zy-wcs.git - Gitblit

			@@ -50,6 +50,7 @@
			import org.springframework.transaction.annotation.Transactional;
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

			import java.text.SimpleDateFormat;
			import java.util.*;
			import java.util.stream.Collectors;

			@@ -83,6 +84,8 @@
			@Autowired
			private BasDevpService basDevpService;
			@Autowired
			private SnowflakeIdWorker snowflakeIdWorker;
			@Autowired
			private LocDetlService locDetlService;
			@Autowired
			private BasErrLogService basErrLogService;
			@@ -110,6 +113,8 @@
			private ApiLogService apiLogService;
			@Autowired
			private BasDevpOptService basDevpOptService;
			@Autowired
			private MatService matService;

			@Value("${wms.url}")
			private String wmsUrl;
			@@ -144,8 +149,11 @@
			if(!staProtocol.isLoading()){
			continue;
			}

			if (barcodeThread == null) {
			continue;
			}

			if(!staProtocol.isAutoing()){
			continue;
			}

			@@ -195,6 +203,9 @@
			if (!staProtocol.isPakMk()) {
			continue;
			}
			if(!staProtocol.isAutoing()){
			continue;
			}
			// led 异常显示
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
			@@ -219,26 +230,29 @@
			&& !staProtocol.isEmptyMk()
			&& staProtocol.isPakMk()
			&& staProtocol.getWorkNo() == 0
			&& !barcode.equals("0")
			&& !Cools.isEmpty(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) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			staProtocol.setWorkNo(wrkNo);
			staProtocol.setErrCode(errMsg);
			News.info("条码判断{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			staProtocol.setBarcode(barcode);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
			continue;
			}

			// 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) {
			// String errorMsg = "扫码失败，请重试";
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			// }
			// staProtocol.setWorkNo(wrkNo);
			// staProtocol.setErrCode(errMsg);
			// News.info("条码判断{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			// wrkNo++;
			// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			// staProtocol.setBarcode(barcode);
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
			// continue;
			// }
			// if (staProtocol.getSiteId()!= 159){
			// if( Cools.isEmpty(barcodeMat) \|\| "NG".endsWith(barcodeMat) \|\| "NoRead".equals(barcodeMat) \|\| "00000000".equals(barcodeMat)) {
			// News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcodeMat(), barcodeMat);
			@@ -320,15 +334,6 @@
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发2："+dto.getWorkNo()+","+dto.getStaNo());
			if(staProtocol.getSiteId() == 1036){ //1036
			BasAgvMast basAgvMast = basAgvMastService.selectOne(new EntityWrapper<BasAgvMast>().eq("sta_no", 1037));
			AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
			agvBindCtnrAndBinParam.setCtnrCode(barcode);
			ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定解绑", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
			if (resultBind.getCode()!=200){
			agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV容器绑定解绑", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
			}
			}
			ledThread.errorReset();
			log.error("组托请求后LED错误清除");

			@@ -453,23 +458,74 @@
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			// News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			if (staProtocol.isFrontErr()) {
			errMsg = "前超限";
			back = true;
			}
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "高超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			log.error("物料码扫码失败");
			back = true;
			}
			// 退回
			if (back) {
			News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", pickSta.getStaNo(), errMsg);
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errMsg));

			if (!staProtocol.isLoading()){
			continue;
			}
			if (!staProtocol.isPakMk()) {
			continue;
			}
			// led 异常显示
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errMsg));
			}
			staProtocol.setWorkNo(wrkNo);
			staProtocol.setErrCode(errMsg);
			News.info("异常判断{}入库回退：{}，任务号：{}", pickSta.getStaNo(), errMsg,wrkNo);
			wrkNo++;
			staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			staProtocol.setBarcode(barcode);
			staProtocol.setPakMk(false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			System.out.println(staProtocol);
			log.error("输送线下发1："+wrkNo+","+pickSta.getBackSta());
			}


			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
			@@ -509,7 +565,7 @@
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//LED
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "此为拣料、并板、盘点再入库.请放在"+pickSta.getBackSta().shortValue()+"站点";
			@@ -928,16 +984,23 @@
			*/
			public synchronized void connectWrk(Integer mark) {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocolIn = devpThread.getStation().get(4001);
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);

			StaProtocol staProtocolIn = devpThread2.getStation().get(4001);
			if (staProtocolIn == null) {
			continue;
			} else {
			staProtocolIn = staProtocolIn.clone();
			}
			int[] outStaNos = {1015, 2016}; //衔接入库点
			int[] outStaNos = {1015,2016}; //衔接入库点
			for (int outStaNo : outStaNos) {
			StaProtocol staProtocolOut = devpThread.getStation().get(outStaNo);// 盘点出库衔接站点（可能是 1015，也可能是 2016）
			StaProtocol staProtocolOut =null;
			if(outStaNo == 2016){
			staProtocolOut = devpThread2.getStation().get(outStaNo);
			}else{
			staProtocolOut = devpThread.getStation().get(outStaNo);
			}
			if (staProtocolOut == null) {
			continue;
			} else {
			@@ -1090,7 +1153,7 @@
			//mark - 3 - ....
			this.locToLoc(crn, crnProtocol,mark);
			//预调度
			// this.crnRebackHp(crnProtocol, crnThread);
			this.crnRebackHp(crn, crnProtocol, crnThread);

			}
			// News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
			@@ -1099,10 +1162,30 @@
			/**
			* 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
			*/
			public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) {
			public synchronized void crnRebackHp(CrnSlave slave, CrnProtocol crnProtocol, CrnThread crnThread) {
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			if (crnProtocol.getBay() == 1) {
			if (crnProtocol.getBay() == 52) {
			return;
			}
			BasCrnp basCrnp = basCrnpService.selectOne(
			new EntityWrapper<BasCrnp>().eq("crn_no", crnProtocol.getCrnNo())
			);
			boolean result = true;
			if(crnProtocol.getCrnNo() != 5){
			return;
			}
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo2());
			if (staProtocol == null) {
			News.infoNoLog(" - 堆垛机入库站信息(staProtocol!=null继续执行)：staProtocol="+staProtocol);
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if(staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 ){
			result =false;
			}
			}
			int x=1;
			switch (crnProtocol.getCrnNo()){
			@@ -1112,10 +1195,18 @@
			case 4: x =14; break;
			case 5: x =18; break;
			}

