zy-wcs.git - Gitblit

			@@ -4,8 +4,7 @@
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.baomidou.mybatisplus.mapper.Wrapper;
			import com.core.common.Cools;
			import com.core.common.DateUtils;
			import com.core.common.*;
			import com.core.exception.CoolException;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.*;
			@@ -29,15 +28,13 @@
			import com.zy.core.model.*;
			import com.zy.core.model.command.CrnCommand;
			import com.zy.core.model.command.LedCommand;
			import com.zy.core.model.command.RgvCommand;
			import com.zy.core.model.protocol.CrnProtocol;
			import com.zy.core.model.protocol.RgvProtocol;
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.BarcodeThread;
			import com.zy.core.thread.LedThread;
			import com.zy.core.thread.RgvThread;
			import com.zy.core.thread.SiemensDevpThread;
			import com.zy.system.entity.license.LicenseVerify;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.beans.factory.annotation.Value;
			@@ -46,7 +43,6 @@
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

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

			/**
			@@ -69,8 +65,6 @@
			@Autowired
			private WrkDetlService wrkDetlService;
			@Autowired
			private WaitPakinMapper waitPakinMapper;
			@Autowired
			private LocMastService locMastService;
			@Autowired
			private StaDescService staDescService;
			@@ -85,20 +79,29 @@
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			@Autowired
			private WrkMastStaMapper wrkMastStaMapper;
			@Autowired
			private BasRgvService basRgvService;
			@Autowired
			private BasRgvMapMapper basRgvMapMapper;
			@Autowired
			private WrkMastService wrkMastService;
			@Autowired
			private BasRgvMapService basRgvMapService;

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

			public Integer wrkNo = 10000;
			public Integer wrkNo = 10002;

			/*
			* 验证许可证是否有效
			* */
			public synchronized boolean licenseVerify() {
			try{
			// if (true) {
			// return true;
			// }
			return new LicenseVerify().verify();
			} catch (Exception e){
			log.info("许可证验证失败！！异常：{}",e.getMessage());
			}
			return false;
			}

			/**
			* 组托
			@@ -112,7 +115,6 @@
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			BarcodeThread barcodeThreadMat = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcodeMat());
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			@@ -121,18 +123,17 @@
			} else {
			staProtocol = staProtocol.clone();
			}
			if(!staProtocol.isLoading()){
			continue;
			}

			if (barcodeThread == null) {
			continue;
			}

			if (barcodeThreadMat == null) {
			continue;
			}

			String barcode = barcodeThread.getBarcode();

			String barcodeMat = barcodeThreadMat.getBarcode();
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			@@ -167,7 +168,7 @@
			}
			// 退回
			if (back) {
			// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));

			if (!staProtocol.isLoading()){
			@@ -181,11 +182,14 @@
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
			}
			staProtocol.setWorkNo(wrkNo);
			News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			News.info("异常判断{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			wrkNo++;
			staProtocol.setStaNo(inSta.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+","+inSta.getBackSta());
			}

			@@ -194,8 +198,11 @@
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& staProtocol.isPakMk()) {
			if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "00000000".equals(barcode)) {
			&& staProtocol.isPakMk()
			&& staProtocol.getWorkNo() == 0
			) {
			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) {
			@@ -203,34 +210,42 @@
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			staProtocol.setWorkNo(wrkNo);
			News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			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);

			staProtocol.setWorkNo(wrkNo);
			News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			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);
			//
			// staProtocol.setWorkNo(wrkNo);
			// News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			// wrkNo++;
			// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			// 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;
			// }
			// }
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
			if (wrkNo1 != 0){
			News.error(barcode + "条码已存在状态为（ 2.设备上走）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
			StaProtocol staProtocolNew = new StaProtocol();
			staProtocolNew.setWorkNo(wrkMast.getWrkNo());
			staProtocolNew.setStaNo(RouteUtils.SouStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
			staProtocolNew.setSiteId(staProtocol.getSiteId());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			staProtocolNew.setBarcode(barcode);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolNew));
			if (ledThread != null) {
			News.error(methodName + ":扫码失败，请重试");
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走）的任务,工作号="+ wrkMast.getWrkNo()));
			@@ -240,6 +255,8 @@
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast.getSourceStaNo()));
			staProtocol.setBarcode(barcode);

			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.info("输送线下发(存在设备上走的工作档，直接下发！))："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			@@ -250,10 +267,9 @@
			if (!result) {
			News.error(methodName + ":更新plc站点信息失败");
			log.error("输送线下发(存在设备上走的工作档，直接下发！)==>更新plc站点信息失败");

			// throw new CoolException("更新plc站点信息失败");
			continue;
			}
			continue;

