RGV control

Junjie

2023-07-06 83eb556b86fac1aae7f9d4ea3ea343e8ea9f8b0b

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

@@ -10,7 +10,6 @@
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.mapper.BasRgvErrMapper;
import com.zy.asrs.mapper.WaitPakinMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
@@ -88,6 +87,8 @@
    private BasRgvErrMapper basRgvErrMapper;
    @Autowired
    private BasRgvErrLogService basRgvErrLogService;
    @Autowired
    private BasRgvPathService basRgvPathService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -96,7 +97,7 @@
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
     */
    public void generateStoreWrkFile() {
    public synchronized void generateStoreWrkFile() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
@@ -188,7 +189,13 @@

                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());

                            if(Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) {
                                staProtocol.setStaNo(dto.getStaNo().shortValue());
                            } else {//如果存在RGV编号，说明需要RGV接驳，先下发任务到RGV源站
                                staProtocol.setStaNo(dto.getRgvSstaNo().shortValue());
                            }

                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
@@ -215,7 +222,7 @@
     * wms入库
     * 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
     */
    public void generateStoreWrkFile0() {
    public synchronized void generateStoreWrkFile0() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
@@ -481,20 +488,20 @@
                // 如果最近一次是入库模式
                if (crnProtocol.getLastIo().equals("I")) {
                    if (basCrnp.getInEnable().equals("Y")) {
                        this.crnStnToLoc(crn, crnProtocol); //  入库
                        this.crnStnToLoc1(crn, crnProtocol); //  入库
                        crnProtocol.setLastIo("O");
                    } else if (basCrnp.getOutEnable().equals("Y")) {
                        this.locToCrnStn(crn, crnProtocol); //  出库
                        this.locToCrnStn1(crn, crnProtocol); //  出库
                        crnProtocol.setLastIo("I");
                    }
                }
                // 如果最近一次是出库模式
                else if (crnProtocol.getLastIo().equals("O")) {
                    if (basCrnp.getOutEnable().equals("Y")) {
                        this.locToCrnStn(crn, crnProtocol); //  出库
                        this.locToCrnStn1(crn, crnProtocol); //  出库
                        crnProtocol.setLastIo("I");
                    } else if (basCrnp.getInEnable().equals("Y")) {
                        this.crnStnToLoc(crn, crnProtocol); //  入库
                        this.crnStnToLoc1(crn, crnProtocol); //  入库
                        crnProtocol.setLastIo("O");
                    }
                }
@@ -503,6 +510,88 @@
            this.locToLoc(crn, crnProtocol);
//            this.crnRebackHp(crnProtocol, crnThread);

        }
    }

    /**
     * 搜索RGV车。通过目标站搜索哪台车可用
     */
    public synchronized Integer searchRgvNo(Integer staNo) {
        BasDevp basDevp = basDevpService.selectById(staNo);
        if (basDevp == null) {
            return null;//目标站不存在
        }
        //路径值
        int path = basDevp.getLocType3().intValue();

        ArrayList<RgvThread> list = new ArrayList<>();
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }
            BasRgv basRgv = basRgvService.selectById(rgv.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！", rgv.getId());
                continue;
            }

            list.add(rgvThread);
        }

        if (list.size() > 1) {
            //超过两台车，按照配置的规则进行分配
            for (RgvThread rgvThread : list) {
                //获取车辆配置的路径规则
                BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(rgvThread.getSlave().getId());
                if (basRgvPath == null) {
                    continue;
                }
                //目标站是否包含当前路径中
                List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
                if (rgvPath.contains(path)) {
                    //当前路径中包含目标站，则选定这台车
                    return rgvThread.getSlave().getId();
                }
            }
        }else {
            //小于或等于1台车，分配全路径
            BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//获取默认路径
            if (basRgvPath == null) {
                return null;
            }
            List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
            if (rgvPath.contains(path)) {
                //当前路径中包含目标站，则选定这台车
                return list.get(0).getSlave().getId();
            }
        }

