*

lsh

2025-11-24 8037aaf2ea84786f7d2442d10b17743d6c27c89a

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

@@ -9,9 +9,7 @@
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.asrs.utils.*;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.SearchLocParam;
@@ -22,17 +20,16 @@
import com.zy.common.utils.News;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.cache.*;
import com.zy.core.enums.*;
import com.zy.core.model.*;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.LedThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.system.entity.license.LicenseVerify;
import lombok.extern.slf4j.Slf4j;
@@ -43,6 +40,7 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;

/**
@@ -80,6 +78,8 @@
    private BasCrnErrorMapper basCrnErrorMapper;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private BasDevpPositionService basDevpPositionService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -2518,4 +2518,1134 @@
        }
    }


//
//    public synchronized void taskStart() {
//        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
//            try {
//                if (rgvDetection(rgvSlave)) {
//                    String taskNoNow = rgvOtherTaskWrk(rgvSlave);
//                    List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
//                    boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
//                    if (basDevpPositions.isEmpty()) {
//                        log.error("获取所有站点信息异常");
//                        try{
//                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
//                            deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成：获取所有站点信息异常");
//                        } catch (Exception e2){
//                        }
//                        continue;
//                    }
//                    List<WrkMast> wrkMastList = new ArrayList<>();
//                    List<Integer> staList = new ArrayList<>();
//                    for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()) {
//                        TaskWrk taskWrk = deviceDetection(inSta);
//                        if (taskWrk != null) {
//                            if (taskWrk.getWrkNo().toString().equals(taskNoNow)) continue;
//                            wrkMastList.add(taskWrk);
//                            staList.add(inSta.getStaNo());
//                        }
//                    }
//
//                    if (wrkMastList.isEmpty() || staList.isEmpty()) continue;
//
//                    boolean sign = false;
//
//                    if (rgvOtherStatusEnable(rgvSlave)) {
//                        //分成上下两部分任务
//                        List<Integer>[] avoidRange = RouteUtils.gradeRange(staList, basDevpPositions, itSmall);
//                        List<Integer> rangeListSou = avoidRange[itSmall ? 0 : 1];
//                        List<Integer> rangeListSouOther = avoidRange[itSmall ? 1 : 0];
//                        //就近排序
//                        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
//                        List<Integer> rangeList = RouteUtils.SortNearby(rangeListSou, rgvProtocol.RgvPos, basDevpPositions);
//                        List<Integer> rangeListOther = RouteUtils.SortNearby(rangeListSouOther, rgvProtocol.RgvPos, basDevpPositions);
//
//                        //所属部分就进取货
//
//                        //筛选范围内任务
//                        //就近排序
//                        //筛选在范围任务
//                        Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
//                        List<Integer> belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);
//
//                        if (!sign && staList.size()==1){
//                            if (rgvOtherIDLEOther(rgvSlave)){
//                                if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
//                                    System.out.println("空闲就近跳过==="+rgvSlave.getId()+"===");
//                                    RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"空闲就近跳过");
//
//                                    sign=true;
//                                }
//                            }
//                            if (sign){
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staList.get(0))) {
//                                        WrkMast wrkMast = deviceDetection(rgvStn);
//                                        if (wrkMast != null) {
//                                            Integer outStaNo = BarcodeUtils.getOutStaNo(wrkMast.getStaNo().toString());//站点转换  需要修改
//                                            for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
//                                                if (rgvSuper.getStaNo().equals(outStaNo)){
//                                                    System.out.println("空闲就近跳过后因最远再次执行==="+rgvSlave.getId()+"===");
//
//                                                    sign=false;
//                                                    break;
//                                                }
//                                            }
//                                        } else {
//                                            return;
//                                        }
//                                        break;
//                                    }
//                                }
//                            }
//                        }
//
//                        if(!sign){
//                            for (Integer staNoNow : belongToRange) {
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staNoNow)) {
//                                        WrkMast wrkMast = deviceDetection(rgvStn);
//                                        if (wrkMast != null) {
//                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(wrkMast.getStaNo().toString())));//站点转换  需要修改
//                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
//                                                System.out.println("全范围执行==="+rgvSlave.getId()+"==="+wrkMast);
//                                                System.out.println("全范围执行==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
//
//                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                            }
//                                        }
//                                        break;
//                                    }
//                                }
//                                if (sign) {
//                                    break;
//                                }
//                            }
//                        }
//                        if (!sign) {
//                            //  筛选范围内取货任务
//                            for (Integer staNoNow : belongToRange) {
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staNoNow)) {
//                                        TaskWrk taskWrk = deviceDetection(rgvStn);
//                                        if (taskWrk != null) {
//                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
//                                            for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