			}
			WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
			@@ -294,38 +310,14 @@

			throw new CoolException("更新plc站点信息失败");
			}
			} else if (jsonObject.getInteger("code").equals(700)) {
			SearchLocParam param2 = new SearchLocParam();
			param2.setBarcode(barcode);
			param2.setBarcodeMat(barcodeMat);
			param2.setSourceStaNo(inSta.getStaNo());
			param2.setLocType1(locTypeDto.getLocType1());
			String response2 = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/yk/loc/v33")
			.setJson(JSON.toJSONString(param2))
			.build()
			.doPost();
			JSONObject jsonObject2 = JSON.parseObject(response2);
			if (jsonObject2.getInteger("code").equals(200)) {
			log.info("自动组托成功！！");
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "自动组托成功"));
			} else {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "自动组托失败！！！barcodeMat==>"+barcodeMat));
			News.error(methodName + "==>组托失败:请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/yk/loc/v33", JSON.toJSONString(param), response2);
			}
			try{
			Thread.sleep(500);
			} catch (Exception e){

			}
			} else {
			News.error(JSON.toJSONString(staProtocol));
			staProtocol.setWorkNo(wrkNo);
			wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//
			News.info("任务下发判断{}入库回退：{}，错误编号{},任务号：{}", inSta.getStaNo(), errMsg,jsonObject.getInteger("code"),wrkNo);
			wrkNo++;
			// if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			@@ -482,10 +474,9 @@
			if (Cools.isEmpty(staDesc)) {
			News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			staProtocol.setWorkNo(wrkNo++);
			staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
			staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()));
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发4："+9989+","+(pickSta.getStaNo().shortValue()-(short)1));
			//LED
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			// led 异常显示
			@@ -509,6 +500,14 @@
			Date now = new Date();
			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			if(wrkMast.getSourceStaNo() > 2000){
			switch (wrkMast.getCrnNo()){
			case 1: staNo = 2004;break;
			case 2: staNo = 2010;break;
			case 4: staNo = 2022;break;
			case 5: staNo = 2028;break;
			}
			}
			// 更新工作档数据状态
			wrkMast.setIoTime(now);
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			@@ -538,7 +537,7 @@

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo((short) 161);
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发5："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			@@ -738,15 +737,111 @@
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			WrkMast wrkMast9997 = wrkMastMapper.selectPakOutStep9997(staProtocol.getSiteId());
			WrkMast wrkMast9996 = wrkMastMapper.selectPakOutStep9996(staProtocol.getSiteId());

			if(crnSlave.getId() == 3 && wrkMast9997 != null){
			WrkMast wrkMast107 = wrkMastMapper.selectPakOutStep107(wrkMast9997.getBarcode());
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn,3);
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			continue;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo()== 9997
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
			log.info("堆垛机出库完成 - 开始执行");

			// 命令下发区 --------------------------------------------------------------------------

			// 下发站点信息
			staProtocol.setWorkNo(wrkMast107.getWrkNo());
			staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast107.getStaNo(),wrkMast107.getSourceStaNo()));
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发失败");
			continue;
			}else {
			log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发成功");
			}

			// 更新工作档状态为14失败
			wrkMast9997.setWrkSts(14L);
			wrkMast9997.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast9997) != 0) {
			// 复位堆垛机
			log.error("出库任务完成下发堆垛机复位,{}", wrkMast9997.getWrkNo());
			crnThread.setResetFlag(true);
			} else {
			News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast9997.getWrkNo());
			}

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！"
			+" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO
			+"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast9997.getWrkNo().shortValue()
			+"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
			+"、货叉位置："+crnProtocol.forkPosType+"==HOME：0 // 货叉原位：" + CrnForkPosType.HOME);
			}
			}
			if(crnSlave.getId() == 3 && wrkMast9996 != null){
			WrkMast wrkMast107 = wrkMastMapper.selectPakOutStep107(wrkMast9996.getBarcode());
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, 3);
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			continue;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo() == 9996
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
			log.info("堆垛机出库完成 - 开始执行");

			// 命令下发区 --------------------------------------------------------------------------

			// 下发站点信息
			staProtocol.setWorkNo(wrkMast107.getWrkNo());
			staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast107.getStaNo(),wrkMast107.getSourceStaNo()));
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发失败");
			continue;
			}else {
			log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发成功");
			}

			// 更新工作档状态为14失败
			wrkMast9996.setWrkSts(14L);
			wrkMast9996.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast9996) != 0) {
			// 复位堆垛机
			log.error("出库任务完成下发堆垛机复位,{}", wrkMast9996.getWrkNo());
			crnThread.setResetFlag(true);
			} else {
			News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast9996.getWrkNo());
			}

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！"
			+" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO
			+"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast9996.getWrkNo().shortValue()
			+"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
			+"、货叉位置："+crnProtocol.forkPosType+"==HOME：0 // 货叉原位：" + CrnForkPosType.HOME);
			}
			}
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
			if (wrkMast == null) {
			continue;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			if ((wrkMast.getIoType() != 12 && wrkMast.getIoType() < 100) \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			continue;
			}

			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			@@ -798,8 +893,121 @@
			}

