPakMk(true);
			rgvThread.setPakIn(true);
			rgvThread.setPakOut(true);
			rgvThread.setPakToCrn(true);
			}

			}
			}


			/**
			* rgv出入库任务下发
			*/
			public synchronized void rgvIoExecute(Integer mark) {
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());

			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取堆垛机信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			@@ -3178,19 +3248,22 @@
			log.error("{}号RGV尚未在数据库进行维护！4", rgv.getId());
			continue;
			}

			if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
			// log.error("解锁");
			rgvThread.setPaking(true);
			}
			// 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)
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvThread.isPakMk()) {
			if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk() && rgvThread.isPakToCrn() && rgvThread.isPaking()) {
			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");
			@@ -3198,30 +3271,71 @@
			}
			// 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");
			}
			}
			WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
			WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
			if(wrkMastSta1 != null && wrkMastSta2 != null){
			rgvThread.setPakMk(false); //小车双工位锁定
			}
			}
			if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakIn() && rgvThread.isPakRgv()){
			rgvPreScheduling();//若暂无下发任务预调度提前到取货点
			WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
			WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
			if(wrkMastSta1 != null && wrkMastSta2 != null){
			rgvThread.setPakMk(false); //小车双工位锁定
			}
			if(!rgvThread.isPakToCrn()){
			rgvRunWrkToCrn(rgv, rgvProtocol,mark); //若小车取到一个接驳任务，第二个工位只能取接驳任务
			}
			// if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakIn() && rgvThread.isPakRgv()){
			// rgvPreScheduling();//若暂无下发任务预调度提前到取货点
			// }

			if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO) {
			//小车执行放货任务
			rgvOutExecute();

			// if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
			// //小车执行放货任务
			// 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());
			}
			}
			/**
			@@ -3230,13 +3344,12 @@
			public synchronized void rgvRunWrkMastIn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark) {
			for (RgvSlave.RgvStn rgvStn : slave.getRgvInTStn()) {//rgv入库取货站点
			boolean flag = false;
			boolean ds = false;
			//遍历rgv入库取货站点
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			StaProtocol staProtocol2 = null;

			StaProtocol staProtocol2 = null; //连续取货任务站点
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
			WrkMastSta wrkMastSta3 = null;//连取两个
			if(rgvStn.getStaNo2()!= null ){
			staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
			if (staProtocol2 == null) {
			@@ -3250,43 +3363,47 @@
			News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}
			wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
			}

			if (staProtocol == null) {
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
			if (staDetl == null) {
			News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}


			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;
			}
			if (!flag) {
			News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv入库取货站信息(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()
			+ "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
			+ "工作号>0" + staProtocol.getWorkNo() + "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
			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
			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

			List<Integer> route = new ArrayList<>();
			switch (rgvProtocol.getRgvNo()){
			case 1: route = RouteUtils.getRouteOne();break;
			case 2: route = RouteUtils.getRouteTwo();break;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //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
			if( null == wrkMastSta ) {
			News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
			WrkMastSta wrkMastSta2 = null;
			if(rgvProtocol.getTaskNo2() != null){
			wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
			}
			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
			@@ -3295,31 +3412,29 @@
			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
			}
			sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			if (sign){
			wrkMastSta.setWrkSts(1);
			if(wrkMastSta3 != null){
			wrkMastSta3.setMk(1);
			try{
			wrkMastStaMapper.updateById(wrkMastSta3);
			log.error("锁定相隔站点任务");
			}catch (Exception e){
			log.error("锁定相隔站点任务失败");
			}

			}
			rgvThread.setPaking(false);
			rgvThread.setPakOut(false);//出库不允许
			try{
			wrkMastSta.setWrkSts(1);
			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());
			@@ -3332,6 +3447,116 @@
			* 小车出库任务取货下发
			*/
			public synchronized void rgvRunWrkMastOut(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
			for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv出库取货站点
			boolean flag = false;
			//遍历rgv入库取货站点
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
			StaProtocol staProtocol2 = null;
			WrkMastSta wrkMastSta3 = null;

			if(rgvStn.getStaNo2()!= null ){
			staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
			if (staProtocol2 == null) {
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol2 = staProtocol2.clone();
			}
			BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
			if (staDetl2 == null) {
			News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}
			wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());