//                                                if (rgvStnOut.getStaNo().equals(outStaNo)) {
//                                                    System.out.println("筛选范围内取货任务==="+rgvSlave.getId()+"==="+taskWrk);
//                                                    System.out.println("筛选范围内取货任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
//
//                                                    sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                                    break;
//                                                }
//                                            }
//                                        }
//                                        break;
//                                    }
//                                }
//                                if (sign) {
//                                    break;
//                                }
//                            }
//                        }
//
//                        if (!sign && staList.size()==1){
//                            if (rgvOtherIDLEOther2(rgvSlave)){
//                                if (!rgvOtherIDLE2(rgvSlave,staList.get(0))){
//                                    System.out.println("运行就近跳过==="+rgvSlave.getId()+"===");
//                                    RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"运行就近跳过");
//
//                                    sign=true;
//                                }
//                            }
//                            if (sign){
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staList.get(0))) {
//                                        TaskWrk taskWrk = deviceDetection(rgvStn);
//                                        if (taskWrk != null) {
//                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
//                                            for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
//                                                if (rgvSuper.getStaNo().equals(outStaNo)){
//                                                    System.out.println("运行就近跳过后因最远再次执行==="+rgvSlave.getId()+"===");
//
//                                                    sign=false;
//                                                    break;
//                                                }
//                                            }
//                                        } else {
//                                            return;
//                                        }
//                                        break;
//                                    }
//                                }
//                            }
//                        }
//
//
//
//                        if (!sign && staList.size()>1) {
//                            for (Integer staNoNow : rangeList) {
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staNoNow)) {
//                                        TaskWrk taskWrk = deviceDetection(rgvStn);
//                                        if (taskWrk != null) {
//                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
//                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
//                                                System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk);
//                                                System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
//
//                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                            }
//                                        }
//                                        break;
//                                    }
//                                }
//                                if (sign) {
//                                    break;
//                                }
//                            }
//                        }else if (!sign && staList.size()==1){
//                            BasDevpPosition basDevpPosition1 = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staList.get(0)));
//                            if (Math.abs(basDevpPosition1.getPlcPosition()- rgvProtocol.getRgvPos())<rgvProtocol.getCarBodyJiaoMing()+rgvProtocol.getCarBodyKunPeng() + avoidDistance*2){
//                                for (Integer staNoNow : rangeList) {
//                                    for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                        if (rgvStn.getStaNo().equals(staNoNow)) {
//                                            TaskWrk taskWrk = deviceDetection(rgvStn);
//                                            if (taskWrk != null) {
//                                                BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
//                                                if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
//                                                    System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk);
//                                                    System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
//
//                                                    sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                                }
//                                            }
//                                            break;
//                                        }
//                                    }
//                                    if (sign) {
//                                        break;
//                                    }
//                                }
//                            }
//                        }
//
//
//
//                        if (!sign && staList.size()>1) {
//                            //  半边区域内取货任务
//                            for (Integer staNoNow : rangeList) {
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staNoNow)) {
//                                        TaskWrk taskWrk = deviceDetection(rgvStn);
//                                        if (taskWrk != null) {
//                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
//                                            for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
//                                                if (rgvStnOut.getStaNo().equals(outStaNo)) {
//                                                    System.out.println("筛选半边范围取货任务==="+rgvSlave.getId()+"==="+taskWrk);
//                                                    System.out.println("筛选半边范围取货任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
//
//                                                    sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                                    break;
//                                                }
//                                            }
//                                        }
//                                        break;
//                                    }
//                                }
//                                if (sign) {
//                                    break;
//                                }
//                            }
//                        }
//                        if (!sign && staList.size()>1) {