			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			* 堆垛机任务衔接任务生成
			*/
			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);
			if (staProtocolIn == null) {
			continue;
			} else {
			staProtocolIn = staProtocolIn.clone();
			}
			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）
			if (staProtocolOut == null) {
			continue;
			} else {
			staProtocolOut = staProtocolOut.clone();
			}

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

			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/TransplantingOut/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();

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

			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			if(staProtocolIn.getWorkNo() != null && staProtocolIn.getStaNo() != 4001){
			WrkMast wrkMastCrn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo());
			if(wrkMastCrn!=null){
			if(wrkMastCrn.getCrnNo() == 3 ){
			continue;
			}
			}
			WrkMast wrkMastIn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo());
			WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9996);
			if(wrkMastIn == null){
			continue;
			}
			if(wrkMast != null){
			News.info("已存在斜街任务，等待任务完成");
			continue;
			}
			try {
			TransplantWork param = new TransplantWork();
			param.setWorkNo(wrkMastIn.getWrkNo());
			param.setBarcode(wrkMastIn.getBarcode());
			param.setSourceStaNo(4001);
			param.setStaNo(wrkMastIn.getStaNo());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/TransplantingIn/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			staProtocolIn.setWorkNo(9996);
			devpThread.setPakMk(staProtocolIn.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolIn));

			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			}

			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}

			}


			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			public synchronized void crnIoExecute(Integer mark) {

			for (CrnSlave crn : slaveProperties.getCrn()) {
			@@ -850,6 +1058,7 @@
			// 库位移转
			//mark - 3 - ....
			this.locToLoc(crn, crnProtocol,mark);
			//预调度
			// this.crnRebackHp(crnProtocol, crnThread);

			}
			@@ -860,23 +1069,22 @@
			* 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) {
			// for (CrnSlave crn : slaveProperties.getCrn()) {
			// // 获取堆垛机信息
			// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			// if (crnProtocol == null) {
			// continue;
			// }
			// BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			// if (basCrnp == null) {
			// log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			// continue;
			// }
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
			if (crnProtocol.getBay() == 1) {
			return;
			}
			int x=1;
			switch (crnProtocol.getCrnNo()){
			case 1: x =2; break;
			case 2: x =6; break;
			case 3: x =11; break;
			case 4: x =14; break;
			case 5: x =18; break;
			}

			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;
			@@ -888,7 +1096,7 @@
			}

			//输送线没有入库任务，过滤2
			if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
			if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) != null) {
			return;
			}
			News.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
			@@ -897,10 +1105,10 @@
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9999); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 回原点
			crnCommand.setSourcePosX((short) 0); // 源库位排
			crnCommand.setSourcePosY((short) 0); // 源库位列
			crnCommand.setSourcePosZ((short) 0); // 源库位层
			crnCommand.setTaskMode(CrnTaskModeType.X_MOVE); // 任务模式: 回原点
			crnCommand.setSourcePosX((short) x); // 源库位排
			crnCommand.setSourcePosY((short) 52); // 源库位列
			crnCommand.setSourcePosZ((short) 1); // 源库位层
			crnCommand.setDestinationPosX((short) 0); // 目标库位排
			crnCommand.setDestinationPosY((short) 0); // 目标库位列
			crnCommand.setDestinationPosZ((short) 0); // 目标库位层
			@@ -909,6 +1117,7 @@
			}
			crnThread.setBackHpFlag(true);
			}

			// }
			}

			@@ -934,7 +1143,7 @@
			News.error(""+mark+" - 1"+" - 2"+" - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			@@ -1037,18 +1246,6 @@
			News.error(""+mark+" - 1"+" - 16"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {

			// long startTime = System.currentTimeMillis();
			// while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
			//
			// if (true) {
			// break;
			// }
			//
			// try{
			// Thread.sleep(500);
			// }catch(Exception ignore){}
			// }

			// 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);
			@@ -1072,9 +1269,214 @@
			// 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());
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
			WrkMast wrkMast9997 = wrkMastMapper.selectByWrkNo9997(9997);
			WrkMast wrkMast9996 = wrkMastMapper.selectByWrkNo9997(9996);