			Date modiTime = basCrnp.getModiTime();
			Date now = new Date();
			// 当前时间 - 修改时间 > 1分钟（60000毫秒）
			if(result){
			if (now.getTime() - modiTime.getTime() < 60 * 1000) {
			return;
			}
			}
			if(crnProtocol.getCrnNo() != 5){
			return;
			}

			// 已经存在吊车执行任务时，则过滤3,12
			if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
			return;
			@@ -1148,8 +1239,6 @@
			}
			crnThread.setBackHpFlag(true);
			}

			// }
			}

			/**
			@@ -1942,9 +2031,6 @@
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());



			// 堆垛机复位
			News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
			crnThread.setResetFlag(true);
			@@ -2295,6 +2381,9 @@
			case 57:
			ledCommand.setTitle("盘点再入库");
			break;
			case 53:
			ledCommand.setTitle("拣料再入库");
			break;
			case 101:
			ledCommand.setTitle("全板出库");
			break;
			@@ -2329,7 +2418,7 @@
			} else {
			total = locDetl.getAnfme();
			}
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getBoxType3(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),wrkDetl.getAnfme(),total));
			});
			}
			if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
			@@ -2345,13 +2434,13 @@
			total = locDetl.getAnfme();
			}
			if (wrkMast.getIoType() == 101 \|\| wrkMast.getIoType() == 1) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getBoxType3(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),wrkDetl.getAnfme(),total));
			}
			if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() \|\| 0 == wrkDetl.getInspect())) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getBoxType3(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),wrkDetl.getAnfme(),total));
			}
			if (wrkMast.getIoType() == 107) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getBoxType3(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),wrkDetl.getAnfme(),total));
			}
			});
			}
			@@ -2866,20 +2955,22 @@

			public synchronized void autoEmptyOut() {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);

			List<Integer> list = new ArrayList<>();
			list.add(1108);list.add(2031);
			for (Integer site:list){
			Integer emptyCount = wrkMastMapper.countPakOutEmpty(site);
			StaProtocol staProtocol = null;
			if(emptyCount >= 1 && site == 1108){
			if(emptyCount >= 2 && site == 1108){
			continue;
			}else if(emptyCount == 1 && site == 2031){
			}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 2031:staProtocol = devpThread.getStation().get(site);break;
			case 2031:staProtocol = devpThread2.getStation().get(site);break;
			}
			if (staProtocol == null) {
			return;
			@@ -2918,8 +3009,12 @@
			}

			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<WrkMast> wrkMast = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("source_sta_no",1038));
			if(wrkMast.size() >3){
			return;
			}
			list.add(1038);
			for (Integer site:list){
			StaProtocol staProtocol = devpThread.getStation().get(site);
			@@ -2956,6 +3051,11 @@
			staProtocol.setStaNo(site.shortValue());
			devpThread.setPakMk(site,false);
			MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			Date now = new Date();
			System.out.println("小车下发命令时间：" +
			new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS").format(now));


			} else {
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
			}
			@@ -3622,11 +3722,38 @@

			}

			// 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.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk()
			&& rgvThread.isPaking() && basRgv.getPakAll().equals("1")){
			if(basRgv.getPakOut().equals("1") && basRgv.getPakIn().equals("1")){
			rgvPreSchedulingIn(rgv, rgvProtocol);//若暂无下发任务预调度提前到取货点
			if (rgvProtocol.getLastIo().equals("I")) {
			if (basRgv.getInEnable().equals("1") && basRgv.getPakIn().equals("1")) {
			//mark - 1 - ....
			if (rgvProtocol.getTaskNo1()==0){
			rgvPreSchedulingIn(rgv, rgvProtocol);//若暂无下发任务预调度提前到取货点
			}
			} else if (basRgv.getOutEnable().equals("1") && basRgv.getPakOut().equals("1")) {
			//mark - 2 - ....
			if (rgvProtocol.getTaskNo2()==0){
			this.rgvPreSchedulingOut(rgv, rgvProtocol); // 出库
			}
			}
			}
			// 如果最近一次是出库模式
			else if (rgvProtocol.getLastIo().equals("O")) {
			if (basRgv.getOutEnable().equals("1") && basRgv.getPakOut().equals("1")) {
			if (rgvProtocol.getTaskNo2()==0){
			this.rgvPreSchedulingOut(rgv, rgvProtocol); // 出库
			}
			} else if (basRgv.getInEnable().equals("1") && basRgv.getPakIn().equals("1")) {
			if (rgvProtocol.getTaskNo1()==0){
			rgvPreSchedulingIn(rgv, rgvProtocol);//若暂无下发任务预调度提前到取货点
			}
			}
			}
			}
			}
			}
			}
			/**
			@@ -3747,7 +3874,7 @@
			try{
			wrkMastSta.setWrkSts(1);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			log.error("更新小车任务成功{}",wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			@@ -3844,7 +3971,7 @@

			continue;
			}
			if(wrkMastSta != null &&LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
			if( LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
			StaProtocol staProtocolSta = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (staProtocolSta == null) {
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			@@ -3896,7 +4023,149 @@
			try{
			wrkMastSta.setWrkSts(1);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			log.error("更新小车任务成功{}",wrkMastSta);
			}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());
			}


			}
			}
			/**
			* 小车出库任务取货下发
			*/
			public synchronized void rgvPreSchedulingOut(RgvSlave slave, RgvProtocol rgvProtocol){
			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.getStaNo2());
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
			BasRgv basRgv = basRgvService.selectById(slave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！4", slave.getId());
			continue;
			}
			if(staProtocol.getWorkNo() == 0){
			continue;
			}
			StaProtocol staProtocol2 = null;
			WrkMastSta wrkMastSta3 = null;