//                            for (Integer staNoNow : rangeListOther) {
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staNoNow)) {
//                                        TaskWrk taskWrk = deviceDetection(rgvStn);
//                                        if (taskWrk != null) {
//                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
//                                            for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
//                                                if (rgvSuper.getStaNo().equals(outStaNo)){
//                                                    System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"===");
//                                                    BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
//                                                    if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
//                                                        sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                                    }
//                                                    break;
//                                                }
//                                            }
//                                        }
//                                        break;
//                                    }
//                                    if (sign) {
//                                        break;
//                                    }
//                                }
//                                if (sign) {
//                                    break;
//                                }
//                            }
//
//                        }else if (!sign && staList.size()==1){
//                            for (Integer staNoNow : rangeList) {
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staNoNow)) {
//                                        TaskWrk taskWrk = deviceDetection(rgvStn);
//                                        if (taskWrk != null) {
//                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
//                                            for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
//                                                if (rgvSuper.getStaNo().equals(outStaNo)){
//                                                    System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"===");
//                                                    BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
//                                                    if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
//                                                        sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                                    }
//                                                    break;
//                                                }
//                                            }
//                                        }
//                                        break;
//                                    }
//                                    if (sign) {
//                                        break;
//                                    }
//                                }
//                                if (sign) {
//                                    break;
//                                }
//                            }
//
//                        }
//                        RgvErrCache.updateRgvErr(rgvSlave.getId(),"未查询到可执行任务");
//
//                    } else {
//                        //可用区域就近取货
//                        //就近排序
//                        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
//                        List<Integer> rangeList = RouteUtils.SortNearby(staList, rgvProtocol.RgvPos, basDevpPositions);
//                        //  半边区域内取货任务
//                        for (Integer staNoNow : rangeList) {
//                            for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                if (rgvStn.getStaNo().equals(staNoNow)) {
//                                    TaskWrk taskWrk = deviceDetection(rgvStn);
//                                    if (taskWrk != null) {
//                                        Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
//                                        for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
//                                            if (rgvStnOut.getStaNo().equals(outStaNo)) {
//                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                                break;
//                                            }
//                                        }
//                                    }
//                                    break;
//                                }
//                            }
//                            if (sign) {
//                                break;
//                            }
//                        }
//                    }
//                }
//            } catch (Exception e) {
//                log.error("任务生成失败===》异常信息：{}", e.getMessage());
//                try{
//                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
//                    deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成失败");
//                } catch (Exception e2){
//                }
//            }
//        }
//    }
//
//    public String rgvOtherTaskWrk(RgvSlave slave) {
//
//        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
//        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
//        ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
//        if (!allTaskProtocol.isEmpty()) {
//            for (TaskProtocol taskProtocol : allTaskProtocol.values()) {
//                if (taskProtocol.getTaskNo() != 0) {
//                    return taskProtocol.getTaskNo().toString();
//                }
//            }
//        }
//        return "无";
//
//    }
//
//    public boolean rgvDetection(RgvSlave slave) {
//        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
//        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
//
//        if (rgvProtocol == null || rgvTaskProtocol == null) {
//            return false;
//        }
//        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
//                || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
//            return false;
//        }
//        if (rgvProtocol.getLoaded()==1){
//            return false;
//        }
//        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
//        RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
//
//        if (rgvProtocolOther == null) {
//            return false;
//        }
//        if (rgvProtocolOther.statusEnable) {
//            if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
//                return false;
//            }
//        }
//        return true;
//    }
//    public boolean rgvOtherIDLEOther(RgvSlave slave) {
//        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
//        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());
//
//        if (rgvProtocol == null || rgvTaskProtocol == null) {