			if (slave.getId() == 3 && wrkMast9997 != null) {
			SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol2 = devpThread1.getStation().get(1015);
			if (staProtocol2 == null) {
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
			break;
			} else {
			staProtocol2 = staProtocol2.clone();
			}
			SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol4004 = devpThread2.getStation().get(4004);
			if (staProtocol4004 == null) {
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol4004);
			break;
			} else {
			staProtocol4004 = staProtocol4004.clone();
			}
			StaProtocol staProtocol3 = devpThread2.getStation().get(2016);
			if (staProtocol3 == null) {
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
			break;
			} else {
			staProtocol3 = staProtocol3.clone();
			}
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			if(staProtocol2.isLoading() && staProtocol2.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}
			if(staProtocol4004.isLoading()){
			continue;
			}
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9997); // 工作号
			// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX((short) 9); // 源库位排
			crnCommand.setSourcePosY((short) 52); // 源库位列
			crnCommand.setSourcePosZ((short) 1); // 源库位层
			crnCommand.setDestinationPosX((short) 11); // 目标库位排
			crnCommand.setDestinationPosY((short) 52); // 目标库位列
			crnCommand.setDestinationPosZ((short) 3); // 目标库位层
			// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast9997.getCrnNo(), new Task(2, crnCommand))) {
			News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9997.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();
			wrkMast9997.setWrkSts(12L);
			wrkMast9997.setCrnStrTime(now);
			wrkMast9997.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast9997) == 0) {
			News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast9997.getWrkNo());
			}
			break;
			}
			}
			if(staProtocol3.isLoading() && staProtocol3.isAutoing()){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}
			if(staProtocol4004.isLoading()){
			continue;
			}
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9997); // 工作号
			// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX((short) 11); // 源库位排
			crnCommand.setSourcePosY((short) 52); // 源库位列
			crnCommand.setSourcePosZ((short) 2); // 源库位层
			crnCommand.setDestinationPosX((short) 11); // 目标库位排
			crnCommand.setDestinationPosY((short) 52); // 目标库位列
			crnCommand.setDestinationPosZ((short) 3); // 目标库位层
			// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast9997.getCrnNo(), new Task(2, crnCommand))) {
			News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9997.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();
			wrkMast9997.setWrkSts(12L);
			wrkMast9997.setCrnStrTime(now);
			wrkMast9997.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast9997) == 0) {
			News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast9997.getWrkNo());
			}
			break;
			}
			}
			}
			if (slave.getId() == 3 && wrkMast9996 != null) {
			SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);

			SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol4001 = devpThread2.getStation().get(4001);
			if (staProtocol4001 == null) {
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol4001);
			break;
			} else {
			staProtocol4001 = staProtocol4001.clone();
			}
			StaProtocol staProtocol2013 = devpThread2.getStation().get(2013);
			if (staProtocol2013 == null) {
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2013);
			break;
			} else {
			staProtocol2013 = staProtocol2013.clone();
			}
			StaProtocol staProtocol1019 = devpThread1.getStation().get(1019);
			if (staProtocol1019 == null) {
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol1019);
			break;
			} else {
			staProtocol1019 = staProtocol1019.clone();
			}
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			if(staProtocol4001.isLoading() && staProtocol4001.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}
			if(staProtocol1019.isLoading() && wrkMast9996.getStaNo() < 2000){
			continue;
			}
			if(staProtocol2013.isLoading() && wrkMast9996.getStaNo() > 2000){
			continue;
			}
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9996); // 工作号
			// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX((short) 9); // 源库位排
			crnCommand.setSourcePosY((short) 52); // 源库位列
			crnCommand.setSourcePosZ((short) 3); // 源库位层
			if(wrkMast9996.getStaNo()>2000){
			crnCommand.setDestinationPosX((short) 9); // 目标库位排
			crnCommand.setDestinationPosY((short) 52); // 目标库位列
			crnCommand.setDestinationPosZ((short) 2); // 目标库位层
			}else{
			crnCommand.setDestinationPosX((short) 11); // 目标库位排
			crnCommand.setDestinationPosY((short) 52); // 目标库位列
			crnCommand.setDestinationPosZ((short) 1); // 目标库位层
			}
			// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast9996.getCrnNo(), new Task(2, crnCommand))) {
			News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9996.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();
			wrkMast9996.setWrkSts(12L);
			wrkMast9996.setCrnStrTime(now);
			wrkMast9996.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast9996) == 0) {
			News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast9996.getWrkNo());
			}
			break;
			}
			}
			}
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast == null) {
			continue;
			}
			if (wrkMast.getIoType() == 107){
			int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("io_type", wrkMast.getIoType()).eq("wrk_sts", 14));
			if (count >= inventoryNumber) {
			continue;
			}
			}
			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null) {
			@@ -1113,16 +1515,16 @@
			// continue;
			}
			// 判断堆垛机出库站状态
			// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {

			if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") && !staProtocol.isLoading()
			) {
			if (slave.getId() == 1 \|\| slave.getId() == 2){
			if (staProtocol.isLoading() \|\| staProtocol.getWorkNo() != 0 \|\| !staProtocol.isOutEnable()){
			continue;
			}
			}
			// if (slave.getId() == 1 \|\| slave.getId() == 2){
			// if (staProtocol.isLoading() \|\| staProtocol.getWorkNo() != 0 \|\| !staProtocol.isOutEnable()){
			// continue;
			// }
			// }
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			@@ -1254,90 +1656,6 @@
			//
			//// // 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) {
			// 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());
			// 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());
			// }
			// }
			// }
			// }
			// }