			// if(rgvStn.getStaNo2()!= null ){
			// staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
			// if (staProtocol2 == null) {
			// News.infoNoLog(" - Rgv出库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			// continue;
			// } else {
			// staProtocol2 = staProtocol2.clone();
			// }
			// BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
			// if (staDetl2 == null) {
			// News.error( " - 出库 ===>>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(" - 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(" - 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(" - 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.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			basRgvMapService.updateById(basRgvMap);
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
			WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
			if(basRgv.getPakToCrn().equals("0")){
			wrkMastSta = wrkMastStaMapper.selectNoInterfereCrn(route, route, Long.valueOf(staProtocol2.getWorkNo()));//处理接驳任务时，连续只取接驳任务
			}
			if( null == wrkMastSta ) {
			News.infoNoLog(" - 查询无待出库数据--wrk_sts0, 工作号={}", staProtocol2.getWorkNo());
			continue;
			}
			boolean result = false;
			if( LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
			StaProtocol staProtocolSta = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (staProtocolSta == null) {
			News.infoNoLog(" - Rgv出库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocolSta = staProtocolSta.clone();
			}
			if(staProtocolSta.isLoading()){
			continue;
			}
			}
			wrkMastSta.setWorkSta(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(wrkMastSta.getMk() == 1){//若已执行
			basRgv.setPakAll("1");
			basRgvService.updateById(basRgv);
			}
			if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
			basRgv.setPakToCrn("0");
			basRgvService.updateById(basRgv);
			if(wrkMastSta3 != null){
			if(!LEFT_POSITION.contains(wrkMastSta3.getStaEnd())){
			wrkMastSta3 = null;//若接驳第二位不接驳时取消连续取货
			}
			}
			}
			if(wrkMastSta3 != null ){
			List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
			if(wrkMastStaPaking.size() < 1){
			wrkMastSta3.setMk(1);
			basRgv.setPakAll("0");
			basRgvService.updateById(basRgv);
			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");
			}
			}
			}
			basRgv.setPakIn("0");
			basRgvService.updateById(basRgv);
			rgvThread.setPaking(false);
			try{
			wrkMastSta.setWrkSts(1);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功{}",wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			@@ -4173,77 +4442,140 @@
			/**
			* 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, 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("执行小车移动下发失败");
			// }
			// }
			public synchronized void rgvPreSchedulingIn(RgvSlave slave, RgvProtocol rgvProtocol){
			for (RgvSlave.RgvStn rgvStn : slave.getRgvInTStn()) {//rgv入库取货站点
			boolean flag = false;
			BasRgv basRgv = basRgvService.selectById(slave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！4", slave.getId());
			continue;
			}
			if(rgvStn.getStaNo2() == null){
			continue;
			}
			//遍历rgv入库取货站点
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo2()); //倒数第二个
			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
			Integer staNo = null; //与调度
			switch (rgvStn.getStaNo2()){
			case 1043: staNo = 1044;break;
			case 1104: staNo = 1103;break;
			}
			if(staNo != null ){
			staProtocol2 = devpThread.getStation().get(staNo);
			if (staProtocol2 == null) {
			News.infoNoLog(" - 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(" - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}
			if((staProtocol.getWorkNo()>9999 && staProtocol2.getWorkNo()>9999) \|\| (staProtocol.getWorkNo()<10000 && staProtocol2.getWorkNo()<10000)){
			//当连续取货站点为相同类型时才能连续取
			wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
			}

			}
			if(rgvProtocol.getTaskNo2() > 9999 && staProtocol.getWorkNo() < 10000){
			continue;
			}

			if (staProtocol == null) {
			News.infoNoLog( " - 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(" - 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
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			News.errorNoLog(" - 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() + "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
			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.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			basRgvMapService.updateById(basRgvMap);
			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(" - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			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
			}
			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
			basRgv.setPakRgv("0");
			basRgvService.updateById(basRgv);

			// rgvThread.setPakRgv(false);
			continue;
			}
			wrkMastSta.setWorkSta(wrkMastSta2 !=null ? 1 : 2);
			wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
			boolean sign = false;
			sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			if (sign){

			if(wrkMastSta3 != null ){
			List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
			if(wrkMastStaPaking.size() < 1 && !wrkMastSta3.getWrkNo().equals(wrkMastSta.getWrkNo())){//已有标记不再标记
			wrkMastSta3.setMk(1);
			basRgv.setPakAll("0");
			basRgvService.updateById(basRgv);

			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");
			}
			}
			}
			basRgv.setPakOut("0");//出库不允许
			basRgvService.updateById(basRgv);
			rgvThread.setPaking(false);//任务下发锁定

			try{
			wrkMastSta.setWrkSts(1);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功{}",wrkMastSta);
			}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());
			}


			}
			}



			@@ -4264,6 +4596,12 @@
			type = RgvTaskStatusType.PUT; //放货
			targetPosition = wrkMastSta.getStaEnd();
			}
			Date now = new Date();
			if (targetPosition == 1038) {
			System.out.println("小车下发命令时间：" +
			new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS").format(now));
			}

			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
			@@ -4333,8 +4671,6 @@
			}
			}



			/*
			* arm任务完成自动组托
			* */
			@@ -4401,6 +4737,158 @@
			log.error("机械臂抓取任务完成组托失败"+e.getMessage());
			}
			}

			/*
			* arm任务完成自动组托
			* */
			public synchronized void armMissionAccomplished1() {
			try{
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta armSta : devp.getArmStaTwo()) {

			// 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 = staProtocol.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "0".equals(barcode) \|\| barcode.length()<5) {
			armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
			continue;
			}
			} else {
			armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
			continue;
			}
			String[] barcodeList = barcode.split(";");
			String[][] barcodeArr = new String[barcodeList.length / 2][2];
			int i = 0;
			for (String[] barcodes : barcodeArr){
			barcodes[0]=barcodeList[i];
			i++;
			barcodes[1]=barcodeList[i];
			i++;
			}
			ArmBarcodeTwoParam armBarcodeTwoParam = new ArmBarcodeTwoParam(barcodeArr);
			if (!armBarcodeTwoParam.allBool()){
			continue;
			}