//            return false;
//        }
//        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
//                || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
//            return false;
//        }
//
//        if (rgvProtocol.getLoaded()!=0) {
//            return false;
//        }
//        return true;
//    }
//    public boolean rgvOtherIDLEOther2(RgvSlave slave) {
//        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
//        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());
//
//        if (rgvProtocol == null || rgvTaskProtocol == null) {
//            return false;
//        }
//        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO)
//                || rgvProtocol.getRgvPos().equals(0L)
//                || rgvTaskProtocol.getAvoid() == -1) {
//            return false;
//        }
//
//        if (rgvProtocol.getLoaded()!=0) {
//            return false;
//        }
//        return true;
//    }
//    public boolean rgvOtherIDLE(RgvSlave slave,Integer staNo) {
//        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
//        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
//
//        if (rgvProtocol == null || rgvTaskProtocol == null) {
//            return false;
//        }
//        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
//                || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
//            return false;
//        }
//        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
//
//        if (rgvProtocolOther == null) {
//            return true;
//        }
//        if (rgvProtocolOther.statusEnable) {
//            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
//            long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
//                    -
//                    Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos()));
//            if (abs<100){
//                return true;
//            }
//            if (Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
//                    >=
//                    Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos())){
//                return false;
//            }
//        }
//        return true;
//    }
//    public boolean rgvOtherIDLE2(RgvSlave slave,Integer staNo) {
//        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
//        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
//
//        if (rgvProtocol == null || rgvTaskProtocol == null) {
//            return false;
//        }
//        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
//                || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
//            return false;
//        }
//        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
//
//        if (rgvProtocolOther == null) {
//            return true;
//        }
//        if (rgvProtocolOther.statusEnable) {
//            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
//            long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
//                    -
//                    Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos()));
//            if (abs<100){
//                return true;
//            }
//            if (Math.abs(basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos())
//                    >=
//                    Math.abs(basDevpPosition.getPlcPosition()-rgvProtocolOther.getRgvPos())){
//                return false;
//            }
//        }
//        return true;
//    }
//
//    public TaskWrk deviceDetection(RgvSlave.RgvStn inSta) {
//
//        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
//        StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
//        if (staProtocol == null) {
//            return null;
//        }
//        // 判断是否满足取货条件
//        if (!staProtocol.isPakMkTask()) {
//            devpThread.setErrorDev(staProtocol.getSiteId(), "任务已下发等待小车取");
//            return null;
//        }
//        // 判断是否满足取货条件
//        if (staProtocol.isAutoing()
////                && staProtocol.isLoading()
////                && staProtocol.isStaOk()
//                && staProtocol.getWorkNo() != 0) {
//            TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo());
//            if (taskWrk != null) {
//                Integer stano = staProtocol.getStaNo();
//                if (staProtocol.getSiteId() == 1004 || staProtocol.getSiteId()==1020){
//                    if (!staProtocol.isPakMkRun()) {
//                        devpThread.setErrorDev(staProtocol.getSiteId(), "异常回退标记，需要回退");
//                        return null;
//                    }
//                    if (!staProtocol.isLoading()) {
//                        devpThread.setErrorDev(staProtocol.getSiteId(), "无物");
//                        return null;
//                    }
//                    if (!staProtocol.isInEnable()) {
//                        devpThread.setErrorDev(staProtocol.getSiteId(), "等待可入信号");
//                        return null;
//                    }
//                    if (!staProtocol.isStaOk()) {
//                        devpThread.setErrorDev(staProtocol.getSiteId(), "等待链条就绪");
//                        return null;
//                    }
//                    // 尺寸检测异常
//                    boolean back = false;
//                    String errMsg = "-";
//                    if (staProtocol.getGrossWt()>=600){
//                        errMsg = "超重："+staProtocol.getGrossWt()+"kg";
//                        back = true;
//                    }
//                    if (staProtocol.isFrontErr()) {
//                        if (!back){
//                            errMsg = "前超限";
//                        } else {
//                            errMsg = errMsg+"---"+"前超限";
//                        }
//                        back = true;
//                    }
//                    if (staProtocol.isBackErr()) {
//                        if (!back){
//                            errMsg = "后超限";
//                        } else {
//                            errMsg = errMsg+"---"+"后超限";
//                        }
//                        back = true;
//                    }
//                    if (staProtocol.isHighErr()) {
//                        if (!back){
//                            errMsg = "高超限";
//                        } else {
//                            errMsg = errMsg+"---"+"高超限";
//                        }
//                        back = true;
//                    }
//                    if (staProtocol.isLeftErr()) {
//                        if (!back){
//                            errMsg = "左超限";
//                        } else {
//                            errMsg = errMsg+"---"+"左超限";
//                        }
//                        back = true;
//                    }
//                    if (staProtocol.isRightErr()) {
//                        if (!back){
//                            errMsg = "右超限";
//                        } else {
//                            errMsg = errMsg+"---"+"右超限";
//                        }
//                        back = true;
//                    }
