zy-wcs.git - Gitblit

			@@ -6,14 +6,12 @@
			import com.baomidou.mybatisplus.mapper.Wrapper;
			import com.core.common.Cools;
			import com.core.common.DateUtils;
			import com.core.common.R;
			import com.core.exception.CoolException;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.CodeDetectionUtil;
			import com.zy.asrs.utils.RouteUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.VersionUtils;
			import com.zy.asrs.utils.*;
			import com.zy.common.model.LocTypeDto;
			import com.zy.common.model.MatDto;
			import com.zy.common.model.SearchLocParam;
			@@ -25,18 +23,14 @@
			import com.zy.common.utils.RgvUtils;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			import com.zy.core.Slave;
			import com.zy.core.cache.MessageQueue;
			import com.zy.core.cache.SlaveConnection;
			import com.zy.core.enums.*;
			import com.zy.core.model.*;
			import com.zy.core.model.command.CrnCommand;
			import com.zy.core.model.command.LedCommand;
			import com.zy.core.model.command.RgvCommand;
			import com.zy.core.model.command.*;
			import com.zy.core.model.cpmmandParam.CrnCommandParam;
			import com.zy.core.model.protocol.CrnProtocol;
			import com.zy.core.model.protocol.JarProtocol;
			import com.zy.core.model.protocol.RgvProtocol;
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.model.protocol.*;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.*;
			import lombok.extern.slf4j.Slf4j;
			@@ -61,6 +55,8 @@
			public class MainServiceImpl {

			public static final long COMMAND_TIMEOUT = 5 * 1000;
			// private static final int[][] execute = new int[][]{{1,4},{2,4},{3,4},{4,4},{5,6},{6,6},{7,4},{8,4},{9,3},{10,4},{11,4}};
			private static final int[][] execute = new int[][]{{1,4},{2,4},{3,4},{4,4},{5,6},{6,6},{7,4},{8,4},{9,3},{10,4},{11,4}};

			@Autowired
			private CommonService commonService;
			@@ -1169,6 +1165,7 @@
			}
			return false;
			}

			public synchronized boolean crnStnToOutStnTwo(CrnSlave.CrnStn crnStn ,Integer conStation) {
			try{
			Date now = new Date();
			@@ -1290,6 +1287,7 @@
			}
			return false;
			}

			public synchronized boolean crnStnToOutStnThree(CrnSlave.CrnStn crnStn ) {
			try{
			// 获取堆垛机出库站信息
			@@ -1677,7 +1675,7 @@
			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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {

			// long startTime = System.currentTimeMillis();
			@@ -1849,7 +1847,7 @@
			crnCommand.setDestinationPosY((short)0); // 目标库位列
			crnCommand.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, 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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			@@ -1990,7 +1988,7 @@
			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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			@@ -2147,7 +2145,7 @@
			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(crnStation==1? 2:5, 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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			@@ -2282,7 +2280,7 @@
			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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(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();
			@@ -2448,7 +2446,7 @@
			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(crnStation==1? 2:5, 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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(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();
			@@ -2568,7 +2566,7 @@
			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, wrkMastCrn.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastCrn.getCrnNo(), JSON.toJSON(crnCommand));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastCrn.getCrnNo(), JSON.toJSONString(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();
			@@ -2769,7 +2767,7 @@
			crnCommand.setDestinationPosY((short)0); // 目标库位列
			crnCommand.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, 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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(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();
			@@ -2813,7 +2811,7 @@
			// crnCommand.setDestinationPosY((short)0); // 目标库位列
			// crnCommand.setDestinationPosZ((short)0); // 目标库位层
			// if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, 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));
			// log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(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();
			@@ -2901,7 +2899,7 @@
			crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(sta.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));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(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();
			@@ -2940,6 +2938,7 @@
			}
			}
			}

			public synchronized boolean storeFinishedExecuteOne(CrnSlave crn) {
			try{
			// 获取堆垛机信息
			@@ -3005,6 +3004,7 @@
			}
			return false;
			}

			public synchronized boolean storeFinishedExecuteTwo(CrnSlave crn) {
			try{
			// 获取堆垛机信息
			@@ -3096,6 +3096,7 @@
			}
			return false;
			}

			public synchronized boolean storeFinishedExecuteThree(CrnSlave crn) {
			try{
			// 获取堆垛机信息
			@@ -3615,6 +3616,7 @@
			}
			}
			}

			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			@@ -4375,7 +4377,7 @@
			crnCommand.setDestinationPosY((short)0); // 目标库位列
			crnCommand.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSON(crnCommand));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSONString(crnCommand));
			return false;
			} else {
			return true;
			@@ -4404,7 +4406,7 @@
			crnCommand.setDestinationPosY(wrkMastSplitTwin.getEndBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(wrkMastSplitTwin.getEndLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSON(crnCommand));
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSONString(crnCommand));
			return false;
			} else {
			return true;
			@@ -4415,12 +4417,15 @@
			}

			/**
			* Jar任务创建 //完成
			* Jar任务创建初始 //完成
			*/
			public synchronized void jarMastGenerate() {
			for (JarSlave jarSlave : slaveProperties.getJar()) {
			if (jarSlave.getId()>4){
			continue;
			}
			try{
			if (wrkMastExecuteService.getWrkMastByJarIdCount(jarSlave.getId())!=0){
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			continue;
			}
			for(JarSlave.StaStn staStn : jarSlave.getJarInSta()){
			@@ -4438,7 +4443,6 @@
			break;
			}
			if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),3)!=0){
			// log.error("{}号小车",jarSlave.getJarOtherId());
			break;
			}
			if (basJarMastService.getJarMastByJarIdCount(jarSlave.getId())>=14){
			@@ -4476,15 +4480,16 @@
			if (!Cools.isEmpty(basJarMast)){
			continue;
			}
			WrkMastExecute wrkMastExecute = wrkMastExecuteService.getWrkMastByWrkNo(wrkMast.getWrkNo().longValue());
			WrkMastExecute wrkMastExecute = wrkMastExecuteService.getWrkMastExecuteByWrkNo(wrkMast.getWrkNo().longValue());
			if (!Cools.isEmpty(wrkMastExecute)){
			continue;
			}
			log.error("Jar任务创建初始===>行={}",4484);
			if (jarMastGenerateExecute(jarSlave,wrkMast,jarLocDigit,staStn.getStaNo())){
			return;
			}
			}catch (Exception e){
			log.error(jarSlave.getId()+"号小车复位线程报错！"+e);
			log.error(jarSlave.getId()+"号硫化罐Jar任务创建异常！"+e);
			}
			break;
			}
			@@ -4509,6 +4514,14 @@
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}

			JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
			JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
			@@ -4524,16 +4537,15 @@
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			if (basJar.getJarMode()!=1 && basJar.getJarMode()!=0){
			if (basJar.getJarMode()!=2){
			return false;
			}