			}
			if (staProtocol == null) {
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv出库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
			if (staDetl == null) {
			News.error("" + mark + " - 1" + " - 2" + " - 出库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
			&& staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv出库取货站信息(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.isOutEnable()
			+ "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanouting());
			continue;
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			List<Integer> route = new ArrayList<>();
			switch (rgvProtocol.getRgvNo()){
			case 1: route = RouteUtils.getRouteOne();break;
			case 2: route = RouteUtils.getRouteTwo();break;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //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
			if( null == wrkMastSta ) {
			News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
			boolean result = false;
			if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //距离计算 2楼单入库口不需要计算
			result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.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(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;
			sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			if (sign){
			if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
			rgvThread.setPakToCrn(false); //锁定小车只能接接驳任务
			}
			if(wrkMastSta3 != null){
			wrkMastSta3.setMk(1);
			try{
			wrkMastStaMapper.updateById(wrkMastSta3);
			log.error("锁定相隔站点任务");
			}catch (Exception e){
			log.error("锁定相隔站点任务失败");
			}

			}
			rgvThread.setPaking(false);
			rgvThread.setPakIn(false);//入库不允许
			try{
			wrkMastSta.setWrkSts(1);
			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");
			}
			} else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}


			}
			}

			/**
			* 小车出库接驳任务取货下发
			*/
			public synchronized void rgvRunWrkToCrn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
			for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv出库取货站点
			boolean flag = false;
			//遍历rgv入库取货站点
			@@ -3359,6 +3584,7 @@
			} else {
			staProtocol = staProtocol.clone();
			}

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
			if (staDetl == null) {
			@@ -3366,7 +3592,7 @@
			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;
			}
			@@ -3378,48 +3604,38 @@
			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
			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
			List<Integer> route = new ArrayList<>();
			switch (rgvProtocol.getRgvNo()){
			case 1: route = RouteUtils.getRouteOne();break;
			case 2: route = RouteUtils.getRouteTwo();break;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfereToCrn(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
			if( null == wrkMastSta ) {
			News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
			WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
			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(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //距离计算 2楼单入库口不需要计算
			result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.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 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
			}
			sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			if (sign){
			wrkMastSta.setWrkSts(1);
			rgvThread.setPakIn(false);//入库不允许
			try{
			wrkMastSta.setWrkSts(1);
			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.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());
			@@ -3559,216 +3775,8 @@
			/**
			* 小车预调度
			*/
			public synchronized void rgvPreScheduling(){
			try{
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			for (BasRgvMap rgvSlave:basRgvMaps) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}else {
			rgvProtocol = rgvProtocol.clone();
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！4", rgvSlave.getRgvNo());
			continue;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用才进行预调度
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& !rgvProtocol.isLoaded1ing()
			&& rgvProtocol.getTaskNo1() == 0
			&& !rgvProtocol.isLoaded2ing()
			&& rgvProtocol.getTaskNo2() == 0
			&& rgvThread.isPakMk()
			) {
			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
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口入库预调度
			List<Integer> staNos = Arrays.asList( 1043, 1104,1037);
			for (Integer staNo : staNos) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if(staProtocol.isLoading()){
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo((int) rgvProtocol.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1(false); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(9999); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式: 移动
			rgvCommand.setEndStaNo1(0); //工位1 放货后要去的位置
			switch (staNo){
			case 1043: rgvCommand.setTargetPosition1(1042);break; //工位1目标站点
			case 1104: rgvCommand.setTargetPosition1(1105);break;
			case 1037: rgvCommand.setTargetPosition1(1036);break;

			}
			if(Objects.equals(basRgvMap.getNowRoute(), staNo)){
			continue;
			}
			rgvCommand.setCommand(true); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Rgv, (int) rgvProtocol.getRgvNo(), 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={}", (int) rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
			}
			}
			}