        return null;
    }

    /**
     * 绑定小车方法
     */
    public synchronized void rgvBindSte() {
        //获取等待绑定RGV的任务
        List<WrkMast> wrkMasts = wrkMastMapper.selectWaitBindRGV();
        for (WrkMast wrkMast : wrkMasts) {
            //目标站
            Integer staNo = wrkMast.getStaNo();
            //通过目标站搜索rgv号
            Integer rgvNo = this.searchRgvNo(staNo);
            if (rgvNo == null) {//未找到可用的rgv
                continue;
            }

            wrkMast.setRgvNo(rgvNo);//绑定rgv号
            wrkMast.setRgvDstaNo(wrkMast.getSourceStaNo());//设置RGV前往工作档源站取货
            if (wrkMastMapper.updateById(wrkMast)==0){
                log.error("绑定小车更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
            }
        }
    }

@@ -523,32 +612,125 @@
                continue;
            }

            // 只有当RGV空闲、自动, 并且无任务、无物时才继续执行
            // 只有当RGV空闲、自动,
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
                    && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getLoaded2() == 0
//                    && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
//                    && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getLoaded2() == 0
                    ) {
                // 如果最近一次是入库模式
                if (rgvProtocol.getLastIo().equals("I")) {
                    if (basRgv.getInEnable().equals("Y")) {
                        this.rgvInStn(rgv, rgvProtocol); //  入库
                        rgvProtocol.setLastIo("O");
                    } else if (basRgv.getOutEnable().equals("Y")) {
                        this.rgvOutStn(rgv, rgvProtocol); //  出库
                        rgvProtocol.setLastIo("I");

                //查找是否存在入出库工作中等待RGV搬运的任务
                List<WrkMast> wrkMasts = wrkMastMapper.selectIoRgvNo(rgv.getId());
                for (WrkMast wrkMast : wrkMasts) {
                    if (wrkMast.getWrkSts() == 2) {//2.设备上走1 => 3.RGV取货中
                        if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
                            continue;
                        }

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                        rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
                        rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式:  取货
                        rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue());   //工位1目标站点
                        rgvCommand.setCommand((short) 1);   //工位1任务确认
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 2.设备上走1 => 3.RGV取货中
                            Date now = new Date();
                            wrkMast.setWrkSts(3L);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 2.设备上走1 => 3.RGV取货中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        }
                    } else if (wrkMast.getWrkSts() == 4) {//4.RGV取货完成 => 5.RGV放货中
                        if (rgvProtocol.getTaskNo1() == 0 || !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致
                            continue;
                        }
                        if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物
                            continue;
                        }

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                        rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
                        rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
                        rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue());   //工位1目标站点
                        rgvCommand.setCommand((short) 1);   //工位1任务确认
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 4.RGV取货完成 => 5.RGV放货中
                            Date now = new Date();
                            wrkMast.setWrkSts(5L);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 4.RGV取货完成 => 5.RGV放货中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        }
                    } else if (wrkMast.getWrkSts() == 23) {//23.设备上走1 => 24.RGV取货中
                        if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
                            continue;
                        }

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                        rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
                        rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式:  取货
                        rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue());   //工位1目标站点
                        rgvCommand.setCommand((short) 1);   //工位1任务确认
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 23.设备上走1 => 24.RGV取货中
                            Date now = new Date();
                            wrkMast.setWrkSts(24L);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 23.设备上走1 => 24.RGV取货中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        }
                    } else if (wrkMast.getWrkSts() == 25) {//25.RGV取货完成 => 26.RGV放货中
                        if (rgvProtocol.getTaskNo1() == 0 || !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致
                            continue;
                        }
                        if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物
                            continue;
                        }