			//自动、空闲、右门关闭、 Other左门关闭
			if (jarProtocol.isAutoing() && !jarProtocol.isRightDoor() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0
			&& !jarOtherProtocol.isLeftDoor() && jarOtherProtocol.leftDoorOpen==0 && jarOtherProtocol.leftDoorClose==0){
			if (jarProtocol.statusType == JarStatusType.IDLE \|\| jarProtocol.statusType == JarStatusType.MOVING){
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			if (jarProtocol.statusType != JarStatusType.SOS){
			log.error("Jar任务创建===》执行===>行={}",4537);
			BasJarMast basJarMast = new BasJarMast(basJar, wrkMast, jarLocDigit);
			basJarMast.setJarEnterStaNo(staNo);//入硫化罐站点
			basJarMastService.insert(basJarMast);
			@@ -4548,35 +4560,36 @@
			}

			/**
			* Jar任务完成 //未完成
			* Jar任务完成 //完成
			*/
			public synchronized boolean jarMastGenerateComplete(JarSlave jarSlave) {
			public synchronized boolean jarMastGenerateComplete() {
			try{
			// 获取堆垛机信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
			JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
			if (jarOtherProtocol == null) {
			return false;
			}
			if (jarOtherProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			//自动、空闲、右门关闭、
			if (jarProtocol.isAutoing() && !jarProtocol.isRightDoor() && jarProtocol.jarErr==0 && !jarOtherProtocol.isLeftDoor() && jarOtherProtocol.jarErr==0){

			for (int[] ex : execute){
			try{
			WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
			wrkMastExecuteSou.setIoType(ex[0]);
			wrkMastExecuteSou.setWrkSts(ex[1]);
			wrkMastExecuteSou.setWrkType(1);
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			log.error("Jar任务完成===>行={}",4564);
			BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
			jarMastByWrkNo.setStatus(jarMastByWrkNo.getStatusComplete());
			if (!basJarMastService.updateById(jarMastByWrkNo)){
			log.error("硫化区域分段任务完成异常,BasJarMast={},异常信息={}",JSON.toJSONString(jarMastByWrkNo),"更新basJarMast失败");
			}
			wrkMastExecute.setWrkSts(wrkMastExecute.getWrkStsComplete());
			wrkMastExecute.setWrkType(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化区域分段任务完成异常,wrkMastExecute={},异常信息={}",JSON.toJSONString(wrkMastExecute),"更新wrkMastExecute失败");
			}
			}
			}catch (Exception e){
			log.error("硫化区域分段任务完成异常,execute={},异常信息={}",JSON.toJSONString(ex),e.getMessage());
			}
			}
			} catch (Exception e){
			// log.error("堆垛机工位二完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),2);
			log.error("硫化区域分段任务完成异常,异常信息={}",e.getMessage());
			}
			return false;
			}
			@@ -4585,9 +4598,33 @@
			* JarWrkMastExecute任务创建 //完成
			*/
			public synchronized void jarWrkMastExecuteGenerate(Integer sign) {
			try{
			boolean[] signExecute = new boolean[]{false,false};
			switch (sign){
			case 1:
			case 2:
			case 3:
			case 4:
			signExecute = jarWrkMastExecuteGenerateJar(signExecute,sign);//硫化罐任务
			case 5:
			signExecute = jarWrkMastExecuteGenerateBurial(signExecute, sign);//冷却槽取输送线
			default:
			jarWrkMastExecuteGenerateSte(signExecute,sign);//小车移动
			}
			if (!signExecute[0] && !signExecute[1]){
			//Ste移动
			jarMastMove();
			}
			} catch (Exception e){
			log.error("硫化区域分段任务创建异常,异常信息={}",e.getMessage());
			}
			}

			public synchronized boolean[] jarWrkMastExecuteGenerateJar(boolean[] signExecute,Integer sign) {
			for (JarSlave jarSlave : slaveProperties.getJar()) {
			int i = jarSlave.getId()>2? 1:0;
			try{
			if (wrkMastExecuteService.getWrkMastByJarIdCount(jarSlave.getId())!=0){
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			continue;
			}

			@@ -4595,16 +4632,20 @@
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			break;
			continue;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			break;
			continue;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			continue;
			}

			JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
			JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
			if (jarOtherProtocol == null) {
			break;
			continue;
			}
			// if (jarOtherProtocol.modeType != JarModeType.AUTO){
			// continue;
			@@ -4613,29 +4654,152 @@
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			break;
			continue;
			}

			//门作业无
			//自动、空闲、右门关闭、 Other左门关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			switch (sign){
			case 0:
			case 2:
			case 1:
			if (jarWrkMastExecuteGenerate1(jarSlave,sign)){
			break;
			signExecute[i] = true;
			break;//开门任务生成入硫化罐任务
			}
			case 2:
			if (jarWrkMastExecuteGenerate2(jarSlave,sign)){
			signExecute[i] = true;
			break;//关进料门
			}
			case 3:
			// if (jarWrkMastExecuteGenerate2(jarSlave,sign)){
			// break;
			// }
			if (jarWrkMastExecuteGenerate3(jarSlave,sign)){
			signExecute[i] = true;
			break;//开出料门
			}
			case 4:
			if (jarWrkMastExecuteGenerate4(jarSlave,sign)){
			signExecute[i] = true;
			break;//出硫化罐 ===》入冷却槽
			}
			}
			}
			} catch (Exception e){
			log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			}
			}
			return signExecute;
			}

			public synchronized boolean[] jarWrkMastExecuteGenerateBurial(boolean[] signExecute,Integer sign) {
			for (JarSlave jarSlave : slaveProperties.getJar()) {
			if (jarSlave.getId()<5){
			continue;
			}
			try{
			if (signExecute[jarSlave.getId()-5]){
			continue;
			}
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			signExecute[jarSlave.getId()-5] = true;
			continue;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			signExecute[jarSlave.getId()-5] = true;
			continue;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			signExecute[jarSlave.getId()-5] = true;
			continue;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			continue;
			}

			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			continue;
			}
			//门作业无
			//自动、空闲、右门关闭、 Other左门关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0){
			if (jarWrkMastExecuteGenerate5(jarSlave,sign)){
			signExecute[jarSlave.getId()-5] = true;
			//出硫化罐 ===》入冷却槽
			}
			return signExecute;
			}
			} catch (Exception e){
			log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			}
			}
			return signExecute;
			}

			public synchronized boolean[] jarWrkMastExecuteGenerateSte(boolean[] signExecute,Integer sign) {
			for (JarSlave jarSlave : slaveProperties.getJar()) {
			if (jarSlave.getId()<5){
			continue;
			}
			try{
			if (signExecute[jarSlave.getId()-5]){
			continue;
			}
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			continue;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			continue;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			continue;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			continue;
			}

			JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
			JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
			if (jarOtherProtocol == null) {
			continue;
			}
			// if (jarOtherProtocol.modeType != JarModeType.AUTO){
			// continue;
			// }

			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			continue;
			}
			//门作业无
			//自动、空闲、右门关闭、 Other左门关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			switch (sign){
			case 5:
			if (jarWrkMastExecuteGenerate5(jarSlave,sign)){
			signExecute[jarSlave.getId()-5] = true;
			break;//出硫化罐 ===》入冷却槽
			}
			}
			}
			} catch (Exception e){
			log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			}
			}
			return signExecute;
			}