			/**
			* 库位移转
			@@ -1430,14 +1748,52 @@
			if (crnProtocol == null) {
			continue;
			}
			// 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());
			if(crnProtocol.getTaskNo() == 9999){
			// 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);
			}
			}
			// else if (crnProtocol.getTaskNo() == 9996) {//盘点入库衔接
			// // 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());
			//
			// // 获取入库待确认工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			// // 入库 + 库位转移 ==> 4.入库完成
			// if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			// wrkMast.setWrkSts(4L);
			// } else {
			// continue;
			// }
			// Date now = new Date();
			// wrkMast.setCrnEndTime(now);
			// wrkMast.setModiTime(now);
			// // 修改成功后复位堆垛机
			// if (wrkMastMapper.updateById(wrkMast) > 0) {
			// // 堆垛机复位
			// log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo());
			// News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
			// crnThread.setResetFlag(true);
			// }
			// }
			// }
			else{
			// 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());

			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			News.error(""+mark+" - 1"+" - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			if (wrkMast == null ) {
			News.error("" + mark + " - 1" + " - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			continue;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			@@ -1452,16 +1808,19 @@
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			log.error(wrkMast.getWrkNo()+"任务修改状态4成功，复位堆垛机={}",crnThread.getCrnProtocol().getCrnNo());
			News.warnNoLog(""+mark+" - 2"+" - 修改成功后复位堆垛机 : 堆垛机号={}",crnThread.getCrnProtocol().getCrnNo());
			log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo());
			News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
			crnThread.setResetFlag(true);
			}
			}
			}



			}
			// News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成");
			}


			/**
			* 堆垛机异常信息记录
			@@ -1720,7 +2079,12 @@
			}
			// 获取工作档数据
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			if (null == wrkMast) { continue; }
			if (null == wrkMast) {
			if(staProtocol.getWorkNo() > 9999){ //异常退出
			MessageQueue.offer(SlaveType.Led, 2, new Task(3, "异常退出"));
			}
			continue;
			}
			wrkMasts.add(wrkMast);
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			@@ -1733,6 +2097,12 @@
			break;
			case 10:
			ledCommand.setTitle("空板入库");
			break;
			case 12:
			ledCommand.setTitle("物料衔接");
			break;
			case 57:
			ledCommand.setTitle("盘点再入库");
			break;
			case 101:
			ledCommand.setTitle("全板出库");
			@@ -1757,6 +2127,20 @@
			ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			ledCommand.setStaNo(wrkMast.getStaNo());
			ledCommand.setBarcode(wrkMast.getBarcode());
			if(wrkMast.getIoType() == 12){
			List<WrkDetl> wrkDetls = wrkDetlService.findByBarcode(wrkMast.getBarcode());
			wrkDetls.forEach(wrkDetl -> {
			Double total = 0.0;
			EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
			LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
			if (Cools.isEmpty(locDetl)) {
			total = wrkDetl.getAnfme();
			} else {
			total = locDetl.getAnfme();
			}
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
			});
			}
			if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());

			@@ -1770,13 +2154,13 @@
			total = locDetl.getAnfme();
			}
			if (wrkMast.getIoType() == 101 \|\| wrkMast.getIoType() == 1) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
			}
			if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() \|\| 0 == wrkDetl.getInspect())) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
			}
			if (wrkMast.getIoType() == 107) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
			}
			});
			}
			@@ -1846,6 +2230,9 @@
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
			News.error("{}号LED显示默认命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			}
			// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
			// News.error("{}号LED显示默认命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			// }
			}
			}
			}
			@@ -2053,157 +2440,6 @@
			}

			/**
			* 堆垛机演示 ===>> 库位移转
			*/
			public synchronized void crnDemoOfLocMove1() {
			try {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			if (!crn.getDemo()) {
			continue;
			} // 必须为演示状态

			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}

			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 获取移库工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
			if (null != wrkMast) {
			continue;
			}

			LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
			LocMast loc = locMastService.queryDemoLoc(crn.getId());
			if (null == sourceLoc \|\| null == loc) {
			continue;
			}

			String sourceLocNo = sourceLoc.getLocNo();
			String locNo = loc.getLocNo();

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(sourceLocNo); // 源库位
			wrkMast.setLocNo(locNo); // 目标库位
			wrkMast.setFullPlt("N"); // 满板：Y
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
			// for (LocDetl locDetl : locDetls) {
			// WrkDetl wrkDetl = new WrkDetl();
			// wrkDetl.setWrkNo(workNo);
			// wrkDetl.setIoTime(new Date());
			// wrkDetl.setAnfme(locDetl.getAnfme());
			// VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			// wrkDetl.setAppeTime(new Date());
			// wrkDetl.setModiTime(new Date());
			// if (!wrkDetlService.insert(wrkDetl)) {
			// throw new CoolException("保存工作档明细失败");
			// }
			// }
			// 修改源库位状态
			if (sourceLoc.getLocSts().equals("D")) {
			sourceLoc.setLocSts("R"); // R.出库预约
			sourceLoc.setModiTime(new Date());
			if (!locMastService.updateById(sourceLoc)) {
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			throw new CoolException("移转失败");
			}