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                        rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
                        rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
                        rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue());   //工位1目标站点
                        rgvCommand.setCommand((short) 1);   //工位1任务确认
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 25.RGV取货完成 => 26.RGV放货中
                            Date now = new Date();
                            wrkMast.setWrkSts(26L);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 25.RGV取货完成 => 26.RGV放货中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                        }
                    }
                }
                // 如果最近一次是出库模式
                else if (rgvProtocol.getLastIo().equals("O")) {
                    if (basRgv.getOutEnable().equals("Y")) {
                        this.rgvOutStn(rgv, rgvProtocol); //  出库
                        rgvProtocol.setLastIo("I");
                    } else if (basRgv.getInEnable().equals("Y")) {
                        this.rgvInStn(rgv, rgvProtocol); //  入库
                        rgvProtocol.setLastIo("O");
                    }
                }

            }
        }
    }
@@ -694,7 +876,7 @@
                    }
                    continue;
                } else if (shallowLoc.getLocSts().equals("Q")) {
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                    if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                        continue;
                    }
@@ -742,10 +924,144 @@
    }

    /**
     * 入库  ===>>  堆垛机站到库位
     * 2022-12-03 TQS修改，先遍历查询同台堆垛机工作档所有站点入库任务LIST，根据工作档任务排序优先级高于 根据堆垛机入库站点排序
     */
    public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol) {
        List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
        for(WrkMast wrkMast : wrkMasts){
            if (wrkMast == null) {
                continue;
            }

            CrnSlave.CrnStn crnStn = null;
            for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
                if(crnStn1.getStaNo() == wrkMast.getStaNo()){
                    crnStn = crnStn1;
                    break;
                } else {
                    continue;
                }
            }
            if(Cools.isEmpty(crnStn)){
                continue;
            }

            boolean flag = false;
            // 获取堆垛机入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                flag = true;
            }
            if (!flag) {
                continue;
            }

            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
            if (locMast == null) {
                log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
                continue;
            }
            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
                log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
                continue;
            }

            // 堆垛机控制过滤
            if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                continue;
            }

            // 已经存在吊车执行任务时，则过滤
            if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                continue;
            }

            // 双深库位且浅库位有货，则需先对浅库位进行库位移转
            if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
                String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
                LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    if (null == waitWrkMast) {
                        log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                    } else {
                        waitWrkMast.setIoPri(15D);
                        waitWrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                            log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                        }
                        continue;
                    }

                } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                    // 此标记避免多次执行移库任务
                    if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                        wrkMast.setUpdMk("Y");
                        wrkMast.setIoPri(14D);
                        wrkMastMapper.updateById(wrkMast);
                        // 生成工作档,将浅库位移转到新的库位中
                        moveLocForDeepLoc(slave, shallowLoc);
                        // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
//                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
                    }
                    continue;
                } else if (shallowLoc.getLocSts().equals("Q")) {
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                    if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                        continue;
                    }
                }
            }

            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
            crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            } else {
                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                Date now = new Date();
                wrkMast.setWrkSts(3L);
                wrkMast.setCrnStrTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                }
            }
        }

    }

    /**
     * 出库  ===>>  库位到堆垛机站
     * 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
     */
    public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
    public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
            // 获取工作状态为11（生成出库ID）的出库工作档
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
@@ -836,7 +1152,7 @@
                            log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                            continue;
                        } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                            if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                                continue;
                            }
@@ -879,122 +1195,154 @@
        }
    }

//    /**
//     * 出库  ===>>  库位到堆垛机站
//     */
//    public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
//        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
//            // 获取工作状态为11（生成出库ID）的出库工作档
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
//            if (wrkMast == null) {
//                continue;
//            }
//            // 工作档状态判断
//            if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){
//                log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
//                continue;
//            }
//            // 获取源库位信息
//            LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
//            if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
//                log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
//                continue;
//            }
//            // 获取堆垛机出库站信息
//            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
//            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
//            if (staProtocol == null) {
//                continue;
//            } else {
//                staProtocol = staProtocol.clone();
//            }
//
////            // 入出库模式判断
////            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
//
//
//            // 查询站点详细信息
//            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
//            if (staDetl == null) {
//                log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
//                continue;
//            }
//            // 判断堆垛机出库站状态
//            if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
//                    && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
//                // 命令下发区 --------------------------------------------------------------------------
//
//                // 堆垛机控制过滤
//                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
    /**
     * 出库  ===>>  库位到堆垛机站
     * 2022-12-03 TQS修改，先遍历查询工作档所有站点出库任务LIST，根据工作档任务排序优先级高于 根据堆垛机入库站点排序
     */
    public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol) {
        List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
        for (WrkMast wrkMast : wrkMasts) {
            if (wrkMast == null) {
                continue;
            }