			/**
			@@ -4645,62 +4809,107 @@
			*/
			public synchronized boolean jarWrkMastExecuteGenerate1(JarSlave jarSlave,Integer sign) {
			try{
			if (wrkMastExecuteService.getWrkMastByJarIdCount(jarSlave.getId())!=0){
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			return false;
			}
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
			add(0);
			add(2);
			}});
			for (BasJarMast basJarMast : basJarMastList){
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
			JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
			if (jarOtherProtocol == null) {
			return false;
			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarInSte().get(0).getSteNo(),1,SteStatusType.IDLE)){
			// return false;
			// }

			for (BasJarMast basJarMast : basJarMastList){
			JarSlave.StaStn staStn = null;
			for (JarSlave.StaStn staStn1 : jarSlave.getJarInSta()){
			if (staStn1.getStaNo().equals(basJarMast.getJarEnterStaNo())){
			staStn = staStn1;
			}
			}
			if (Cools.isEmpty(staStn)){
			continue;
			}
			//检测站点状态
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, staStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(staStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo()==basJarMast.getWrkNo().intValue()){

			//检测RGV状态
			StaProtocol staProtocolRGV = devpThread.getStation().get(staStn.getRgvNo());
			if (staProtocolRGV == null) {
			continue;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV.rgvBoolean(1)){
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.statusType .equals(JarStatusType.WAITING2) \|\| jarProtocol.statusType .equals(JarStatusType.SOS)){
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			continue;
			}
			JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
			JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
			if (jarOtherProtocol == null) {
			return false;
			}
			// if (jarOtherProtocol.modeType != JarModeType.AUTO){
			// continue;
			// }

			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			//门作业无
			//自动、空闲、右门关闭、 Other左门关闭
			if (jarProtocol.isAutoing() && !jarProtocol.isRightDoor() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0
			&& !jarOtherProtocol.isLeftDoor() && jarOtherProtocol.leftDoorOpen==0 && jarOtherProtocol.leftDoorClose==0){
			if (jarProtocol.statusType == JarStatusType.IDLE && !jarProtocol.isLeftDoor() && basJarMast.getStatus()==0){
			//生成开门任务 OpenTheDoor
			if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,new int[]{basJar.getEnterSteNo(),basJar.getEnterRgvId(),1,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			//门作业无
			//自动、空闲、右门关闭、 Other左门关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			if (!jarProtocol.isLeftDoor() && basJarMast.getStatus()==0){
			//生成开门任务 OpenTheDoor
			if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,basJar.getJarNo(),new int[]{basJar.getEnterSteNo(),basJar.getEnterRgvNo(),1,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			}
			return true;
			} else if (jarProtocol.isLeftDoor()){
			//生成入硫化罐任务
			if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,basJar.getJarNo(),new int[]{basJar.getEnterSteNo(),basJar.getEnterRgvNo(),5,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			}
			return true;
			}
			// else if (jarProtocol.statusType == JarStatusType.IDLE && jarProtocol.isLeftDoor()){
			// log.error("JarWrkMastExecute任务创建===>执行异常===》硫化罐空闲但是门未关===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			// }
			}
			return true;
			} else if (jarProtocol.statusType == JarStatusType.MOVING && jarProtocol.isLeftDoor()){
			//生成入硫化罐任务
			if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,new int[]{basJar.getEnterSteNo(),basJar.getEnterRgvId(),5,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			}
			return true;
			} else if (jarProtocol.statusType == JarStatusType.IDLE && jarProtocol.isLeftDoor()){
			log.error("JarWrkMastExecute任务创建===>执行异常===》硫化罐空闲但是门未关===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			return false;
			} else {
			log.error("JarWrkMastExecute任务创建===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(staProtocolRGV)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			return false;
			}
			}
			return false;
			}

			} catch (Exception e){
			log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			}
			@@ -4708,19 +4917,33 @@
			}

			/**
			* JarWrkMastExecute任务创建 //未完成
			* 关入料门、开出料门、关出料门
			* JarWrkMastExecute任务创建 //完成
			* 关进料门
			*/
			public synchronized boolean jarWrkMastExecuteGenerate2(JarSlave jarSlave,Integer sign) {
			try{
			if (wrkMastExecuteService.getWrkMastByJarIdCount(jarSlave.getId())!=0){
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			return false;
			}
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
			add(0);
			add(2);
			add(4);
			}});
			for (BasJarMast basJarMast : basJarMastList){
			if (basJarMastList.size() != 7){
			return false;
			}

			BasJarMast basJarMastSign = basJarMastList.get(0);
			if (Cools.isEmpty(basJarMastSign)){
			return false;
			}
			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarInSte().get(0).getSteNo(),1,SteStatusType.IDLE)){
			// return false;
			// }

			JarSlave.RgvStn rgvStn = jarSlave.getJarInRgv().get(0);

			if (jarWrkMastExecuteGenerateRgvStatus(rgvStn.getRgvNo(),rgvStn.getDevpPlcId(),1)){
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			@@ -4731,42 +4954,37 @@
			return false;
			}

			JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
			JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
			if (jarOtherProtocol == null) {
			if (jarProtocol.statusType .equals(JarStatusType.WAITING2) \|\| jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			// if (jarOtherProtocol.modeType != JarModeType.AUTO){
			// continue;
			// }

			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}
			if (basJar.getJarCount()!=7){
			log.error("{}号硫化罐查询设备库存数异常！！！库存待入数：{}",jarProtocol.getJarNo(),basJar.getJarCount());
			return false;
			}

			//门作业无
			//自动、空闲、右门关闭、 Other左门关闭
			if (jarProtocol.isAutoing() && !jarProtocol.isRightDoor() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0
			&& !jarOtherProtocol.isLeftDoor() && jarOtherProtocol.leftDoorOpen==0 && jarOtherProtocol.leftDoorClose==0){
			if (jarProtocol.statusType == JarStatusType.IDLE && !jarProtocol.isLeftDoor() && basJarMast.getStatus()==0){
			//生成开门任务 OpenTheDoor
			if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,new int[]{basJar.getEnterSteNo(),basJar.getEnterRgvId(),1,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			}
			return true;
			} else if (jarProtocol.statusType == JarStatusType.MOVING && jarProtocol.isLeftDoor()){
			//生成入硫化罐任务
			if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,new int[]{basJar.getEnterSteNo(),basJar.getEnterRgvId(),5,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			}
			return true;
			} else if (jarProtocol.statusType == JarStatusType.IDLE && jarProtocol.isLeftDoor()){
			log.error("JarWrkMastExecute任务创建===>执行异常===》硫化罐空闲但是门未关===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
			if (jarProtocol.isAutoing() && jarProtocol.statusType == JarStatusType.WAITING3 && jarProtocol.jarErr==0
			&& jarProtocol.isRightDoor() && jarProtocol.isLeftDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			//关进料门
			if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMastSign,basJar.getJarNo(),new int[]{basJar.getEnterSteNo(),basJar.getEnterRgvNo(),2,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMastSign));
			}
			return true;
			}
			return false;
			} else {
			log.error("JarWrkMastExecute任务创建===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(rgvStn)+";BasJarMast:"+JSON.toJSONString(basJarMastSign));
			return false;
			}
			} catch (Exception e){
			@@ -4776,15 +4994,334 @@
			}