			}
			}
			} catch (Exception e) {
			News.error("堆垛机演示 ===>> 库位移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			/**
			* 堆垛机命令下发后，异步修改工作档状态
			*/
			public synchronized void crnIoWrkMast() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			Date now = new Date();
			// 堆垛机正在运行
			if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 获取工作档
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			// 入库
			if (wrkMast.getWrkSts() == 1 \|\| wrkMast.getWrkSts() == 2) {
			News.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.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());
			}
			News.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			}
			// 出库、移库
			if (wrkMast.getWrkSts() == 11) {
			News.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.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());
			}
			News.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			}


			}

			}
			}

			/**
			* 入出库模式切换函数
			*/
			public synchronized void ioConvert() {
			@@ -2279,817 +2515,6 @@
			News.error(""+mark+" - 1"+" - 修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
			}
			}
			}
			// News.infoNoLog(""+mark+" - 0"+" - outOfDevp执行完成");
			}


			public synchronized void autoEmptyOut() {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			List<Integer> list = new ArrayList<>();
			list.add(101);list.add(112);
			Map<Integer,Integer> map = new HashMap<>();
			map.put(101,102);map.put(112,111);
			for (Integer site:list){
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", map.get(site)));
			if (!Cools.isEmpty(wrkMast)){
			continue;
			}
			//如果站点可出禁用，则不生成空盘出库任务
			StaProtocol staProtocol = devpThread.getStation().get(site);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() //自动
			&& !staProtocol.isLoading() //无物
			&& staProtocol.isOutEnable() //可出信号
			&& staProtocol.getWorkNo() == 0
			) {
			WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(site);
			if (null != pakoutEmpty) {
			return;
			}
			Short loctype1 = 1;
			if (site == 101){
			loctype1 = 2;
			}
			LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
			locTypeDto.setSiteId(site);
			try {
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/emptyOut/v1")
			.setJson(JSON.toJSONString(locTypeDto))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			String data = jsonObject.get("data").toString();
			News.info((String) jsonObject.get("msg")+","+data);
			} else {
			News.warnNoLog("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}

			}

			public synchronized void autoEmptyIn() {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			List<Integer> list = new ArrayList<>();
			list.add(153);list.add(157);
			for (Integer site:list){
			StaProtocol staProtocol = devpThread.getStation().get(site);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() //自动
			&& staProtocol.isLoading() //有物
			&& staProtocol.isInEnable() //可入信号
			&& staProtocol.isPakMk()
			&& (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990) //工作号为0或者工作号是9991~9999（输送机留用）
			) {

			try {
			Short loctype1 = 1;
			if (site == 153){
			loctype1 = 2;
			}
			LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
			locTypeDto.setSiteId(site);

			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/emptyIn/v1")
			.setJson(JSON.toJSONString(locTypeDto))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			News.info((String) jsonObject.get("msg"));
			staProtocol.setWorkNo(jsonObject.get("data").hashCode());
			staProtocol.setStaNo(site.shortValue());
			devpThread.setPakMk(site,false);
			MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			} else {
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			}

			}

			/*
			* 小车地图更新更新锁
			* */
			public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd,String sign){
			// log.info("小车地图更新！[标记：{}];[BasRgvMap：{}];[staStart：{}];[staEnd：{}];",sign,JSON.toJSONString(basRgvMapCurrent),staStart,staEnd);

			// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
			//更新当前小车锁
			try{
			Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
			// log.info("小车地图更新！获取最远站点;[farCurrentStaNo：{}]",farCurrentStaNo);
			Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
			// log.info("小车地图更新！获取合并干涉项;[fallMerge：{}]",fallMerge);
			basRgvMapCurrent.setLockEndRoute(fallMerge);
			Integer i = basRgvMapMapper.updateById(basRgvMapCurrent);
			// if (i>0){
			// log.error("{}:==>{}:{}号车更新结束锁,{}",sign,new Date(),basRgvMapCurrent.getRgvNo(),JSON.toJSONString(basRgvMapCurrent));
			// }

			//更新另一台小车地图
			Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther(basRgvMapCurrent.getRgvNo());
			// log.info("小车地图更新！另一台小车号;[rgvNoOther：{}]",rgvNoOther);

			BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
			// log.info("小车地图更新！另一台小车;[basRgvMapOther：{}]",JSON.toJSONString(basRgvMapOther));

			List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
			Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//另一台小车可活动最远位置
			// log.info("小车地图更新！另一台小车可活动最远位置;[lockEndRoute：{}]",lockEndRoute);
			basRgvMapOther.setEndRoute(lockEndRoute);
			Integer i1 = basRgvMapMapper.updateById(basRgvMapOther);
			// if (i1>0){
			// log.error("{}:==>{}:{}号车更新结束位置,{}",sign,new Date(),basRgvMapOther.getRgvNo(),JSON.toJSONString(basRgvMapOther));
			// }
			return true;
			}catch (Exception e){
			log.error("小车地图更新出错！异常原因："+e);
			return false;
			}
			}

			/*
			* 刷新地图数据
			* */
			public synchronized void refreshRgvMap() {
			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！2", rgvSlave.getRgvNo());
			continue;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE &&
			rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			&& (rgvProtocol.getTaskNo1()==0)
			&&rgvThread.isPakMk()
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