            CrnSlave.CrnStn crnStn = null;
            for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
                if(crnStn1.getStaNo() == wrkMast.getSourceStaNo()){
                    crnStn = crnStn1;
                    break;
                } else {
                    continue;
                }
            }
            if(Cools.isEmpty(crnStn)){
                continue;
            }

            // 工作档状态判断
            if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
                log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                continue;
            }
            // 获取源库位信息
            LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
            if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
                log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                continue;
            }
            // 获取堆垛机出库站信息
            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                break;
//                    continue;
//                }
//
//                // 双深库位且浅库位有货，则需先对浅库位进行库位移转
//                if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
//                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
//                    LocMast shallowLoc = locMastService.selectById(shallowLocNo);
//                    // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
//                    if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
//                        WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
//                        if (null == waitWrkMast) {
//                            log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
//                        } else {
//                            if(waitWrkMast.getWrkSts() == 11) {
//                                waitWrkMast.setIoPri(15D);
//                                waitWrkMast.setModiTime(new Date());
//                                if (wrkMastMapper.updateById(waitWrkMast) == 0) {
//                                    log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
//                                }
//                                continue;
//                            } else {
//
//                            }
//                        }
//                    } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
//                        // 此标记避免多次执行移库任务
//                        if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
//                            wrkMast.setUpdMk("Y");
//                            wrkMastMapper.updateById(wrkMast);
//                            // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
//                            moveLocForDeepLoc(slave, shallowLoc);
//                        }
//                        log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
            } else {
                staProtocol = staProtocol.clone();
            }

//            // 入出库模式判断
//            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
            if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
                continue;
            }

            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                break;
//                    continue;
            }
            // 判断堆垛机出库站状态
            if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                    && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                // 命令下发区 --------------------------------------------------------------------------

                // 堆垛机控制过滤
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
//                    }
//                }
//
//                // 已经存在吊车执行任务时，则过滤
//                if (wrkMastMapper.selectWorking(slave.getId()) != null) {
//                    return;
//                }
//
//                // 1.堆垛机开始移动
//                CrnCommand crnCommand = new CrnCommand();
//                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
//                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
//                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
//                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
//                crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
//                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
//                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
//                crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
//                crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
//                crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
//                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
//                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
//                } else {
//                    // 修改工作档状态 11.生成出库ID => 12.吊车出库中
//                    Date now = new Date();
//                    wrkMast.setWrkSts(12L);
//                    wrkMast.setCrnStrTime(now);
//                    wrkMast.setModiTime(now);
//                    if (wrkMastMapper.updateById(wrkMast) == 0) {
//                        log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
//                    }
//                }
//            }
//        }
//    }
                    break;
                }

                // 双深库位且浅库位有货，则需先对浅库位进行库位移转
                if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
                    LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                    // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                    if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                        WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                        if (null == waitWrkMast) {
                            log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                        } else {
                            if (waitWrkMast.getWrkSts() == 11) {
                                waitWrkMast.setIoPri(15D);
                                waitWrkMast.setModiTime(new Date());
                                if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                    log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                }
                                continue;
                            } else {