			/**
			* JarWrkMastExecute任务创建===>执行 //未完成
			* JarWrkMastExecute任务创建 //完成
			* 开出料门
			*/
			public synchronized boolean jarWrkMastExecuteGenerateExecute(BasJar basJar,BasJarMast basJarMast,int[] digit) {
			public synchronized boolean jarWrkMastExecuteGenerate3(JarSlave jarSlave,Integer sign) {
			try{
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			return false;
			}
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
			add(6);
			}});
			if (basJarMastList.size() != 7){
			return false;
			}
			if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),5)!=0){
			return false;
			}

			BasJarMast basJarMastSign = basJarMastList.get(0);
			if (Cools.isEmpty(basJarMastSign)){
			return false;
			}
			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarInSte().get(0).getSteNo(),2,SteStatusType.IDLE)){
			// return false;
			// }

			//判断RGV状态
			JarSlave.RgvStn rgvStn = jarSlave.getJarOutRgv().get(0);

			if (jarWrkMastExecuteGenerateRgvStatus(rgvStn.getRgvNo(),rgvStn.getDevpPlcId(),1)){
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			//门作业无
			if (jarProtocol.isAutoing() && jarProtocol.statusType == JarStatusType.WAITING2 && jarProtocol.jarErr==0
			&& !jarProtocol.isLeftDoor() && !jarProtocol.isRightDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			//开出料门
			if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMastSign,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),3,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMastSign));
			}
			return true;
			}
			return false;
			} else {
			log.error("JarWrkMastExecute任务创建===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(rgvStn)+";BasJarMast:"+JSON.toJSONString(basJarMastSign));
			return false;
			}
			} catch (Exception e){
			log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务创建 //完成
			* 出硫化罐 ===》入冷却槽
			*/
			public synchronized boolean jarWrkMastExecuteGenerate4(JarSlave jarSlave,Integer sign) {
			try{
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			return false;
			}
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
			add(8);
			}});
			if (basJarMastList.isEmpty()){
			return false;
			}

			if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),4)!=0){
			return false;
			}

			BasJarMast jarMastByJarIdMin = basJarMastService.getJarMastByJarIdMin(jarSlave.getId(),8,8);
			if (Cools.isEmpty(jarMastByJarIdMin)){
			return false;
			}
			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarOutSte().get(0).getSteNo(),2,SteStatusType.IDLE)){
			// return false;
			// }

			//判断RGV状态
			JarSlave.RgvStn rgvStn = jarSlave.getJarOutRgv().get(0);

			if (jarWrkMastExecuteGenerateRgvStatus(rgvStn.getRgvNo(),rgvStn.getDevpPlcId(),1)){
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}

			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			//门作业无
			// if (jarProtocol.isAutoing() && jarProtocol.statusType == JarStatusType.WAITING4 && jarProtocol.jarErr==0
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			//入冷却槽
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByJarIdMin,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),6,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByJarIdMin));
			}
			jarMastByJarIdMin.setStatus(jarMastByJarIdMin.getStatusComplete());

			if (!basJarMastService.updateById(jarMastByJarIdMin)){
			log.error("JarWrkMastExecute任务创建===>jarMastByJarIdMin更新失败===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByJarIdMin));
			}
			return true;
			}
			return false;
			} else {
			log.error("JarWrkMastExecute任务创建===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(rgvStn)+";BasJarMast:"+JSON.toJSONString(jarMastByJarIdMin));
			return false;
			}
			} catch (Exception e){
			log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务创建 //完成
			* 冷却完成上输送线
			*/
			public synchronized boolean jarWrkMastExecuteGenerate5(JarSlave jarSlave,Integer sign) {
			try{
			if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
			return false;
			}
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusListB(jarSlave.getId(), new ArrayList<Integer>() {{
			add(12);//冷却完成
			}});
			if (basJarMastList.isEmpty()){
			return false;
			}

			if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),6)!=0){
			return false;
			}

			BasJarMast jarMastByJarIdMin = basJarMastService.getJarMastByJarIdMinB(jarSlave.getId(),12,12);
			if (Cools.isEmpty(jarMastByJarIdMin)){
			return false;
			}
			//
			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarOutSte().get(0).getSteNo(),3,SteStatusType.IDLE)){
			// return false;
			// }

			//判断RGV状态
			JarSlave.RgvStn rgvStn = jarSlave.getJarOutRgv().get(0);

			if (jarWrkMastExecuteGenerateRgvStatus(rgvStn.getRgvNo(),rgvStn.getDevpPlcId(),1)){
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			//门作业无
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0){
			//冷却完成上输送线
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByJarIdMin,basJar.getBurial(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),9,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByJarIdMin));
			}
			return true;
			}
			return false;
			} else {
			log.error("JarWrkMastExecute任务创建===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(rgvStn)+";BasJarMast:"+JSON.toJSONString(jarMastByJarIdMin));
			return false;
			}
			} catch (Exception e){
			log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
			}
			return false;
			}

			/**
			* 判断STE小车状态 //完成
			* 1：A面进料面
			* 2：B面出料面
			* 3：冷却槽B面上输送线
			*/
			public synchronized boolean jarWrkMastExecuteGenerateSteStatus(Integer steNo,Integer type,SteStatusType steStatusType) {
			try{
			//判断小车状态
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			if (steThread == null) {
			return false;
			}
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) {
			return false;
			}
			if (steProtocol.getMode() != (short)1) {
			log.error(steNo + "号小车离线，无法操作");
			return false;
			}
			if (steProtocol.getChargeStatus()!=0){
			log.error(steNo + "号小车在充电，等待....");
			return false;
			}
			if (!steProtocol.getStatusType().equals(steStatusType)) {
			log.error(steNo + "号小车状态不是"+JSON.toJSONString(steStatusType)+"，等待....");
			return false;
			}
			switch (type){
			case 1:
			if (!steProtocol.getLocaType().equals(SteLocaType.POINT20)) {
			log.error(steNo + "号小车不在A面平移车，无法操作");
			return false;
			}
			break;
			case 2:
			if (!steProtocol.getLocaType().equals(SteLocaType.POINT23)) {
			log.error(steNo + "号小车不在B面平移车，无法操作");
			return false;
			}
			break;
			case 3:
			if (!steProtocol.getLocaType().equals(SteLocaType.POINT26) && !steProtocol.getLocaType().equals(SteLocaType.POINT25)) {
			log.error(steNo + "号小车不在水槽B端，无法操作");
			return false;
			}
			break;
			default: return false;
			}
			return true;
			} catch (Exception e){
			log.error("{}号小车状态判断状态异常,异常原因={}",steNo,e.getMessage());
			}
			return false;
			}