			Integer rgvNoOther = basRgvMap.getRgvNoOther(rgvProtocol.getRgvNo());
			RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNoOther);
			RgvProtocol rgvProtocolOther = rgvThreadOther.getRgvProtocol();
			if (rgvProtocolOther == null) {
			continue;
			}else {
			rgvProtocolOther = rgvProtocolOther.clone();
			}
			if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocolOther.getModeType() == RgvModeType.AUTO
			&& rgvProtocolOther.getLoaded1()==0
			&& (rgvProtocolOther.getTaskNo1()==0)
			&&rgvThreadOther.isPakMk()
			){
			//对工作档进行判断
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			if (rgvProtocol.getTaskNo1() >0 && rgvProtocol.getTaskNo1()<=9000){
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
			rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2366");
			}else if (rgvProtocol.getTaskNo1() == 0){
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2366");
			}

			}



			}
			}
			}catch (Exception e){
			log.error("4109行执行小车初始化任务下发失败");
			log.error("4109行"+e);
			}
			}


			/**
			* 完成小车任务
			*/
			public synchronized void rgvCompleteWrkMastSta() {
			try{
			for (DevpSlave devp : slaveProperties.getDevp()) {
			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！3", rgvSlave.getRgvNo());
			continue;
			}

			// 只有当RGV等待WCS确认、自动
			if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING \|\| rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
			){
			log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
			if (rgvProtocol.getTaskNo1()!=0){
			if (rgvProtocol.getTaskNo1()==32222){
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2415");
			rgvThread.setPakMk(true);
			break;
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
			if (Cools.isEmpty(wrkMastSta) \|\| wrkMastSta.getWrkSts()!=1){
			log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
			continue;
			}

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast)){
			if (!staProtocol.isPakMk()){
			continue;
			}
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			log.error("rgv任务完成给输送线下发命令："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
			continue;
			}
			}else {
			log.error("rgv任务完成给输送线下发命令,但未查询到工作档");
			// 下发站点信息
			Map<Integer,Integer> map = new HashMap<>();
			map.put(101,102);map.put(112,111);
			map.put(100,100);
			staProtocol.setWorkNo(rgvProtocol.getTaskNo1().intValue());
			staProtocol.setStaNo(map.get(rgvProtocol.getRgvPosI()).shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			// log.error("rgv任务完成给输送线下发命令："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
			continue;
			}
			}
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			// boolean rgvComplete = true;
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
			wrkMast1.setPdcType("Y");

			wrkMastService.updateById(wrkMast1);

			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
			rgvThread.setPakMk(true);
			}

			else {
			log.error("小车复位失败，小车号{},等待wcs确认但是没有工作号！",rgvProtocol.getRgvNo());
			}
			}
			}
			}
			}catch (Exception e){
			log.error("小车复位线程报错！"+e);
			}
			}
			/**
			* 执行小车搬运任务
			*/
			public synchronized boolean rgvRunWrkMastFullSta() {
			boolean wrkEnable = false;
			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
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0
			&& rgvProtocol.getTaskNo1() == 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
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=0 \|\| wrkMastSta.getWrkType()!=3 \|\| wrkMastSta.getWrkSts()!=0){//1:满版 3：取放
			continue;
			}
			//判断工作结束位置状态
			boolean signDev = false;
			BasDevp devNo = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", wrkMastSta.getStaEnd()));
			if (devNo.getDevNo()==113){
			BasDevp devNo114 = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", 114));
			if (!Cools.isEmpty(devNo114)){
			if (devNo114.getOutEnable().equals("Y")){
			signDev = true;
			}
			}
			}
			if (!Cools.isEmpty(devNo)){
			if (devNo.getAutoing().equals("Y") && !devNo.getWrkNo().equals(0) && !devNo.getLoading().equals("N")){
			continue;
			}
			if (!signDev && devNo.getDevNo()==113){
			if (!devNo.getAutoing().equals("Y") \|\| !devNo.getWrkNo().equals(0) \|\| !devNo.getLoading().equals("N")){
			wrkEnable = true;
			continue;
			}
			if (!devNo.getOutEnable().equals("Y")){
			wrkEnable = true;
			continue;
			}
			}
			}
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			wrkEnable = true;
			if (sign){
			wrkMastSta.setWrkSts(1);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			rgvThread.setPakMk(false);
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
			if (signMap){
			return wrkEnable;
			// break;
			}else {
			log.error("3864行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			Thread.sleep(500);
			}
			} else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			Thread.sleep(500);
			}
			break;
			}
			}