////                    if (!back && staProtocol.isWeightErr()) {
////                        errMsg = "超重";
////                        back = true;
////                    }
//                    if (staProtocol.isBarcodeErr()) {
//                        if (!back){
//                            errMsg = "扫码失败";
//                        } else {
//                            errMsg = errMsg+"---"+"扫码失败";
//                        }
//                        back = true;
//                    }
//                    // 退回
//                    if (back) {
//                        if (stano.equals(staProtocol.getStaNo() + 1)) {
//                            return null;
//                        }
//                        if (!staProtocol.isPakMk()) {
//                            return null;
//                        }
//                        System.out.println("扫码入库失败，{"+inSta.getStaNo()+"}入库站因{"+errMsg+"}异常，托盘已被退回");
////                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
//                        staProtocol.setWorkNo(9999);
//                        staProtocol.setStaNo(staProtocol.getStaNo()+1);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        devpThread.setPakMkRun(staProtocol.getSiteId(), false);
//                        devpThread.setPakMkTask(staProtocol.getSiteId(), false);
//                        devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
//                        MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
//                        try{
//                            taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
//                            taskWrk.setModiTime(new Date());
//                            taskWrkMapper.updateById(taskWrk);
//                        } catch (Exception e){
//                            devpThread.setErrorDev(staProtocol.getSiteId(), errMsg+"异常信息保存工作档案失败！");
//                        }
//                        return null;
//                    }
//                }
//                return taskWrk;
//            }
//        } else if (staProtocol.isAutoing() && staProtocol.getWorkNo() == 0 && !staProtocol.isLoading()){
//            if (inSta.isDirectionOther()){
//                StaProtocol staProtocolOther = devpThread.getStation().get(inSta.getStaNoOther());
//                if (staProtocolOther == null) {
//                    return null;
//                }
//                // 判断是否满足取货条件
//                if (staProtocolOther.isAutoing()
//                        && staProtocolOther.getWorkNo() != 0) {
//                    TaskWrk taskWrkOther = taskWrkService.selectByWrkNo(staProtocolOther.getWorkNo());
//                    if (taskWrkOther != null) {
//                        return taskWrkOther;
//                    }
//                }
//            }
//        }
//        return null;
//    }
//    public boolean deviceDetection(RgvSlave.RgvStn inSta,Integer rgvNo) {
//        ArrayList<Integer> arrayList = new ArrayList<Integer>() {{
//            add(1009);
//            add(1011);
//            add(1012);
//            add(1014);
//            add(1016);
//        }};
//        try{
//
//            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
//            ArrayList<Integer> listW = new ArrayList<Integer>();
//            ArrayList<Integer> listL = new ArrayList<Integer>();
//            for (Integer staNo : arrayList){
//                StaProtocol staProtocol = devpThread.getStation().get(staNo);
//                if (staProtocol == null) {
//                    RgvErrCache.updateRgvErr(rgvNo,staNo+"站点数据丢失");
//                    return false;
//                }
//                // 判断是否满足取货条件
//                if (staProtocol.getWorkNo() != 0) {
//                    if (!listW.contains(staProtocol.getWorkNo())) {
//                        listW.add(staProtocol.getWorkNo());
//                    }
//                }
//                // 判断是否满足取货条件
//                if (staProtocol.isLoading()) {
//                    if (!listL.contains(staProtocol.getStaNo())) {
//                        listL.add(staProtocol.getStaNo());
//                    }
//                }
//            }
//            if (listW.size()>=3){
//                RgvErrCache.updateRgvErr(rgvNo,"等待1012拣选，防止堵塞");
//                return false;
//            }
//            if (listL.size()>=3){
//                RgvErrCache.updateRgvErr(rgvNo,"等待1012拣选，防止堵塞");
//                return false;
//            }
//        } catch (Exception e){
//            RgvErrCache.updateRgvErr(rgvNo,"1012检测异常："+e.getMessage());
//            return false;
//        }
//        return true;
//    }
//
//    public boolean rgvOtherStatusEnable(RgvSlave slave) {
//        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
//        if (rgvProtocolOther == null) {
//            return true;
//        }
//        if (rgvProtocolOther.statusEnable) {
////            if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
//            return true;
////            }
//        }
//        return false;
//    }
//
//    public synchronized void taskStart() {
//        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
//            try {
//                if (rgvDetection(rgvSlave)) {
//                    String taskNoNow = rgvOtherTaskWrk(rgvSlave);
//                    List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("PLC_POSITION", true));
//                    boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
//                    if (basDevpPositions.isEmpty()) {
//                        log.error("获取所有站点信息异常");
//                        try{
//                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
//                            deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成：获取所有站点信息异常");
//                        } catch (Exception e2){
//                        }
//                        continue;
//                    }
//                    List<TaskWrk> taskWrkList = new ArrayList<>();
//                    List<Integer> staList = new ArrayList<>();
//                    for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()) {
//                        TaskWrk taskWrk = deviceDetection(inSta);
//                        if (taskWrk != null) {
//                            if (taskWrk.getWrkNo().toString().equals(taskNoNow)) continue;
//                            taskWrkList.add(taskWrk);
//                            staList.add(inSta.getStaNo());
//                        }
//                    }
//
//                    if (taskWrkList.isEmpty() || staList.isEmpty()) continue;
//
//                    boolean sign = false;
//
//                    if (rgvOtherStatusEnable(rgvSlave)) {
//                        //分成上下两部分任务
//                        List<Integer>[] avoidRange = RouteUtils.gradeRange(staList, basDevpPositions, itSmall);
//                        List<Integer> rangeListSou = avoidRange[itSmall ? 0 : 1];
//                        List<Integer> rangeListSouOther = avoidRange[itSmall ? 1 : 0];
//                        //就近排序
//                        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