                            }
                        }
                    } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
//                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                        //2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
                        WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                        // 此标记避免多次执行移库任务
//                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
//                                || Cools.isEmpty(waitWrkMast)) {
                        if (Cools.isEmpty(waitWrkMast)) {
                            wrkMast.setUpdMk("Y");
                            wrkMastMapper.updateById(wrkMast);
                            // 生成工作档,将浅库位移转到新的库位中
                            moveLocForDeepLoc(slave, shallowLoc);
                        }
                        log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                        continue;
                    } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
                        WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                        if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                            continue;
                        }
                    }
                }

                // 已经存在吊车执行任务时，则过滤
                if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                    break;
//                        return;
                }

                // 1.堆垛机开始移动
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                    Date now = new Date();
                    wrkMast.setWrkSts(12L);
                    wrkMast.setCrnStrTime(now);
                    wrkMast.setModiTime(now);
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
                    break;
                }
            }
        }

    }

    /**
     * 查找工作状态为2（设备上走）,且RGV入库接驳站符合的的入库工作档，提取出最多2笔
@@ -1071,6 +1419,9 @@
     * 入库  ===>>  RGV入库站到站
     */
    public synchronized void rgvInStn(RgvSlave slave, RgvProtocol rgvProtocol) {
        WrkMast wrkMast = wrkMastMapper.selectRgvInSteNo(slave.getId());


        //查找工作状态为2（设备上走）,且RGV入库接驳站符合的的入库工作档，提取出最多2笔
        List<WrkMast> wrkMastTask = getRgvInTask(slave);
        if(wrkMastTask.size() <= 0){
@@ -1334,6 +1685,7 @@
     * 根据RGV完成信号，执行对工作档的完成操作，和RGV的任务下发
     */
    public synchronized void rgvFinished() {
        Date now = new Date();
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
@@ -1341,133 +1693,161 @@
            if (rgvProtocol == null) {
                continue;
            }
            //  工位1状态：取货完成等待确认91 并且  任务完成位 = 1
            if (rgvProtocol.statusType1 == RgvStatusType.FETCHWAITING && rgvProtocol.getTaskNo1() != 0) {
                //工位1取货完成后，工位2是无货空闲状态时，准备给工位2发任务，确认是否有待执行RGV任务
                if (rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() == 0
                        && rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() == 0
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                ) {
                    WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
                    if (wrkMast1 == null) {
                        log.error("RGV工位1处于等待确认且取货任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgv.getId(), rgvProtocol.getTaskNo1());
                        continue;
                    }
                    List<WrkMast> wrkMastTask = new ArrayList<>();
                    List<WrkMast> list = new ArrayList<>();
                    Integer type = 0;//1入库，2出库
                    if(wrkMast1.getWrkSts()==6L){
                        wrkMastTask = getRgvInTask(rgv);
                        list = wrkMastMapper.selectRgvInWorking(rgv.getId());
                        type = 1;
                    } else if(wrkMast1.getWrkSts()==16L){
                        wrkMastTask = getRgvOutTask(rgv);
                        list = wrkMastMapper.selectRgvOutWorking(rgv.getId());
                        type = 2;
                    }
                    if(wrkMastTask.size() > 0){//有继续执行任务，下发取货任务给工位2
                        // 已经存在RGV执行任务时，则过滤
                        if (list.size() > 1) {
                            continue;
                        }
                        WrkMast wrkMast2 = wrkMastTask.get(0);
                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(rgv.getId()); // RGV编号
                        rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                        rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
                        rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式:  取货
                        rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue());   //工位2源站点
                        rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue());   //工位2目标站点
                        rgvCommand.setCommand((short) 0);   //工位1、2任务确认
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast2.getRgvNo(), new Task(5, rgvCommand))) {
                            //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 2.设备上走 => 6.RGV入库取货中
                            Date now = new Date();
                            wrkMast2.setWrkSts(type==1 ? 6L : 16L);
                            wrkMast2.setCrnStrTime(now);
                            wrkMast2.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast2) == 0) {
                                log.error("工位2修改工作档状态 2/14.设备上走 => 6/16.RGV入库取货中 失败！！，工作号={}", wrkMast2.getWrkNo());
                            }
                        }
                    } else {//没有继续执行任务，下发放货任务给工位1
                        if(type == 1 && wrkMast1.getWrkSts() != 6L){//RGV入库取货中
                            continue;
                        }
                        if(type == 2 && wrkMast1.getWrkSts() != 16L){//RGV出库取货中
                            continue;
                        }