			/*
			* 判断RGV小车状态 //完成
			* RGV1;//小车无货空闲
			* RGV2;//小车输送线取货到位
			* RGV3;//小车运行中
			* RGV3;//小车运行中
			* RGV4;//小车改左侧货物目标站取1（左）货物
			* RGV5;//小车改右侧货物目标站取2（右）货物
			* RGV6;//上位机清除平移车资料
			* */
			public synchronized boolean jarWrkMastExecuteGenerateRgvStatus(Integer rgvNo,Integer rgvPlcId,Integer type) {
			try{
			//检测RGV状态
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvPlcId);
			StaProtocol staProtocolRGV = devpThread.getStation().get(rgvNo);
			if (staProtocolRGV == null) {
			return false;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV == null) {
			return false;
			}

			return staProtocolRGV.rgvBoolean(type);
			} catch (Exception e){
			log.error("{}号RGV状态判断状态异常,异常原因={}",rgvNo,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务创建===>执行 //完成
			*/
			public synchronized boolean jarWrkMastExecuteGenerateExecute(BasJar basJar,BasJarMast basJarMast,Integer id,int[] digit) {
			try {
			WrkMastExecute wrkMastExecute = new WrkMastExecute(basJarMast);
			wrkMastExecute.setJarId(digit[3]==2? basJar.getBurial():basJar.getJarNo());
			wrkMastExecute.setJarId(id);
			wrkMastExecute.setSteId(digit[0]);//穿梭板ID
			wrkMastExecute.setRgvId(digit[1]);//RGV ID
			wrkMastExecute.setIoType(digit[2]);//任务类型 0: 未知 1: 开进料门 2: 关进料门 3: 开出料门 4: 关出料门 5: 入硫化罐 6: 入冷却槽 7: 穿梭车进冷却槽 8: 穿梭车离开冷却槽 9: 出冷却槽
			wrkMastExecute.setRgvId(basJar.getEnterRgvNo());//RGV ID enter
			wrkMastExecute.setRgvEndId(basJar.getOutRgvNo());//RGV ID out
			wrkMastExecute.setIoType(digit[2]);//任务类型 0: 未知 1: 开进料门 2: 关进料门 3: 开出料门 4: 关出料门 5: 入硫化罐 6: 入冷却槽 7: 穿梭车进冷却槽 8: 穿梭车离开冷却槽 9: 出冷却槽 10：A=>B 11:B=>A
			wrkMastExecute.setType(digit[3]);//设备 0: 未知 1: 硫化罐 2: 冷却槽 3: 硫化罐==>冷却槽
			return wrkMastExecuteService.insert(wrkMastExecute);
			} catch (Exception e) {
			@@ -4794,57 +5331,2006 @@
			}

			/**
			* JarWrkMastExecute任务完成 //未完成
			* JarWrkMastExecute任务创建===>执行 //完成
			*/
			public synchronized void jarWrkMastExecuteGenerateComplete() {
			try{
			public synchronized boolean jarWrkMastExecuteGenerateExecuteMove(BasJar basJar,BasJarMast basJarMast,Integer id,int[] digit) {
			try {
			WrkMastExecute wrkMastExecute = new WrkMastExecute(basJarMast);
			wrkMastExecute.setJarId(id);
			wrkMastExecute.setSteId(digit[0]);//穿梭板ID
			wrkMastExecute.setRgvId(basJar.getEnterRgvNo());//RGV ID enter
			wrkMastExecute.setRgvEndId(basJar.getOutRgvNo());//RGV ID out
			wrkMastExecute.setIoType(digit[2]);//任务类型 0: 未知 1: 开进料门 2: 关进料门 3: 开出料门 4: 关出料门 5: 入硫化罐 6: 入冷却槽 7: 穿梭车进冷却槽 8: 穿梭车离开冷却槽 9: 出冷却槽 10：A=>B 11:B=>A
			wrkMastExecute.setType(digit[3]);//设备 0: 未知 1: 硫化罐 2: 冷却槽 3: 硫化罐==>冷却槽
			return wrkMastExecuteService.insert(wrkMastExecute);
			} catch (Exception e) {
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常原因："+e.getMessage());
			}
			return false;
			}

			/*
			* JarWrkMastExecute任务创建==>下发
			* Action
			* */
			public synchronized void jarWrkMastExecuteAction(Integer sign,Integer sign2) {
			if (sign2==0){
			jarWrkMastExecuteActionOne(sign);
			} else if (sign2 == 1){
			jarWrkMastExecuteActionTwo(sign);
			} else if (sign2 == 2){
			jarWrkMastExecuteActionThree(sign);
			}
			}
			public synchronized void jarWrkMastExecuteActionOne(Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, null,0);
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			if (wrkMastExecute.getWrkSts()!=0){
			continue;
			}
			/*
			* 任务类型 0: 未知
			* 1: 开进料门 2: 关进料门 3: 开出料门 4: 关出料门
			* 5: 入硫化罐
			* 6: 入冷却槽
			* 7: 穿梭车进冷却槽 8: 穿梭车离开冷却槽
			* 9: 出冷却槽
			* 10：A=>B 11:B=>A
			* */
			log.error("JarWrkMastExecute任务创建==>下发===>行={}",5326);
			switch (wrkMastExecute.getIoType()){
			case 1://1: 开进料门
			case 3://3: 开出料门
			if (jarWrkMastExecuteActionExecute1(wrkMastExecute,sign)){
			break;
			}
			continue;
			case 2:
			case 4:
			if (jarWrkMastExecuteActionExecute2(wrkMastExecute,sign)){
			break;
			}
			continue;
			case 5:
			if (jarWrkMastExecuteActionExecute5(wrkMastExecute,sign)){
			break;
			}
			continue;
			case 6:
			if (jarWrkMastExecuteActionExecute6(wrkMastExecute,sign)){
			break;
			}
			continue;
			case 7:
			case 8:
			if (jarWrkMastExecuteActionExecute7(wrkMastExecute,sign)){
			break;
			}
			continue;
			case 9:
			if (jarWrkMastExecuteActionExecute9(wrkMastExecute,sign)){
			break;
			}
			continue;
			case 10:
			case 11:
			if (jarWrkMastExecuteActionExecute10(wrkMastExecute,sign)){
			break;
			}
			continue;
			}
			}
			} catch (Exception e){
			log.error("JarWrkMastExecute任务创建===>Action==>下发"+e.getMessage());
			}