//                        List<Integer> rangeList = RouteUtils.SortNearby(rangeListSou, rgvProtocol.RgvPos, basDevpPositions);
//                        List<Integer> rangeListOther = RouteUtils.SortNearby(rangeListSouOther, rgvProtocol.RgvPos, basDevpPositions);
//
//                        //所属部分就进取货
//
//                        //筛选范围内任务
//                        //就近排序
//                        //筛选在范围任务
//                        Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
//                        List<Integer> belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);
//
//                        if (!sign && staList.size()==1){
//                            if (rgvOtherIDLEOther(rgvSlave)){
//                                if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
//                                    System.out.println("空闲就近跳过==="+rgvSlave.getId()+"===");
//                                    RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"空闲就近跳过");
//
//                                    sign=true;
//                                }
//                            }
//                            if (sign){
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staList.get(0))) {
//                                        TaskWrk taskWrk = deviceDetection(rgvStn);
//                                        if (taskWrk != null) {
//                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
//                                            for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
//                                                if (rgvSuper.getStaNo().equals(outStaNo)){
//                                                    System.out.println("空闲就近跳过后因最远再次执行==="+rgvSlave.getId()+"===");
//
//                                                    sign=false;
//                                                    break;
//                                                }
//                                            }
//                                        } else {
//                                            return;
//                                        }
//                                        break;
//                                    }
//                                }
//                            }
//                        }
//
//                        if(!sign){
//                            for (Integer staNoNow : belongToRange) {
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staNoNow)) {
//                                        TaskWrk taskWrk = deviceDetection(rgvStn);
//                                        if (taskWrk != null) {
//                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
//                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
//                                                System.out.println("全范围执行==="+rgvSlave.getId()+"==="+taskWrk);
//                                                System.out.println("全范围执行==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
//
//                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                            }
//                                        }
//                                        break;
//                                    }
//                                }
//                                if (sign) {
//                                    break;
//                                }
//                            }
//                        }
//                        if (!sign) {
//                            //  筛选范围内取货任务
//                            for (Integer staNoNow : belongToRange) {
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staNoNow)) {
//                                        TaskWrk taskWrk = deviceDetection(rgvStn);
//                                        if (taskWrk != null) {
//                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
//                                            for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
//                                                if (rgvStnOut.getStaNo().equals(outStaNo)) {
//                                                    System.out.println("筛选范围内取货任务==="+rgvSlave.getId()+"==="+taskWrk);
//                                                    System.out.println("筛选范围内取货任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
//
//                                                    sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                                    break;
//                                                }
//                                            }
//                                        }
//                                        break;
//                                    }
//                                }
//                                if (sign) {
//                                    break;
//                                }
//                            }
//                        }
//
//                        if (!sign && staList.size()==1){
//                            if (rgvOtherIDLEOther2(rgvSlave)){
//                                if (!rgvOtherIDLE2(rgvSlave,staList.get(0))){
//                                    System.out.println("运行就近跳过==="+rgvSlave.getId()+"===");
//                                    RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"运行就近跳过");
//
//                                    sign=true;
//                                }
//                            }
//                            if (sign){
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staList.get(0))) {
//                                        TaskWrk taskWrk = deviceDetection(rgvStn);
//                                        if (taskWrk != null) {
//                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
//                                            for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
//                                                if (rgvSuper.getStaNo().equals(outStaNo)){
//                                                    System.out.println("运行就近跳过后因最远再次执行==="+rgvSlave.getId()+"===");
//
//                                                    sign=false;
//                                                    break;
//                                                }
//                                            }
//                                        } else {
//                                            return;
//                                        }
//                                        break;
//                                    }
//                                }
//                            }
//                        }
//
//
//
//                        if (!sign && staList.size()>1) {
//                            for (Integer staNoNow : rangeList) {
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staNoNow)) {
//                                        TaskWrk taskWrk = deviceDetection(rgvStn);
//                                        if (taskWrk != null) {
//                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
//                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