			List<BasArmMast> basArmMastList = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", armSta.getArmNo())
			.lt("status", 2)
			);
			if (!basArmMastList.isEmpty()){
			armTaskAssignmentCallApiLogSave(staProtocol, armSta.getArmNo()+"号机械臂存在未完成任务", staProtocol.getSiteId()+"机械臂，===》存在未完成任务", false);
			continue;
			}
			List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().eq("arm_no",armSta.getArmNo()));
			boolean sign = true;
			for (BasArm basArm : basArmList){
			if (basArm.getStaNo()==2){//NG
			continue;
			}
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
			if (Cools.isEmpty(locMast) \|\| !locMast.getLocSts().equals("D")){
			continue;
			}
			List<BasArmMast> basArmMastList2 = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("sta_no", basArm.getStaNoSou())
			.eq("status", 2)
			);
			if (!basArmMastList2.isEmpty()){
			BasArmMast basArmMast2 = basArmMastList2.get(0);
			if (!armBarcodeTwoParam.allBool(basArmMast2)){
			continue;
			}
			}
			BasArmMast basArmMast = new BasArmMast(armBarcodeTwoParam);
			basArmMast.setArmNo(basArm.getArmNo());
			basArmMast.setStaNo(basArm.getStaNoSou());
			basArmMast.setSortingLine(basArm.getSortingLineSou());
			basArmMastService.insert(basArmMast);
			sign = false;
			break;
			}
			if (sign){
			for (BasArm basArm : basArmList){
			if (basArm.getStaNo()==2){//NG
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
			if (Cools.isEmpty(locMast) \|\| !locMast.getLocSts().equals("D")){
			continue;
			}
			BasArmMast basArmMast = new BasArmMast(armBarcodeTwoParam);
			basArmMast.setArmNo(basArm.getArmNo());
			basArmMast.setStaNo(basArm.getStaNoSou());
			basArmMast.setSortingLine(basArm.getSortingLineSou());
			basArmMastService.insert(basArmMast);
			break;
			}
			}
			}
			}
			}
			} catch (Exception e){
			log.error("机械臂抓取任务完成组托失败"+e.getMessage());
			}
			}

			/*
			* arm任务完成自动组托
			* */
			public synchronized void armMissionAccomplished2() {
			try{
			List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().gt("arm_no",4));
			for (BasArm basArm : basArmList) {
			if (basArm.getStatus()!=1){
			continue;
			}
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
			if (Cools.isEmpty(locMast)){
			continue;
			}
			try{
			List<BasArmMast> basArmMastList = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("sta_no", basArm.getStaNoSou())
			.eq("status", 3)
			);
			if (basArmMastList.isEmpty()){
			continue;
			}
			CombParam combParam = new CombParam(basArmMastList);
			//arm任务完成自动组托
			ReturnT<String> result = new PostMesDataUtils().postMesData("arm任务完成自动组托",wmsUrl, wmsComb, combParam);
			if (result.getCode()==200){
			basArmMastService.updateArmMastStatus(basArm.getArmNo(),basArm.getSortingLineSou(),3,5);
			locMast.setLocSts("R");
			locMastService.updateById(locMast);
			} else {
			armTaskAssignmentCallApiLogSave(locMast, "自动组托失败", basArm.getStaNoSou()+"码垛位置，===》自动组托失败，等待重试", false);
			// log.error("机械臂抓取任务完成："+JSON.toJSON(basArmMastList)+"===》自动组托失败，等待重试");
			}
			} catch (Exception e){
			armTaskAssignmentCallApiLogSave(locMast, "自动组托失败", basArm.getStaNoSou()+"码垛位置，===》自动组托失败，等待重试", false);
			// log.error("arm编号："+basArm.getArmNo()+"====》机械臂抓取任务完成"+e.getMessage());
			}
			break;
			}
			} catch (Exception e){
			log.error("机械臂抓取任务完成组托失败"+e.getMessage());
			}
			}
			public synchronized void armMissionAccomplishedScanToCheckIn() {
			try{
			for (DevpSlave devp : slaveProperties.getDevp()) {
			@@ -4450,9 +4938,9 @@
			* */
			public synchronized void armTaskAssignment() {
			try{
			List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<>());
			List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().lt("arm_no",5));
			for (BasArm basArm : basArmList) {
			if (basArm.getStatus()!=1){
			if (basArm.getStatus()!=1 \|\| basArm.getArmNo()>4){
			continue;
			}
			try{
			@@ -4465,35 +4953,30 @@
			staProtocol = staProtocol.clone();
			}

			if(!staProtocol.isLoading()){
			continue;
			}
			String barcode = staProtocol.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
			// log.error(staProtocol.getSiteId()+"码垛位置，===》托盘条码为空");
			continue;
			}
			} else {
			armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);

			// log.error(staProtocol.getSiteId()+"码垛位置，===》托盘条码为空");
			continue;
			}

			if(barcode.length()!=6){
			armTaskAssignmentCallApiLogSave(staProtocol, "条码长度不是6位", staProtocol.getSiteId()+"码垛位置，条码长度不是6位===>>" + barcode, false);
			// log.error(staProtocol.getSiteId()+"码垛位置，条码长度不是6位===>>" + barcode);
			continue;
			// throw new CoolException(staProtocol.getSiteId()+"码垛位置，条码长度不是6位===>>" + barcode);
			}

			int countLoc = locDetlService.selectCount(new EntityWrapper<LocDetl>().eq("zpallet",barcode));
			int countWrk = wrkDetlService.selectCount(new EntityWrapper<WrkDetl>().eq("zpallet",barcode));
			int countwait = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet",barcode));
			if (countLoc > 0 \|\| countWrk > 0 \|\| countwait > 0) {
			// throw new CoolException("组托档/工作档/库存条码数据已存在===>>" + barcode);
			armTaskAssignmentCallApiLogSave(staProtocol, "条码数据已存在", staProtocol.getSiteId()+"码垛位置，组托档/工作档/库存条码数据已存在===>>" + barcode, false);