			}

			}
			}
			}catch (Exception e){
			log.error("执行小车移动下发失败");
			}
			}
			/**
			* 执行小车搬运任务
			*/
			// public synchronized void rgvRunWrkMastEmptyStaPut() {//放
			// public synchronized void rgvPreScheduling(){
			// 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.getLoaded1()==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.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
			// ) {
			// 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;
			// }
			// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			// for (BasRgvMap rgvSlave:basRgvMaps) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			@@ -3780,369 +3788,101 @@
			// }
			// BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
			// if (basRgv == null) {
			// log.error("{}号RGV尚未在数据库进行维护！1", rgvSlave.getRgvNo());
			// log.error("{}号RGV尚未在数据库进行维护！4", rgvSlave.getRgvNo());
			// continue;
			// }
			//
			// // 只有当RGV空闲、自动,工位一无物//rgv可用
			// // 只有当RGV空闲、自动,工位一无物//rgv可用才进行预调度
			// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// && !rgvProtocol.isLoaded1ing() //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.getStatusType1() == RgvStatusType.IDLE
			// && !rgvProtocol.isLoaded1ing()
			// && rgvProtocol.getTaskNo1() == 0
			// && !rgvProtocol.isLoaded2ing()
			// && rgvProtocol.getTaskNo2() == 0
			// && rgvThread.isPakMk()
			//// && rgvProtocol.getTaskNo2()==0
			// ){
			// ) {
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			// if (basRgvMap == null) {
			// log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			// continue;
			// }
			//// if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
			//// continue;
			//// } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157) ){
			//// continue;
			//// }
			// rgvAvoidanceXY((int) rgvProtocol.getRgvNo());
			// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
			// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			// // 根据输送线plc遍历
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历入库口入库预调度
			// List<Integer> staNos = Arrays.asList( 1043, 1104, 1029, 1022, 1019, 1008, 1005);
			// for (Integer staNo : staNos) {
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(staNo);
			// if(staProtocol.isLoading()){
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo((int) rgvProtocol.getRgvNo()); // RGV编号
			// rgvCommand.setAckFinish1(false); // 工位1任务完成确认位
			// rgvCommand.setTaskNo(9999); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式: 移动
			// switch (staNo){
			// case 1043: rgvCommand.setTargetPosition1(1042);break; //工位1目标站点
			// case 1104: rgvCommand.setTargetPosition1(1105);break;
			// case 1037: rgvCommand.setTargetPosition1(1036);break;
			//
			// }
			// if(Objects.equals(basRgvMap.getNowRoute(), staNo)){
			// continue;
			// }
			// rgvCommand.setCommand(true); //工位1任务确认
			// if (!MessageQueue.offer(SlaveType.Rgv, (int) rgvProtocol.getRgvNo(), 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={}", (int) rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
			// }
			// }
			// }
			//
			// }
			//
			// }
			// }
			// }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);
			// log.error("执行小车移动下发失败");
			// }
			// }

			/*
			* 小车XY移动避让
			* */
			// public synchronized boolean rgvAvoidanceXY(Integer rgvId){
			// BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo(rgvId);
			// if (basRgvMap.getStartRoute() == 100 \|\| basRgvMap.getStartRoute() == 101){
			// 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)32222); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式: 回原点
			// //basRgvMap.getLockStartRoute().shortValue()
			// rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
			// rgvCommand.setCommand((short) 1); //工位1任务确认
			// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }catch (Exception e){
			// return false;
			//
			// }
			// }else {
			// try{
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgvId); // RGV编号
			// rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			// rgvCommand.setTaskNo1((short)32222); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式: 回原点
			// //basRgvMap.getLockStartRoute().shortValue()
			// rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
			// rgvCommand.setCommand((short) 1); //工位1任务确认
			// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }catch (Exception e){
			// return false;
			//
			// }
			// }
			// }


			/*
			* 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){
			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
			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.setCommand(true); //工位1任务确认
			pakIn1 = false;
			}else{ //入库RGV取货
			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.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.setCommand(true); //工位1任务确认
			}
			if(!pakIn1){
			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;
			}
			}else{
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}
			RgvTaskStatusType type;
			Integer targetPosition = 0;
			if(wrkMastSta.getWrkSts() == 0){
			type = RgvTaskStatusType.FETCH; //取货
			targetPosition = wrkMastSta.getStaStart();
			}else{
			type = RgvTaskStatusType.PUT; //放货
			targetPosition = wrkMastSta.getStaEnd();
			}
			if(wrkMastSta.getWrkSts() == 2) {//放货
			if((wrkMastSta.getWorkSta() == 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.setCommand(true); //工位1任务确认
			pakIn2 = false;
			}else{ //工位1任务放货
			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.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.setCommand(true); //工位1任务确认
			}
			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));
			return false;
			} else {
			return true;
			}
			}else{
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}
			rgvCommand.setTaskNo(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位工作号
			rgvCommand.setTaskStatus(type); // 工位任务模式: 取货
			rgvCommand.setTargetPosition(targetPosition); //工位目标站点
			rgvCommand.setWrkTaskPri(wrkMastSta.getWorkSta());
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(2, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {

			return true;
			}
			return true;