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(rgv.getId()); // RGV编号
                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                        rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
                        rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
                        rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue());   //工位1源站点
                        rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue());   //工位1目标站点
                        rgvCommand.setCommand((short) 0);   //工位1、2任务确认
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
                            //step=2,工位1、2任务确认；   step=4，工位1确认；     step=5，工位2任务确认
                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
                        } else {
                            // 修改工作档状态 6.RGV入库取货中 => 7.RGV入库放货中
                            Date now = new Date();
                            wrkMast1.setWrkSts(type==1 ? 7L : 17L);
                            wrkMast1.setCrnEndTime(now);
                            wrkMast1.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast1) == 0) {
                                log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中 失败！！，工作号={}", wrkMast1.getWrkNo());
                            }
                            log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
                        }
                    }
                } else if (rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() > 0
                        && rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() > 0
                        && rgvProtocol.statusType2 == RgvStatusType.FETCHWAITING){
                    //  工位2状态：也是取货完成等待确认91 并且  任务完成位 = 1,  工位1、2同时下发放货任务
                    WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
                    WrkMast wrkMast2 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo2().intValue());
                    //  命令下发区 --------------------------------------------------------------------------
                    RgvCommand rgvCommand = new RgvCommand();
                    rgvCommand.setRgvNo(rgv.getId()); // RGV编号
                    rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
                    rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
                    rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue());   //工位1源站点
                    rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue());   //工位1目标站点
                    rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                    rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
                    rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式:  放货
                    rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue());   //工位2源站点
                    rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue());   //工位2目标站点
                    rgvCommand.setCommand((short) 0);   //工位1、2任务确认
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) {
                        //step=2,工位1、2任务确认；   step=4，工位1确认；     step=5，工位2任务确认
                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
                    } else {
                        // 修改工作档状态 2.设备上走 => 6.RGV入库取货中
                        Date now = new Date();
                        wrkMast1.setWrkSts(wrkMast1.getWrkSts()==6L ? 7L : 17L);
                        wrkMast1.setCrnStrTime(now);
                        wrkMast1.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast1) == 0) {
                            log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中 失败！！，工作号={}", wrkMast1.getWrkNo());
                        }

                        wrkMast2.setWrkSts(wrkMast2.getWrkSts()==6L ? 7L : 17L);
                        wrkMast2.setCrnStrTime(now);
                        wrkMast2.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast2) == 0) {
                            log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中 失败！！，工作号={}", wrkMast2.getWrkNo());
                        }
                    }
            //判断RGV是否空闲，工位1是否空闲，工位1是否有物，是否为电脑模式，工位1是否有工作号
            if (rgvProtocol.statusType1 == RgvStatusType.FETCHWAITING
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getTaskNo1() != 0
                    && rgvProtocol.getStatus() != 0
                    && rgvProtocol.getStatus1() != 0
            ) {
                WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
                if (wrkMast1 == null) {
                    log.error("RGV工位1处于等待确认且取货任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgv.getId(), rgvProtocol.getTaskNo1());
                    continue;
                }

                if (wrkMast1.getWrkSts() == 3) {//3.RGV取货中 => 4.RGV取货完成
                    wrkMast1.setWrkSts(4L);
                }else if(wrkMast1.getWrkSts() == 5){//5.RGV放货中 => 6.RGV放货完成
                    rgvProtocol.setTaskNo1((short) 0);//入库任务完成，清空任务号
                    wrkMast1.setWrkSts(6L);
                } else if (wrkMast1.getWrkSts() == 24) {//24.RGV取货中 => 25.RGV取货完成
                    wrkMast1.setWrkSts(25L);//
                } else if (wrkMast1.getWrkSts() == 26) {//26.RGV放货中 => 27.RGV放货完成
                    rgvProtocol.setTaskNo1((short) 0);//出库任务完成，清空任务号
                    wrkMast1.setWrkSts(27L);//27.RGV放货完成
                }

                wrkMast1.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast1) == 0) {
                    log.error("工位1修改工作档状态失败！！，工作号={}", wrkMast1.getWrkNo());
                }