			}

			/*
			* JarWrkMastExecute任务创建==>下发
			* Action
			* */
			public synchronized void jarWrkMastExecuteActionTwo(Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, null,2);
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			/*
			* 任务类型 0: 未知
			* 1: 开进料门 2: 关进料门 3: 开出料门 4: 关出料门
			* 5: 入硫化罐
			* 6: 入冷却槽
			* 7: 穿梭车进冷却槽 8: 穿梭车离开冷却槽
			* 9: 出冷却槽
			* 10：A=>B 11:B=>A
			* */
			switch (wrkMastExecute.getIoType()){
			case 1://1: 开进料门
			case 3://3: 开出料门
			if (jarWrkMastExecuteActionExecute1(wrkMastExecute,sign)){
			break;
			}
			return;
			case 2:
			case 4:
			if (jarWrkMastExecuteActionExecute2(wrkMastExecute,sign)){
			break;
			}
			return;
			case 5:
			if (jarWrkMastExecuteActionExecute5(wrkMastExecute,sign)){
			break;
			}
			return;
			case 6:
			if (jarWrkMastExecuteActionExecute6(wrkMastExecute,sign)){
			break;
			}
			return;
			case 7:
			case 8:
			if (jarWrkMastExecuteActionExecute7(wrkMastExecute,sign)){
			break;
			}
			return;
			case 9:
			if (jarWrkMastExecuteActionExecute9Two(wrkMastExecute,sign)){
			break;
			}
			return;
			case 10:
			case 11:
			if (jarWrkMastExecuteActionExecute10(wrkMastExecute,sign)){
			break;
			}
			return;
			}
			}
			} catch (Exception e){
			log.error("JarWrkMastExecute任务创建===>Action==>下发"+e.getMessage());
			}

			}

			/*
			* JarWrkMastExecute任务创建==>下发
			* Action
			* */
			public synchronized void jarWrkMastExecuteActionThree(Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, null,4);
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			/*
			* 任务类型 0: 未知
			* 1: 开进料门 2: 关进料门 3: 开出料门 4: 关出料门
			* 5: 入硫化罐
			* 6: 入冷却槽
			* 7: 穿梭车进冷却槽 8: 穿梭车离开冷却槽
			* 9: 出冷却槽
			* 10：A=>B 11:B=>A
			* */
			switch (wrkMastExecute.getIoType()){
			case 5:
			if (jarWrkMastExecuteActionExecute5Three(wrkMastExecute,sign)){
			break;
			}
			return;
			case 6:
			if (jarWrkMastExecuteActionExecute6Three(wrkMastExecute,sign)){
			break;
			}
			return;
			}
			}
			} catch (Exception e){
			log.error("JarWrkMastExecute任务创建===>Action==>下发"+e.getMessage());
			}

			}


			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 1、3开进料门
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute1(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
			// return false;
			// }
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
			if (staProtocolRGV == null) {
			return false;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV == null) {
			return false;
			}

			StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			if (staProtocolRGVOther == null) {
			return false;
			} else {
			staProtocolRGVOther = staProtocolRGVOther.clone();
			}
			if (staProtocolRGVOther == null) {
			return false;
			}


			if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
			if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			return true;
			}
			//门作业无
			//自动、空闲、进料们关闭需打开
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			log.error("1、3开进料门==>任务下发===>行={}",5546);
			if (!jarProtocol.isLeftDoor() && !jarProtocol.isRightDoor()){
			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else {
			//直接开门/关门
			if (!jarDoorTake(wrkMastExecute,JarTaskModeType.OPEN_THE_DOOR)){
			log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);

			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			}else if (jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()){
			//直接完成
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}

			return true;
			}
			return false;
			} else {
			log.error("jarWrkMastExecuteActionExecute1===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(basJar.getEnterRgvNo())+";WrkMastExecute:"+JSON.toJSONString(wrkMastExecute));
			return false;
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 2、4:关进料门
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute2(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.statusType .equals(JarStatusType.WAITING2) \|\| jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
			// return false;
			// }

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
			if (staProtocolRGV == null) {
			return false;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV == null) {
			return false;
			}

			StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			if (staProtocolRGVOther == null) {
			return false;
			} else {
			staProtocolRGVOther = staProtocolRGVOther.clone();
			}
			if (staProtocolRGVOther == null) {
			return false;
			}

			if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
			if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			return true;
			}
			//门作业无
			//自动、空闲、进料们打开需关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			log.error("2、4:关门==>任务下发===>行={}",5667);
			if (jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()){
			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(2);

			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else {
			//直接关门
			if (!jarDoorTake(wrkMastExecute,JarTaskModeType.CLOSE_THE_DOOR)){
			log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);

			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			} else if (!jarProtocol.isLeftDoor() && !jarProtocol.isRightDoor()){
			//直接完成
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			return true;
			}
			return false;
			} else {
			log.error("jarWrkMastExecuteActionExecute1===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(basJar.getEnterRgvNo())+";WrkMastExecute:"+JSON.toJSONString(wrkMastExecute));
			return false;
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 5:入硫化罐
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute5(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.statusType .equals(JarStatusType.WAITING2) \|\| jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
			if (staProtocolRGV == null) {
			return false;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV == null) {
			return false;
			}

			StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			if (staProtocolRGVOther == null) {
			return false;
			} else {
			staProtocolRGVOther = staProtocolRGVOther.clone();
			}
			if (staProtocolRGVOther == null) {
			return false;
			}
			if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
			if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			return true;
			}
			//门作业无
			//自动、空闲、进料们打开需关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			log.error("5:入硫化罐==>任务下发===>行={}",5667);
			//判断小车状态 //入硫化罐小车可临时屏蔽
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
			return false;
			}
			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){

			//调车 == > 取货
			if (!jarRgvGetTake(wrkMastExecute
			,SteAndJarUtil.getRgvStaRow(wrkMastExecute.getJarEnterStaNo())==1
			,SteAndJarUtil.getRgvStaRow(wrkMastExecute.getJarEnterStaNo())==3)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			return true;
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else {
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			return true;
			}
			return false;
			} else {
			log.error("jarWrkMastExecuteActionExecute1===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(basJar.getEnterRgvNo())+";WrkMastExecute:"+JSON.toJSONString(wrkMastExecute));
			return false;
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* io_type==>5:入硫化罐 : wrkSts ==>4：rgv取货完成
			* =====>wrkSts ==>5：Ste穿梭版入硫化罐(清楚RGV资料)
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute5Three(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecute);
			if (wrkMastExecuteByJarNo.size()!=1 \|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
			return false;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.statusType .equals(JarStatusType.WAITING2) \|\| jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
			// return false;
			// }

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
			if (staProtocolRGV == null) {
			return false;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV == null) {
			return false;
			}

			StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			if (staProtocolRGVOther == null) {
			return false;
			} else {
			staProtocolRGVOther = staProtocolRGVOther.clone();
			}
			if (staProtocolRGVOther == null) {
			return false;
			}

			if (staProtocolRGV.rgvBoolean(2) && staProtocolRGVOther.rgvBoolean(1)){//临时
			// if (staProtocolRGV.rgvBoolean(2)){
			if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			return true;
			}
			//门作业无
			//自动、空闲、进料们打开需关闭
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			log.error("io_type==>5:入硫化罐 : wrkSts ==>4：rgv取货完成==>任务下发===>行={}",5898);