			// log.error(staProtocol.getSiteId()+"码垛位置，组托档/工作档/库存条码数据已存在===>>" + barcode);
			continue;
			}

			@@ -4514,8 +4997,6 @@
			);
			if (!basArmMastListError.isEmpty()){
			armTaskAssignmentCallApiLogSave(staProtocol, "存在异常机械臂任务", basArm.getArmNo()+"号机械臂存在异常数据需要维护！！！", false);

			// log.error(basArm.getArmNo()+"号机械臂存在异常数据需要维护！！！");
			continue;
			}
			List<BasArmMast> basArmMastListRuning = basArmMastService.selectList(
			@@ -4527,9 +5008,7 @@
			List<BasArmMast> basArmMastListRuning3 = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq(

			"sorting_line", basArm.getSortingLineSou())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("status", 3)
			);
			if (basArmMastListRuning.isEmpty() && basArmMastListRuning3.isEmpty()){
			@@ -4544,8 +5023,6 @@
			}
			if (basArmMastList.size()>1){
			armTaskAssignmentCallApiLogSave(staProtocol, "任务待执行数量大于1,无法分辨待执行任务", "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！！！", false);

			// log.error("arm编号："+basArm.getArmNo()+"====》拆码垛任务异常禁止下发！！！任务待执行数量大于1！！！");
			continue;
			}
			BasArmMast basArmMast = basArmMastList.get(0);
			@@ -4560,26 +5037,20 @@
			if (basArmMastListOrder.size()==1){
			Thread.sleep(100);


			List<BasArmMast> basArmMastListRuningBarCode2 = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("barcode", barcode)
			new EntityWrapper<BasArmMast>().eq("barcode", barcode)
			);
			if (!basArmMastListRuningBarCode2.isEmpty()){
			int binding_tags = basArmMastService.selectCount(
			new EntityWrapper<BasArmMast>()
			.eq("status", 2)
			.eq("binding_tags", basArmMast.getBindingTags())
			);

			.eq("binding_tags", basArmMast.getBindingTags()));
			if (binding_tags<2){
			BasArmMast basArmMastOne = basArmMastService.selectOne(
			new EntityWrapper<BasArmMast>()
			.eq("status", 2)
			.eq("binding_tags", basArmMast.getBindingTags())
			);
			.eq("binding_tags", basArmMast.getBindingTags()));
			Double anfmeSignOne = basArmMastService.selectBasArmMastSignValue(basArmMastOne.getOrderNo(), basArmMastOne.getMatnr(),basArmMastOne.getBindingTags());

			if (anfmeSignOne>1D){
			armTaskAssignmentCallApiLogSave(staProtocol, "条码数据已存在！！！", staProtocol.getSiteId()+"码垛位置，条码数据正在自动组托===>>" + barcode, false);
			continue;
			@@ -4587,30 +5058,29 @@

			}
			}
			OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getMatnr());

			if (Cools.isEmpty(orderDetlValueResultUtil)){
			continue;
			}
			// OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getMatnr());
			// if (Cools.isEmpty(orderDetlValueResultUtil)){
			// continue;
			// }
			OrderDetlValueResultUtil orderDetlValueResultUtil = new OrderDetlValueResultUtil();
			Mat mat = matService.selectOne(new EntityWrapper<Mat>().eq("matnr", basArmMast.getMatnr()));
			orderDetlValueResultUtil.setHeight(mat.getHeight());
			orderDetlValueResultUtil.setWeight(mat.getWeight());
			orderDetlValueResultUtil.setLength(mat.getManLength());
			orderDetlValueResultUtil.setWidth(mat.getWidth());
			Double anfmeSign = basArmMastService.selectBasArmMastSignValue(basArmMast.getOrderNo(), basArmMast.getMatnr(),basArmMast.getBindingTags());
			orderDetlValueResultUtil.setAnfme(anfmeSign);
			//订单下发
			try{
			ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
			ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArm,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);
			// basArmMast.setBarcode(barcode);
			// basArmMastService.updateById(basArmMast);
			} else {
			if (result.getCode()!=200){
			armTaskAssignmentCallApiLogSave(staProtocol, "机械臂抓取订单（SKU）下发", "arm编号："+basArm.getArmNo()+"订单下发订单信息下发失败！！！", false);

			// log.error("arm编号："+basArm.getArmNo()+"机械臂抓取订单（SKU）下发："+JSON.toJSON(basArmMast)+"===》订单信息下发失败");
			continue;
			}
			} catch (Exception e){
			armTaskAssignmentCallApiLogSave(staProtocol, "机械臂抓取订单（SKU）下发", "arm编号："+basArm.getArmNo()+"订单下发订单信息下发失败！！！", false);
			// log.error("arm编号："+basArm.getArmNo()+"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;
			}
			}
			@@ -4623,7 +5093,150 @@
			basArmMastService.updateById(basArmMast);
			} else {
			armTaskAssignmentCallApiLogSave(staProtocol, "机械臂抓取任务信息下发失败", "arm编号："+basArm.getArmNo()+"任务信息下发失败！！！", false);
			// log.error("机械臂抓取任务："+JSON.toJSON(basArmMast)+"===》任务信息下发失败");
			}
			}
			} catch (Exception e){
			log.error("arm编号："+basArm.getArmNo()+"====》拆码垛任务下发失败"+e.getMessage());
			}
			}
			}catch (Exception e){
			log.error("arm任务下发失败"+e.getMessage());
			}
			}

			/*
			* arm任务下发
			* */
			public synchronized void armTaskAssignment2() {
			try{
			List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().gt("arm_no",4));
			for (BasArm basArm : basArmList) {
			if (basArm.getStatus()!=1 \|\| basArm.getArmNo()<5){
			continue;
			}
			try{
			LocMast locMastEnd = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
			if(!locMastEnd.getLocSts().equals("D")){
			continue;
			}