			}catch (Exception e){
			return false;
			}
			}


			/*
			* 小车取货至双工位任务
			* */
			public synchronized boolean rgvTakeFullAll2(Integer rgvId,WrkMastSta wrkMastSta,WrkMastSta wrkMastSta2){
			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) {//入库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.setCommand(true); //工位1任务确认
			rgvCommand.setAckFinish1(false); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta2.getWrkNo())); // 工位1工作号
			rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 工位1任务模式: 取放货
			rgvCommand.setEndStaNo1(wrkMastSta2.getWrkEnd()); //工位1 放货后要去的位置
			rgvCommand.setTargetPosition1(wrkMastSta2.getStaStart()); //工位1目标站点
			rgvCommand.setCommand(true); //工位1任务确认
			rgvCommand.setWrkTaskPri((short) 2); //优先执行工位2任务
			} else { //出库RGV取货
			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.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.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.setWrkTaskPri((short) 1); //出库取货优先执行工位1任务
			rgvCommand.setCommand(true); //工位1任务确认
			}
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(2, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}

			// if(wrkMastSta.getWrkSts() == 2) {//放货
			// if((wrkMastSta.getWorkSta() == 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.setCommand(true); //工位1任务确认
			// pakIn2 = false;
			// }else{ //工位1任务放货
			// 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.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.setCommand(true); //工位1任务确认
			// }
			// 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));
			// return false;
			// } else {
			// return true;
			// }
			// }else{
			// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }
			// }
			return true;
			}catch (Exception e){
			return false;
			}
			}

			/*
			* 小车取货至工位任务
			* */
			// public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
			// try{
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgvId); // RGV编号
			// rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			// rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			// rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //工位1起点
			// rgvCommand.setCommand((short) 1); //工位1任务确认
			// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }catch (Exception e){
			// return false;
			// }
			// }

			/*
			* 小车放货至输送线任务
			* */
			// public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
			// try{
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgvId); // RGV编号
			// rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			// rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			// rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //工位1目标站点
			// rgvCommand.setCommand((short) 1); //工位1任务确认
			// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }catch (Exception e){
			// return false;
			// }
			// }

			/*
			* 小车取空板至工位任务
			* */
			// 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;
			// }
			// }

			/**
			* 取放取路径计算
			@@ -4197,7 +3937,6 @@




			/*
			* arm任务完成自动组托
			* */
			@@ -4206,23 +3945,29 @@
			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) {

			// 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();
			}
			String barcode = barcodeThread.getBarcode();
			String barcode = staProtocol.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			log.error("机械臂抓取任务完成："+JSON.toJSON(barcode)+"===》托盘条码异常");
			continue;
			}
			} else {
			log.error("机械臂抓取任务完成：===》托盘条码为空");
			continue;
			}

			List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>()
			.eq("arm_no", armSta.getArmNo())
			.eq("sta_no", armSta.getStaNo())
			.eq("sta_no_sou", armSta.getStaNo())
			.eq("status", 1));
			for (BasArm basArm : basArmList) {
			if (basArm.getStatus()!=1){
			@@ -4232,7 +3977,7 @@
			List<BasArmMast> basArmMastList = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLine())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("status", 3)
			);
			if (basArmMastList.isEmpty()){
			@@ -4240,10 +3985,10 @@
			}
			CombParam combParam = new CombParam(basArmMastList);
			combParam.setBarcode(barcode);
			//设置工作空间就绪
			//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.getSortingLine(),3,4);
			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");
			}
			@@ -4283,19 +4028,19 @@
			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());
			}
			// 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){
			@@ -4314,23 +4059,33 @@
			continue;
			}
			try{
			List<BasArmMast> basArmMastListError = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("status", 9)
			);
			if (!basArmMastListError.isEmpty()){
			log.error(basArm.getArmNo()+"号机械臂存在异常数据需要维护！！！");
			continue;
			}
			List<BasArmMast> basArmMastListRuning = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLine())
			.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.getSortingLine())
			.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.getSortingLine())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("status", 0)
			);
			if (basArmMastList.isEmpty()){
			@@ -4340,16 +4095,44 @@
			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;
			}
			for (BasArmMast basArmMast:basArmMastList) {
			ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArmMast.getSortingLine());
			//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.ARM_URL, 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");
			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.getSortingLine());
			//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){