//                                                System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk);
//                                                System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
//
//                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                            }
//                                        }
//                                        break;
//                                    }
//                                }
//                                if (sign) {
//                                    break;
//                                }
//                            }
//                        }else if (!sign && staList.size()==1){
//                            BasDevpPosition basDevpPosition1 = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staList.get(0)));
//                            if (Math.abs(basDevpPosition1.getPlcPosition()- rgvProtocol.getRgvPos())<rgvProtocol.getCarBodyJiaoMing()+rgvProtocol.getCarBodyKunPeng() + avoidDistance*2){
//                                for (Integer staNoNow : rangeList) {
//                                    for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                        if (rgvStn.getStaNo().equals(staNoNow)) {
//                                            TaskWrk taskWrk = deviceDetection(rgvStn);
//                                            if (taskWrk != null) {
//                                                BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
//                                                if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
//                                                    System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk);
//                                                    System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
//
//                                                    sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                                }
//                                            }
//                                            break;
//                                        }
//                                    }
//                                    if (sign) {
//                                        break;
//                                    }
//                                }
//                            }
//                        }
//
//
//
//                        if (!sign && staList.size()>1) {
//                            //  半边区域内取货任务
//                            for (Integer staNoNow : rangeList) {
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staNoNow)) {
//                                        TaskWrk taskWrk = deviceDetection(rgvStn);
//                                        if (taskWrk != null) {
//                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
//                                            for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
//                                                if (rgvStnOut.getStaNo().equals(outStaNo)) {
//                                                    System.out.println("筛选半边范围取货任务==="+rgvSlave.getId()+"==="+taskWrk);
//                                                    System.out.println("筛选半边范围取货任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
//
//                                                    sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                                    break;
//                                                }
//                                            }
//                                        }
//                                        break;
//                                    }
//                                }
//                                if (sign) {
//                                    break;
//                                }
//                            }
//                        }
//                        if (!sign && staList.size()>1) {
//                            for (Integer staNoNow : rangeListOther) {
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staNoNow)) {
//                                        TaskWrk taskWrk = deviceDetection(rgvStn);
//                                        if (taskWrk != null) {
//                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
//                                            for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
//                                                if (rgvSuper.getStaNo().equals(outStaNo)){
//                                                    System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"===");
//                                                    BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
//                                                    if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
//                                                        sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                                    }
//                                                    break;
//                                                }
//                                            }
//                                        }
//                                        break;
//                                    }
//                                    if (sign) {
//                                        break;
//                                    }
//                                }
//                                if (sign) {
//                                    break;
//                                }
//                            }
//
//                        }else if (!sign && staList.size()==1){
//                            for (Integer staNoNow : rangeList) {
//                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                    if (rgvStn.getStaNo().equals(staNoNow)) {
//                                        TaskWrk taskWrk = deviceDetection(rgvStn);
//                                        if (taskWrk != null) {
//                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
//                                            for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
//                                                if (rgvSuper.getStaNo().equals(outStaNo)){
//                                                    System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"===");
//                                                    BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
//                                                    if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
//                                                        sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                                    }
//                                                    break;
//                                                }
//                                            }
//                                        }
//                                        break;
//                                    }