			String barcode = locMastEnd.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "0".equals(barcode)) {
			armTaskAssignmentCallApiLogSave(locMastEnd, "托盘条码为空", basArm.getStaNoSou()+"码垛位置，===》托盘条码为空", false);
			continue;
			}
			} else {
			armTaskAssignmentCallApiLogSave(locMastEnd, "托盘条码为空", basArm.getStaNoSou()+"码垛位置，===》托盘条码为空", false);
			continue;
			}

			if(barcode.length()!=6){
			armTaskAssignmentCallApiLogSave(locMastEnd, "条码长度不是6位", basArm.getStaNoSou()+"码垛位置，条码长度不是6位===>>" + barcode, false);
			continue;
			}

			int countLoc = locDetlService.selectCount(new EntityWrapper<LocDetl>().eq("zpallet",barcode));
			int countWrk = wrkDetlService.selectCount(new EntityWrapper<WrkDetl>().eq("zpallet",barcode));
			int countwait = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet",barcode));
			if (countLoc > 0 \|\| countWrk > 0 \|\| countwait > 0) {
			armTaskAssignmentCallApiLogSave(locMastEnd, "条码数据已存在", basArm.getStaNoSou()+"码垛位置，组托档/工作档/库存条码数据已存在===>>" + barcode, false);
			continue;
			}

			List<BasArmMast> basArmMastListRuningBarCode = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("barcode", barcode)
			.eq("status", 3)
			);
			if (!basArmMastListRuningBarCode.isEmpty()){
			armTaskAssignmentCallApiLogSave(locMastEnd, "条码数据已存在,正在自动组托！！！", basArm.getStaNoSou()+"码垛位置，条码数据正在自动组托===>>" + barcode, false);
			continue;
			}
			List<BasArmMast> basArmMastListError = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("status", 9)
			);
			if (!basArmMastListError.isEmpty()){
			armTaskAssignmentCallApiLogSave(locMastEnd, "存在异常机械臂任务", basArm.getArmNo()+"号机械臂存在异常数据需要维护！！！", false);
			continue;
			}
			List<BasArmMast> basArmMastListRuning = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("status", 1)
			);
			List<BasArmMast> basArmMastListRuning3 = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("status", 3)
			);
			if (basArmMastListRuning.isEmpty() && basArmMastListRuning3.isEmpty()){
			List<BasArmMast> basArmMastList = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("sta_no", basArm.getStaNoSou())
			.eq("status", 0)
			);
			if (basArmMastList.isEmpty()){
			continue;
			}
			if (basArmMastList.size()>1){
			armTaskAssignmentCallApiLogSave(locMastEnd, "任务待执行数量大于1,无法分辨待执行任务", "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！！！", false);
			continue;
			}
			BasArmMast basArmMast = basArmMastList.get(0);
			// List<BasArmMast> basArmMastListOrder = basArmMastService.selectList(
			// new EntityWrapper<BasArmMast>()
			// .eq("arm_no", basArm.getArmNo())
			// .eq("sorting_line", basArm.getSortingLineSou())
			// .eq("matnr", basArmMast.getMatnr())
			// .eq("order_no", basArmMast.getOrderNo())
			// .eq("binding_tags", basArmMast.getBindingTags())
			// );
			// if (basArmMastListOrder.size()==1){
			// OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getMatnr());
			//
			// if (Cools.isEmpty(orderDetlValueResultUtil)){
			// continue;
			// }

			OrderDetlValueResultUtil orderDetlValueResultUtil = new OrderDetlValueResultUtil();
			Mat mat = matService.selectOne(new EntityWrapper<Mat>().eq("matnr", basArmMast.getMatnr()));
			// Double anfmeSign = basArmMastService.selectBasArmMastSignValue(basArmMast.getOrderNo(), basArmMast.getMatnr(),basArmMast.getBindingTags());
			orderDetlValueResultUtil.setAnfme(1D);
			orderDetlValueResultUtil.setHeight(mat.getHeight());
			orderDetlValueResultUtil.setWeight(mat.getWeight());
			orderDetlValueResultUtil.setLength(mat.getManLength());
			orderDetlValueResultUtil.setWidth(mat.getWidth());
			//订单下发
			try{
			ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArm,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){
			armTaskAssignmentCallApiLogSave(locMastEnd, "机械臂抓取订单（SKU）下发", "arm编号："+basArm.getArmNo()+"订单下发订单信息下发失败！！！", false);
			continue;
			}
			} catch (Exception e){
			armTaskAssignmentCallApiLogSave(locMastEnd, "机械臂抓取订单（SKU）下发", "arm编号："+basArm.getArmNo()+"订单下发订单信息下发失败！！！", false);
			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);
			basArmMast.setBarcode(barcode);
			basArmMastService.updateById(basArmMast);
			} else {
			armTaskAssignmentCallApiLogSave(locMastEnd, "机械臂抓取任务信息下发失败", "arm编号："+basArm.getArmNo()+"任务信息下发失败！！！", false);
			}
			}
			} catch (Exception e){
			@@ -4662,6 +5275,33 @@
			response, bool);
			}

			public void armTaskAssignmentCallApiLogSave(LocMast locMast, String tableName, String response, Boolean bool) {
			// 查询符合条件的所有 ApiLog
			List<ApiLog> apiLogs = apiLogService.selectList(new EntityWrapper<ApiLog>()
			.eq("namespace", "机械臂任务相关")
			.eq("request", "站点号:" + locMast.getLocNo())
			.eq("response", response)
			.eq("url", tableName)
			.eq("client_ip", locMast.getBarcode())
			.eq("result", 0)
			.orderBy("create_time", false)
			);

			// 遍历结果集，检查时间戳差值是否小于 5 分钟
			for (ApiLog apiLog : apiLogs) {
			long parseLong = Long.parseLong(apiLog.getTimestamp());
			if (new Date().getTime() - parseLong < 5 * 1000 * 60) {
			// 如果找到符合条件的记录且时间差小于 5 分钟，则不保存新记录，直接返回
			return;
			}
			}