			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
			//判断小车状态
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
			return false;
			}
			//调车 == > 取货
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT22.id,SteTaskModeType.STE_WFFH_13,false,wrkMastExecute.getJarId())){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(5);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else {
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			return true;
			}
			return false;
			} else {
			log.error("jarWrkMastExecuteActionExecute1===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(basJar.getEnterRgvNo())+";WrkMastExecute:"+JSON.toJSONString(wrkMastExecute));
			return false;
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 6:入冷却槽
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute6(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
			if (staProtocolRGV == null) {
			return false;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV == null) {
			return false;
			}

			StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			if (staProtocolRGVOther == null) {
			return false;
			} else {
			staProtocolRGVOther = staProtocolRGVOther.clone();
			}
			if (staProtocolRGVOther == null) {
			return false;
			}

			if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){ //临时
			// if ( staProtocolRGVOther.rgvBoolean(1)){
			if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			return true;
			}
			//门作业无
			//自动、空闲、
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			log.error("6:入冷却槽==>任务下发===>行={}",6002);
			//判断小车状态
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
			return false;
			}

			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){

			//调车 == > 取货
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT21.id,SteTaskModeType.STE_WFQH_12,false,wrkMastExecute.getJarId())){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else {
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			return true;
			}
			return false;
			} else {
			log.error("jarWrkMastExecuteActionExecute1===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(basJar.getEnterRgvNo())+";WrkMastExecute:"+JSON.toJSONString(wrkMastExecute));
			return false;
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 6:入冷却槽
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute6Three(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecute);
			if (wrkMastExecuteByJarNo.size()!=1 \|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
			return false;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
			// return false;
			// }

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
			if (staProtocolRGV == null) {
			return false;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV == null) {
			return false;
			}

			StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			if (staProtocolRGVOther == null) {
			return false;
			} else {
			staProtocolRGVOther = staProtocolRGVOther.clone();
			}
			if (staProtocolRGVOther == null) {
			return false;
			}

			if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){ //临时
			// if (staProtocolRGVOther.rgvBoolean(1)){
			if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			return true;
			}
			//门作业无
			//自动、空闲、
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0){
			log.error("6:入冷却槽 Three==>任务下发===>行={}",6115);

			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
			//判断小车状态
			if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.WAITING2)){
			return false;
			}
			//调车 == > 取货
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT25.id,SteTaskModeType.STE_WFFH_13,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(5);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else {
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,1)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			// wrkMastExecute.setWrkType(1);
			// wrkMastExecute.setWrkSts(2);
			// if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			// log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			// wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			// }
			}
			return true;
			}
			return false;
			} else {
			log.error("jarWrkMastExecuteActionExecute1===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(basJar.getEnterRgvNo())+";WrkMastExecute:"+JSON.toJSONString(wrkMastExecute));
			return false;
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 7：穿梭车进冷却槽 7 B=>C
			* 8：穿梭车离开冷却槽 8 C=>B
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute7(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecute);
			if (wrkMastExecuteByJarNo.size()!=1 \|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
			return false;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			// 获取硫化罐信息
			JarThread jarThreadOther = (JarThread) SlaveConnection.get(SlaveType.Jar, SteAndJarUtil.getRgvJarNo(wrkMastExecute.getJarId()));
			JarProtocol jarProtocolOther = jarThreadOther.getJarProtocol();
			if (jarProtocolOther == null) {
			return false;
			}
			if (jarProtocolOther.modeType != JarModeType.AUTO){
			return false;
			}

			BasJar basJarOther = basJarMapper.selectById(jarProtocolOther.getJarNo());
			if (Cools.isEmpty(basJarOther)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocolOther.getJarNo());
			return false;
			}

			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
			// return false;
			// }

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
			if (staProtocolRGV == null) {
			return false;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV == null) {
			return false;
			}

			StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			if (staProtocolRGVOther == null) {
			return false;
			} else {
			staProtocolRGVOther = staProtocolRGVOther.clone();
			}
			if (staProtocolRGVOther == null) {
			return false;
			}

			if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
			if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			return true;
			}
			//门作业无
			//自动、空闲、
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0
			&& jarProtocolOther.isLeftDoor() && jarProtocolOther.isRightDoor()
			){
			log.error("7：穿梭车进冷却槽 7 B=>C//8：穿梭车离开冷却槽 8 C=>B Three==>任务下发===>行={}",6245);
			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocolOther.getJarNo())){
			//判断小车状态
			if (wrkMastExecute.getIoType()==7){ //7 B=>C
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
			//调车 == > 移动
			if (jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT26.id,SteTaskModeType.STE_MOVE_14,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE)){
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			} else { //8 C=>B
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE)){
			//调车 == > 移动
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT26.id,SteLocaType.POINT23.id,SteTaskModeType.STE_MOVE_14,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			}

			} else {
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			return true;
			}
			return false;
			} else {
			log.error("jarWrkMastExecuteActionExecute1===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(basJar.getEnterRgvNo())+";WrkMastExecute:"+JSON.toJSONString(wrkMastExecute));
			return false;
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 9：出冷却槽
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute9(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}

			// // 获取硫化罐信息
			// JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			// JarProtocol jarProtocol = jarThread.getJarProtocol();
			// if (jarProtocol == null) {
			// return false;
			// }
			// if (jarProtocol.modeType != JarModeType.AUTO){
			// return false;
			// }
			// if (jarProtocol.getJarTemperature()>50){
			// log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			// return false;
			// }
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			if (Cools.isEmpty(basJar)){
			log.error("{}号冷却槽查询设备档案无信息！！！",wrkMastExecute.getJarId());
			return false;
			}

			// // 获取硫化罐信息
			// JarThread jarThreadOther = (JarThread) SlaveConnection.get(SlaveType.Jar, SteAndJarUtil.getRgvJarNo(wrkMastExecute.getJarId()));
			// JarProtocol jarProtocolOther = jarThreadOther.getJarProtocol();
			// if (jarProtocolOther == null) {
			// return false;
			// }
			// if (jarProtocolOther.modeType != JarModeType.AUTO){
			// return false;
			// }
			//
			// BasJar basJarOther = basJarMapper.selectByJarNo(jarProtocolOther.getJarNo());
			// if (Cools.isEmpty(basJarOther)){
			// log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocolOther.getJarNo());
			// return false;
			// }

			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
			// return false;
			// }
			//
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol = devpThread.getStation().get(basJar.getStaNo());
			if (staProtocol == null) {
			return false;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol == null) {
			return false;
			}
			if (staProtocol.getWorkNo()!=0 \|\| !staProtocol.isAutoing() \|\| staProtocol.isLoading()){
			return false;
			}
			//
			// StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			// if (staProtocolRGVOther == null) {
			// return false;
			// } else {
			// staProtocolRGVOther = staProtocolRGVOther.clone();
			// }
			// if (staProtocolRGVOther == null) {
			// return false;
			// }
			//
			// if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
			// if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
			// //移走 == > 2
			// if (jarRgvTake(wrkMastExecute,2)){
			// log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			// wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			// }
			// return true;
			// }
			//门作业无
			//自动、空闲、
			// if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
			// && jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0
			// ){
			//判断小车状态
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE)){
			log.error("9：出冷却槽==>任务下发===>行={}",6410);