//                                    if (sign) {
//                                        break;
//                                    }
//                                }
//                                if (sign) {
//                                    break;
//                                }
//                            }
//
//                        }
//                        RgvErrCache.updateRgvErr(rgvSlave.getId(),"未查询到可执行任务");
//
//                    } else {
//                        //可用区域就近取货
//                        //就近排序
//                        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
//                        List<Integer> rangeList = RouteUtils.SortNearby(staList, rgvProtocol.RgvPos, basDevpPositions);
//                        //  半边区域内取货任务
//                        for (Integer staNoNow : rangeList) {
//                            for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
//                                if (rgvStn.getStaNo().equals(staNoNow)) {
//                                    TaskWrk taskWrk = deviceDetection(rgvStn);
//                                    if (taskWrk != null) {
//                                        Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
//                                        for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
//                                            if (rgvStnOut.getStaNo().equals(outStaNo)) {
//                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
//                                                break;
//                                            }
//                                        }
//                                    }
//                                    break;
//                                }
//                            }
//                            if (sign) {
//                                break;
//                            }
//                        }
//                    }
//                }
//            } catch (Exception e) {
//                log.error("任务生成失败===》异常信息：{}", e.getMessage());
//                try{
//                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
//                    deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成失败");
//                } catch (Exception e2){
//                }
//            }
//        }
//    }
//
//
//    public boolean taskGenerate(RgvSlave rgvSlave, RgvSlave.RgvStn rgvStn, Integer sign) {
//        try {
//            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
//            TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
//            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
//
//            TaskProtocol issuedTake = new TaskProtocol();
//            TaskProtocol issuedPut = new TaskProtocol();
//            try {
//                ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
//                if (allTaskProtocol.size() > 0) {
//                    return false;
//                }
//                TaskWrk taskWrk = deviceDetection(rgvStn);
//                if (taskWrk == null) {
//                    return false;
//                }
////                Integer targetPointConvert = taskWrk.getTargetPointConvert();
//                Integer targetPointConvert = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
//                if (targetPointConvert == null) {
//                    return false;
//                }
//                if (targetPointConvert == 1009){
//                    if (!deviceDetection(rgvStn, rgvSlave.getId())){
//                        return false;
//                    }
//                }
//                try{
//                    devpThread.setPakMkTask(rgvStn.getStaNo(), false);
//                } catch (Exception e2){
//                    RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"小车任务下发标记更新失败");
//                }
//
//
//                BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
//                BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
//                //执行
//                issuedTake.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
//                issuedTake.setTaskStatus(2);
//                issuedTake.setTargetPositionStaNo(basDevpPositionSou.getDevNo());
//                issuedTake.setTargetPositionStaNoPlcId(basDevpPositionSou.getPlcId());
//                issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
//                issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
//                issuedTake.setIsRunning(1);
//                issuedTake.setDirection(basDevpPositionSou.getRgvSign()==1);
//
//
//                issuedPut.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
//                issuedPut.setTaskStatus(3);
//                issuedPut.setTargetPositionStaNo(basDevpPositionEnd.getDevNo());
//                issuedPut.setTargetPositionStaNoPlcId(basDevpPositionEnd.getPlcId());
//                issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
//                issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
//                issuedPut.setIsRunning(1);
//                issuedPut.setDirection(basDevpPositionEnd.getRgvSign()==1);
//
//                try{
//                    if (taskWrk.getIoType()==2 && basDevpPositionEnd.getRgvSign()==1){
//                        Date now = new Date();
//                        taskWrk.setStatus(TaskStatusType.OVER.id);
//                        taskWrk.setModiTime(now);//更新时间
//                        taskWrk.setCompleteTime(now);//完结时间
//                        taskWrkService.updateById(taskWrk);
//                    }
//                } catch (Exception e){
//
//                }
//            } catch (Exception e) {
//                log.error("任务生成失败issued1===》异常信息：{}", e.getMessage());
//                RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued1");
//
//                try{
//                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
//                    deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "任务生成失败issued1");
//                } catch (Exception e2){
//                }
//                return false;
//            }
//
//            switch (sign) {
//                case 1:
//                    taskProtocolCache.updateTaskProtocol(issuedTake);
//                    break;
//                case 2:
//                    taskProtocolCache.updateTaskProtocol(issuedPut);
//                    break;
//                default:
//                    taskProtocolCache.updateTaskProtocol(issuedTake);
//                    taskProtocolCache.updateTaskProtocol(issuedPut);
//                    break;
//            }
//        } catch (Exception e) {
//            log.error("任务生成失败issued2===》异常信息：{}", e.getMessage());
//            RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued2");
//
//            try{
//                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
//                deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "站点任务生成失败issued2");
//            } catch (Exception e2){
//            }
//        }
//        return true;
//    }
}