			// 如果没有符合条件的记录，或者所有记录时间差大于 5 分钟，保存新的日志
			apiLogService.save("机械臂任务相关", tableName, "null", locMast.getBarcode(),
			"站点号:" + locMast.getLocNo(),
			response, bool);
			}

			/*
			* agv任务生成 Full
			* */
			@@ -4684,7 +5324,108 @@
			continue;
			}
			if (staProtocol.isAutoing() ) {
			//staProtocol.getWorkNo()>10000
			if(staProtocol.getWorkNo()>10000){
			BasAgvMast basAgvMast = new BasAgvMast();
			List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("task_no", staProtocol.getWorkNo()));
			if(!basAgvMastList.isEmpty()){
			continue;
			}

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(staProtocol.getWorkNo().toString());
			param.setIoType(1);
			param.setSourceStaNo(outStaAgv.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/agv/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			basAgvMast.setFloorNo(1);
			basAgvMast.setTaskNo(staProtocol.getWorkNo());
			basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
			basAgvMast.setLocNo(dto.getLocNo());
			basAgvMast.setBarcode("1");
			basAgvMast.setSourceLocNo("1041");
			basAgvMast.setDevpId(devp.getId());
			basAgvMast.setIoType(2);
			basAgvMastService.insert(basAgvMast);
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no",dto.getLocNo()));
			locMast.setLocSts("S");
			locMastService.updateById(locMast);

			AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
			agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
			agvBindCtnrAndBinParam.setCtnrTyp("1");
			ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV出库容器解绑", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
			break;
			}
			}catch (Exception e){
			News.error(JSON.toJSONString(e.getMessage()));

			}

			}
			WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
			if(Cools.isEmpty(wrkMast)){
			continue;
			}
			if(wrkMast.getIoType() == 110 ){
			BasAgvMast basAgvMast = new BasAgvMast();
			List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("task_no", staProtocol.getWorkNo()));
			if(!basAgvMastList.isEmpty()){
			continue;
			}

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(staProtocol.getWorkNo().toString());
			param.setIoType(1);
			param.setSourceStaNo(outStaAgv.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/agv/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			basAgvMast.setFloorNo(1);
			basAgvMast.setTaskNo(staProtocol.getWorkNo());
			basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
			basAgvMast.setLocNo(dto.getLocNo());
			basAgvMast.setBarcode("1");
			basAgvMast.setSourceLocNo("1041");
			basAgvMast.setDevpId(devp.getId());
			basAgvMast.setIoType(2);
			basAgvMastService.insert(basAgvMast);
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no",dto.getLocNo()));
			locMast.setLocSts("S");
			locMastService.updateById(locMast);

			AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
			agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
			agvBindCtnrAndBinParam.setCtnrTyp("1");
			ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV出库容器解绑", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);

			}
			}catch (Exception e){
			News.error(JSON.toJSONString(e.getMessage()));

			}
			}
			if (Cools.isEmpty(wrkMast) \|\| Cools.isEmpty(wrkMast.getTakeNone()) \|\| !wrkMast.getTakeNone().equals("1")){
			continue;
			}
			@@ -4729,14 +5470,21 @@
			basAgvMast.setTaskNo(wrkMast.getWrkNo());
			basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
			basAgvMast.setLocNo(dto.getLocNo());
			basAgvMast.setBarcode(wrkMast.getBarcode());
			basAgvMast.setSourceLocNo(wrkMast.getSourceLocNo());
			basAgvMast.setDevpId(devp.getId());
			basAgvMast.setIoType(2);

			basAgvMastService.insert(basAgvMast);



			AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
			agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getBarcode());
			if(basAgvMast.getFloorNo() == 3){
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no",dto.getLocNo()));
			locMast.setBarcode(wrkMast.getBarcode());
			locMastService.updateById(locMast);
			}
			agvBindCtnrAndBinParam.setCtnrTyp("1");
			ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
			wrkMast.setTakeNone("2");
			wrkMastMapper.updateById(wrkMast);
			} else {
			@@ -4761,6 +5509,8 @@
			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(outStaAgv.getStaNo());
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 6);

			if (staProtocol == null) {
			continue;
			} else {
			@@ -4772,10 +5522,10 @@
			continue;
			}

			String barcode = staProtocol.getBarcode();
			String barcode = barcodeThread.getBarcode();//2033
			if(!Cools.isEmpty(barcode)) {
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			News.info("{}号站点扫描器检测条码信息：{}", outStaAgv.getStaNo(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "0".equals(barcode)) {
			// News.info("{}号站点扫描器检测条码信息：{}", outStaAgv.getStaNo(), barcode);
			continue;
			}
			} else {
			@@ -4785,7 +5535,7 @@
			if (staProtocol.isAutoing()) {

			// 判断重复工作档
			List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()));
			List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()).eq("barcode",barcode));
			if (!basAgvMastList.isEmpty()) {
			// News.info("{}号站点存在任务执行中，请等待任务执行完毕：{}", outStaAgv.getStaNo(), barcode);
			continue;
			@@ -4793,9 +5543,17 @@
			if(barcode.equals("0")){
			continue;
			}
			List<LocMast> locMastListFull = locMastService.selectList(new EntityWrapper<LocMast>()
			.eq("loc_sts", "O")
			.ge("row1", 28)
			.le("row1", 31)
			);
			if(locMastListFull.isEmpty()){
			continue;
			}
			List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>().eq("barcode", barcode));
			if (!locMastList.isEmpty()) {
			News.info("{}号站点条码信息重复：{}", outStaAgv.getStaNo(), barcode);
			// News.info("{}号站点条码信息重复：{}", outStaAgv.getStaNo(), barcode);
			continue;
			}
			// 任务生成区 --------------------------------------------------------------------------
			@@ -4820,10 +5578,33 @@
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			basAgvMast.setTaskNo(outStaAgv.getStaNo());
			List<BasAgvMast> list = basAgvMastService.selectList(
			new EntityWrapper<BasAgvMast>()
			.eq("source_sta_no", outStaAgv.getStaNo())
			.in("task_no", 2033, 2031)
			);
			boolean has2033 = false;
			boolean has2034 = false;
			for (BasAgvMast mast : list) {
			if (mast.getTaskNo() == 2033) {
			has2033 = true;
			}
			if (mast.getTaskNo() == 2031) {
			has2034 = true;
			}
			}

			if (has2033 && has2034) {
			return;
			} else if (has2033) {
			basAgvMast.setTaskNo(2031);
			} else {
			basAgvMast.setTaskNo(2033);
			}
			basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
			basAgvMast.setLocNo(dto.getLocNo());
			basAgvMast.setDevpId(devp.getId());
			basAgvMast.setBarcode(barcode);
			basAgvMast.setIoType(2);
			basAgvMast.setFloorNo(2);