//                //工位1取货完成后，工位2是无货空闲状态时，准备给工位2发任务，确认是否有待执行RGV任务
//                if (rgvProtocol.getModeType() == RgvModeType.AUTO
//                        && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() == 0
//                        && rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() == 0
//                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
//                ) {
//                    WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
//                    if (wrkMast1 == null) {
//                        log.error("RGV工位1处于等待确认且取货任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgv.getId(), rgvProtocol.getTaskNo1());
//                        continue;
//                    }
//                    List<WrkMast> wrkMastTask = new ArrayList<>();
//                    List<WrkMast> list = new ArrayList<>();
//                    Integer type = 0;//1入库，2出库
//                    if(wrkMast1.getWrkSts()==6L){
//                        wrkMastTask = getRgvInTask(rgv);
//                        list = wrkMastMapper.selectRgvInWorking(rgv.getId());
//                        type = 1;
//                    } else if(wrkMast1.getWrkSts()==16L){
//                        wrkMastTask = getRgvOutTask(rgv);
//                        list = wrkMastMapper.selectRgvOutWorking(rgv.getId());
//                        type = 2;
//                    }
//                    if(wrkMastTask.size() > 0){//有继续执行任务，下发取货任务给工位2
//                        // 已经存在RGV执行任务时，则过滤
//                        if (list.size() > 1) {
//                            continue;
//                        }
//                        WrkMast wrkMast2 = wrkMastTask.get(0);
//                        //  命令下发区 --------------------------------------------------------------------------
//                        RgvCommand rgvCommand = new RgvCommand();
//                        rgvCommand.setRgvNo(rgv.getId()); // RGV编号
//                        rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
//                        rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
//                        rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式:  取货
//                        rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue());   //工位2源站点
//                        rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue());   //工位2目标站点
//                        rgvCommand.setCommand((short) 0);   //工位1、2任务确认
//                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast2.getRgvNo(), new Task(5, rgvCommand))) {
//                            //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
//                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
//                        } else {
//                            // 修改工作档状态 2.设备上走 => 6.RGV入库取货中
//                            Date now = new Date();
//                            wrkMast2.setWrkSts(type==1 ? 6L : 16L);
//                            wrkMast2.setCrnStrTime(now);
//                            wrkMast2.setModiTime(now);
//                            if (wrkMastMapper.updateById(wrkMast2) == 0) {
//                                log.error("工位2修改工作档状态 2/14.设备上走 => 6/16.RGV入库取货中 失败！！，工作号={}", wrkMast2.getWrkNo());
//                            }
//                        }
//                    } else {//没有继续执行任务，下发放货任务给工位1
//                        if(type == 1 && wrkMast1.getWrkSts() != 6L){//RGV入库取货中
//                            continue;
//                        }
//                        if(type == 2 && wrkMast1.getWrkSts() != 16L){//RGV出库取货中
//                            continue;
//                        }
//
//                        //  命令下发区 --------------------------------------------------------------------------
//                        RgvCommand rgvCommand = new RgvCommand();
//                        rgvCommand.setRgvNo(rgv.getId()); // RGV编号
//                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
//                        rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
//                        rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
//                        rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue());   //工位1源站点
//                        rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue());   //工位1目标站点
//                        rgvCommand.setCommand((short) 0);   //工位1、2任务确认
//                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
//                            //step=2,工位1、2任务确认；   step=4，工位1确认；     step=5，工位2任务确认
//                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
//                        } else {
//                            // 修改工作档状态 6.RGV入库取货中 => 7.RGV入库放货中
//                            Date now = new Date();
//                            wrkMast1.setWrkSts(type==1 ? 7L : 17L);
//                            wrkMast1.setCrnEndTime(now);
//                            wrkMast1.setModiTime(now);
//                            if (wrkMastMapper.updateById(wrkMast1) == 0) {
//                                log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中 失败！！，工作号={}", wrkMast1.getWrkNo());
//                            }
//                            log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
//                        }
//                    }
//                } else if (rgvProtocol.getModeType() == RgvModeType.AUTO
//                        && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() > 0
//                        && rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() > 0
//                        && rgvProtocol.statusType2 == RgvStatusType.FETCHWAITING){
//                    //  工位2状态：也是取货完成等待确认91 并且  任务完成位 = 1,  工位1、2同时下发放货任务
//                    WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
//                    WrkMast wrkMast2 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo2().intValue());
//                    //  命令下发区 --------------------------------------------------------------------------
//                    RgvCommand rgvCommand = new RgvCommand();
//                    rgvCommand.setRgvNo(rgv.getId()); // RGV编号
//                    rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
//                    rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
//                    rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
//                    rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue());   //工位1源站点
//                    rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue());   //工位1目标站点
//                    rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
//                    rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
//                    rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式:  放货
//                    rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue());   //工位2源站点
//                    rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue());   //工位2目标站点
//                    rgvCommand.setCommand((short) 0);   //工位1、2任务确认
//                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) {
//                        //step=2,工位1、2任务确认；   step=4，工位1确认；     step=5，工位2任务确认
//                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
//                    } else {
//                        // 修改工作档状态 2.设备上走 => 6.RGV入库取货中
//                        Date now = new Date();
//                        wrkMast1.setWrkSts(wrkMast1.getWrkSts()==6L ? 7L : 17L);
//                        wrkMast1.setCrnStrTime(now);
//                        wrkMast1.setModiTime(now);
//                        if (wrkMastMapper.updateById(wrkMast1) == 0) {
//                            log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中 失败！！，工作号={}", wrkMast1.getWrkNo());
//                        }
//
//                        wrkMast2.setWrkSts(wrkMast2.getWrkSts()==6L ? 7L : 17L);
//                        wrkMast2.setCrnStrTime(now);
//                        wrkMast2.setModiTime(now);
//                        if (wrkMastMapper.updateById(wrkMast2) == 0) {
//                            log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中 失败！！，工作号={}", wrkMast2.getWrkNo());
//                        }
//                    }
//                }
            }