			}
			// if (!wrkEnable){
			// rgvRunWrkMastEmptyStaAvoidance();
			// }
			}catch (Exception e){
			log.error("3875行执行小车搬运任务下发失败");
			log.error("3875行"+e);
			}
			return wrkEnable;
			}
			/**
			* 执行小车搬运任务
			*/
			// public synchronized void rgvRunWrkMastEmptyStaPut() {//放
			// try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// if (rgvProtocol == null) {
			// continue;
			// }
			// BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			// if (basRgv == null) {
			// log.error("{}号RGV尚未在数据库进行维护！5", rgvSlave.getId());
			// continue;
			// }
			//
			// // 只有当RGV空闲、自动,工位二有物//rgv可用
			// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// && rgvProtocol.getLoaded1()==1 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			// ) {
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// if (basRgvMap == null) {
			// log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			// continue;
			// }
			// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
			// for (WrkMastSta wrkMastSta : wrkMastStaList){
			// if (wrkMastSta.getType()!=2 \|\| (wrkMastSta.getWrkType()!=2 && wrkMastSta.getWrkType()!=4)){// 2:空板 2:放 4：拆盘
			// continue;
			// }
			// boolean sign = false;
			// if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//放
			// sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
			// }else {
			// continue;
			// }
			// if (sign){
			// boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
			// if (signMap){
			// wrkMastSta.setWrkSts(2);
			// try{
			// wrkMastStaMapper.updateById(wrkMastSta);
			// }catch (Exception e){
			// log.error("更新小车任务失败");
			// }
			// return;
			// }else {
			// log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			// }
			// }else {
			// log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			// }
			// break;
			// }
			// }
			// }
			// }catch (Exception e){
			// log.error("3933行执行小车放空板任务下发失败");
			// log.error("3933行"+e);
			// }
			// }

			// public synchronized void rgvRunWrkMastEmptyStaTake() {//取
			// try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// if (rgvProtocol == null) {
			// continue;
			// }
			// BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			// if (basRgv == null) {
			// log.error("{}号RGV尚未在数据库进行维护！6", rgvSlave.getId());
			// continue;
			// }
			//
			// // 只有当RGV空闲、自动,工位二无物//rgv可用
			// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// && rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			// ) {
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// if (basRgvMap == null) {
			// log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			// continue;
			// }
			// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			// for (WrkMastSta wrkMastSta : wrkMastStaList){
			// if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=1){// 2:空板 1:取
			// continue;
			// }
			// boolean sign = false;
			// if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//取
			// sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
			// } else {
			// continue;
			// }
			// if (sign){
			// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
			// if (signMap){
			// wrkMastSta.setWrkSts(1);
			// try{
			// wrkMastStaMapper.updateById(wrkMastSta);
			// }catch (Exception e){
			// log.error("更新小车任务失败");
			// }
			// return;
			// }else {
			// log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			// }
			// }else {
			// log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			// }
			// break;
			// }
			// }
			// }
			// }catch (Exception e){
			// log.error("3989行执行小车取空板任务下发失败");
			// log.error("3989行"+e);
			// }
			// }

			/*
			* 有任务但未执行此时需要调整小车位置
			* */
			public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
			try{
			Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
			if (integer==0){
			return;
			}
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			for (BasRgvMap rgvSlave:basRgvMaps) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			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！1", rgvSlave.getRgvNo());
			continue;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			&& rgvProtocol.getTaskNo1()==0
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvThread.isPakMk()
			// && rgvProtocol.getTaskNo2()==0
			){
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			continue;
			}
			// if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
			// continue;
			// } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157) ){
			// continue;
			// }
			rgvAvoidanceXY(rgvProtocol.getRgvNo());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
			}
			}
			}catch (Exception e){
			log.error("4109行执行小车初始化任务下发失败");
			log.error("4109行"+e);
			}
			}

			/*
			* 小车XY移动避让
			* */
			public synchronized boolean rgvAvoidanceXY(Integer rgvId){
			BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo(rgvId);
			if (basRgvMap.getStartRoute() == 100 \|\| basRgvMap.getStartRoute() == 101){
			try{

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

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

			}
			}
			}


			/*
			* 小车取货至工位任务
			* */
			public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货
			rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //工位1起点
			rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			}

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

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

			/*
			* 小车取空板至工位任务
			* */
			// public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
			// try{
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgvId); // RGV编号
			// rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			// rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
			// rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式: 取货
			// rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //工位2起点
			// rgvCommand.setCommand((short) 2); //工位2任务确认
			// if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(5, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }catch (Exception e){
			// return false;
			// }
			// }

			/*
			* 小车放空板至输送线任务
			* */
			// public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
			// try{
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgvId); // RGV编号
			// rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			// rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
			// rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式: 放货
			// rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //工位2目标站点
			// rgvCommand.setCommand((short) 2); //工位2任务确认
			// if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(5, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			// return false;
			// } else {
			// return true;
			// }
			// }catch (Exception e){
			// return false;
			// }
			// }

			/*
			* 小车复位
			* */
			public synchronized boolean rgvComplete(Integer rgvId){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new 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={}",rgvId);
			return false;
			} else {
			log.info("RGV命令下发成功，RGV号={}",rgvId);
			return true;
			}
			}catch (Exception e){
			log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
			return false;
			}
			}