			@@ -4832,8 +5613,10 @@
			News.error(JSON.toJSONString(staProtocol));
			}
			} catch (Exception e) {
			News.error(JSON.toJSONString(e.getMessage()));
			News.error("AGV任务生成异常", e);
			throw new CoolException("AGV任务生成异常");
			}

			}
			}
			}
			@@ -4866,25 +5649,45 @@
			// 判断重复工作档
			List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("sta_no", inStaAgv.getStaNo()));
			if (!basAgvMastList.isEmpty()) {
			News.info("{}号站点存在任务执行中，等待任务执行完毕!!!", inStaAgv.getStaNo());
			// News.info("{}号站点存在任务执行中，等待任务执行完毕!!!", inStaAgv.getStaNo());
			continue;
			}
			// 任务生成区 --------------------------------------------------------------------------

			BasAgvMast basAgvMast = new BasAgvMast();
			try {
			List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>()
			.eq("loc_sts", "R")
			.ge("row1", 23)
			.le("row1", 32)
			.orderBy("io_time",true)
			);
			List<LocMast> locMastList = null;
			Integer floorNo = 1;
			if(inStaAgv.getStaNo() < 2000){
			locMastList = locMastService.selectList(new EntityWrapper<LocMast>()
			.eq("loc_sts", "R")
			.ge("row1", 21)
			.le("row1", 26)
			.orderBy("io_time",true)
			);
			}else if(inStaAgv.getStaNo() < 4000){
			locMastList = locMastService.selectList(new EntityWrapper<LocMast>()
			.eq("loc_sts", "R")
			.ge("row1", 28)
			.le("row1", 31)
			.orderBy("io_time",true));
			floorNo = 2;
			}else{
			locMastList = locMastService.selectList(new EntityWrapper<LocMast>()
			.eq("loc_sts", "R")
			.ge("row1", 32)
			.le("row1", 38)
			.orderBy("io_time",true));
			floorNo = 3;
			}

			for (LocMast locMast : locMastList){
			basAgvMast.setTaskNo(inStaAgv.getStaNo());
			basAgvMast.setSourceLocNo(locMast.getLocNo());
			basAgvMast.setStaNo(inStaAgv.getStaNo());
			basAgvMast.setDevpId(devp.getId());
			basAgvMast.setFloorNo(floorNo);
			basAgvMast.setBarcode(locMast.getBarcode());
			basAgvMast.setIoType(0);//AGV库位==》输送线站点 0
			basAgvMastService.insert(basAgvMast);
			break;
			@@ -4966,6 +5769,7 @@
			}

			if (staProtocol.isAutoing()){
			//

			AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
			//任务下发
			@@ -5039,30 +5843,51 @@
			staProtocol = staProtocol.clone();
			}

			if ((!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo()))
			\|\|
			(basAgvMast.getSourceStaNo().equals(2033))){

			if ((!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())) \|\| basAgvMast.getSourceStaNo().equals(2033)){
			AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
			if(basAgvMast.getFloorNo()==1) {
			WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
			AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
			agvBindCtnrAndBinParam.setCtnrCode(wrkMast.getBarcode());
			agvBindCtnrAndBinParam.setCtnrTyp("1");
			ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定解绑", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
			if (resultBind.getCode()==200){
			//任务下发
			ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
			if (result.getCode()==200){
			basAgvMast.setStatus(1);
			basAgvMastService.updateById(basAgvMast);
			} else {
			agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
			}
			// WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
			// AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
			// agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
			// agvBindCtnrAndBinParam.setCtnrTyp("1");
			// ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定解绑", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
			// if (resultBind.getCode()==200){
			// //任务下发
			// ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
			// if (result.getCode()==200){
			// basAgvMast.setStatus(1);
			// basAgvMastService.updateById(basAgvMast);
			// } else {
			// agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
			// }
			// } else {
			// agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV容器绑定解绑", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
			// }
			//任务下发
			ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
			if (result.getCode()==200){
			basAgvMast.setStatus(1);
			basAgvMastService.updateById(basAgvMast);
			} else {
			agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV容器绑定解绑", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
			agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
			}
			}else{
			if (!Cools.isEmpty(basAgvMast.getSourceStaNo())){
			if (basAgvMast.getSourceStaNo().equals(4006)){

			AgvBindCtnrAndBinTwoParam agvBindCtnrAndBinTwoParam = new AgvBindCtnrAndBinTwoParam();
			agvBindCtnrAndBinTwoParam.setReqCode(String.valueOf(snowflakeIdWorker.nextId()));
			agvBindCtnrAndBinTwoParam.setPodcode(basAgvMast.getBarcode());
			agvBindCtnrAndBinTwoParam.setPositionCode(basAgvMast.getSourceStaNo().toString());
			agvBindCtnrAndBinTwoParam.setIndBind("1");;
			ReturnT<String> resultBind = new PostMesDataUtils().postMesDataArmGrating("AGV容器绑定解绑",
			AgvConstant.AGV_URL+"/"+AgvConstant.AGV_hikRpcService,AgvConstant.getAGVADAPTOR(2), agvBindCtnrAndBinTwoParam);
			if (resultBind.getCode()!=200){
			basAgvMast.setStatus(4);
			basAgvMastService.updateById(basAgvMast);
			}
			}
			}
			//任务下发
			ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
			if (result.getCode()==200){