        }
@@ -1630,7 +2010,7 @@
    /**
     * 库位移转
     */
    public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
    public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
        // 获取工作档信息
        WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
        if (null == wrkMast) {
@@ -2458,6 +2838,13 @@
    }

    /**
     * 初始化RGV地图
     */
    public synchronized void initRgvMap() {

    }

    /**
     * 堆垛机演示  ===>> 库位移转
     */
    public synchronized void crnDemoOfLocMove1() {
@@ -2611,7 +2998,7 @@
    /**
     * 入出库模式切换函数
     */
    public void ioConvert() {
    public synchronized void ioConvert() {
        try {
            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
@@ -2671,7 +3058,7 @@

    }

    public void outOfDevp() {
    public synchronized void outOfDevp() {
        List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
        for (WrkMast wrkMast : wrkMasts) {
            if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
@@ -2685,7 +3072,7 @@
    }


    public void autoEmptyOut() {
    public synchronized void autoEmptyOut() {
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        Integer autoOutSite = 12;
        //如果站点可出禁用，则不生成空盘出库任务
@@ -2724,7 +3111,7 @@
        }
    }

    public void autoEmptyIn() {
    public synchronized void autoEmptyIn() {
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        Integer autoInSite = 12;
        StaProtocol staProtocol = devpThread.getStation().get(autoInSite);