			//调车 == > 取货
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT26.id,SteLocaType.POINT24.id,SteTaskModeType.STE_WFQH_12,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},冷却槽数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(basJar),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(1);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},冷却槽数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(basJar),sign);
			}
			}
			return true;
			// }
			// return false;
			// } else {
			// log.error("jarWrkMastExecuteActionExecute1===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(basJar.getEnterRgvNo())+";WrkMastExecute:"+JSON.toJSONString(wrkMastExecute));
			// return false;
			// }
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 9：出冷却槽
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute9Two(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
			if (wrkMastExecuteByJarNo.size()!=1
			\|\| !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
			\|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
			return false;
			}

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastExecute.getJarOutStaNo());
			if (staProtocol == null) {
			return false;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol == null) {
			return false;
			}
			if (staProtocol.getWorkNo()!=0 \|\| !staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			return false;
			}

			//判断STE小车状态
			if (jarWrkMastExecuteGenerateSteStatus(wrkMastExecute.getSteId(),3,SteStatusType.IDLE)){
			log.error("9：出冷却槽Two==>任务下发===>行={}",6468);
			// 下发站点信息
			staProtocol.setWorkNo(wrkMastExecute.getWrkNo().intValue());
			staProtocol.setStaNo(wrkMastExecute.getOutStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, 2, new Task(2, staProtocol))) {
			return false;
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("输送线出库目标站命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},放货站点数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(staProtocol),sign);
			}
			}
			return true;
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务==>下发 //完成
			* 10：A=>B\11：B=>A
			* 任务下发
			*/
			public synchronized boolean jarWrkMastExecuteActionExecute10(WrkMastExecute wrkMastExecute,Integer sign) {
			try{
			List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecute);
			if (wrkMastExecuteByJarNo.size()!=1 \|\| !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
			return false;
			}

			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			return false;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			return false;
			}

			if (jarProtocol.statusType .equals(JarStatusType.SOS)){
			log.error("{}号硫化罐查询设备正在硫化中，任务异常！！！",jarProtocol.getJarNo());
			return false;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			return false;
			}

			// //判断小车状态
			// if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
			// return false;
			// }

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
			if (staProtocolRGV == null) {
			return false;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV == null) {
			return false;
			}

			StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
			if (staProtocolRGVOther == null) {
			return false;
			} else {
			staProtocolRGVOther = staProtocolRGVOther.clone();
			}
			if (staProtocolRGVOther == null) {
			return false;
			}

			if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){ //临时
			// if ( staProtocolRGVOther.rgvBoolean(1)){
			if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
			//移走 == > 2
			if (!jarRgvMoveTake(wrkMastExecute,2)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			return true;
			}
			//门作业无
			//自动、空闲、
			if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0
			){
			log.error("10：A=>B\\11：B=>A==>任务下发===>行={}",6558);
			if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
			//判断小车状态
			if (wrkMastExecute.getIoType()==10){//10：A=>B
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
			//调车 == > 移动
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT23.id,SteTaskModeType.STE_MOVE_14,false,wrkMastExecute.getJarId())){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			} else {//11:B=>A
			if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
			//调车 == > 移动
			if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT20.id,SteTaskModeType.STE_MOVE_14,false,wrkMastExecute.getJarId())){
			log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(3);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			} else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			}

			} else {
			//调车 == > endRow
			if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			wrkMastExecute.setWrkType(1);
			wrkMastExecute.setWrkSts(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
			}
			}
			return true;
			}
			return false;
			} else {
			log.error("jarWrkMastExecuteActionExecute1===>执行异常===》RGV不满足条件，等待===》异常数据：BasJar:"+ JSON.toJSONString(basJar.getEnterRgvNo())+";WrkMastExecute:"+JSON.toJSONString(wrkMastExecute));
			return false;
			}
			} catch (Exception e){
			log.error("jarWrkMastExecuteActionExecute1任务执行下发异常==》wrkMastExecute={},异常原因={}",wrkMastExecute,e.getMessage());
			}
			return false;
			}

			/*
			* Rgv 动作移动
			* */
			public synchronized boolean jarRgvMoveTake(WrkMastExecute wrkMastExecute,Integer endRow){
			try {
			StaProtocol staProtocol = new StaProtocol();
			staProtocol.setSiteId(wrkMastExecute.getRgvId());
			staProtocol.setEndRow(endRow.shortValue());
			// 下发站点信息
			if (!MessageQueue.offer(SlaveType.Devp, 2, new Task(9, staProtocol))) {
			log.error("平衡车Rgv命令下发失败，堆垛机号={},任务数据={},下发数据={}", wrkMastExecute.getRgvId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocol));
			return false;
			}
			return true;
			}catch (Exception e){
			log.error("小车复位线程报错！"+e);
			log.error("平衡车Rgv命令下发失败，Rgv号={},任务数据={},endRow={}", wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(endRow));
			}
			return false;
			}

			/*
			* Rgv 动作取货
			* */
			public synchronized boolean jarRgvGetTake(WrkMastExecute wrkMastExecute,boolean RGV4,boolean RGV5){
			try {
			StaProtocol staProtocol = new StaProtocol();
			staProtocol.setSiteId(wrkMastExecute.getRgvId());
			staProtocol.setRGV4(RGV4);
			staProtocol.setRGV5(RGV5);
			// 下发站点信息
			if (!MessageQueue.offer(SlaveType.Devp, 2, new Task(10, staProtocol))) {
			log.error("平衡车Rgv命令下发失败，堆垛机号={},任务数据={},下发数据={}", wrkMastExecute.getRgvId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocol));
			return false;
			}
			return true;
			}catch (Exception e){
			log.error("平衡车Rgv命令下发失败，Rgv号={},任务数据={},RGV4={},RGV5={}", wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(RGV4), JSON.toJSON(RGV5));
			}
			return false;
			}

			/*
			* Rgv 动作取货完成复位
			* */
			public synchronized boolean jarRgvGetFuTake(WrkMastExecute wrkMastExecute,boolean RGV6){
			try {
			StaProtocol staProtocol = new StaProtocol();
			staProtocol.setSiteId(wrkMastExecute.getRgvId());
			staProtocol.setRGV6(RGV6);
			// 下发站点信息
			if (!MessageQueue.offer(SlaveType.Devp, 2, new Task(11, staProtocol))) {
			log.error("平衡车Rgv命令下发失败，堆垛机号={},任务数据={},下发数据={}", wrkMastExecute.getRgvId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocol));
			return false;
			}
			return true;
			}catch (Exception e){
			log.error("平衡车Rgv命令下发失败，Rgv号={},任务数据={},RGV6={}", wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(RGV6));
			}
			return false;
			}

			/*
			* Ste 动作
			* */
			public synchronized boolean jarSteTake(WrkMastExecute wrkMastExecute,Integer startLoad,Integer endLoad,SteTaskModeType steTaskModeType,boolean complete,Integer siteId){
			try {
			SteCommand steCommand = new SteCommand();
			steCommand.setTaskNo(wrkMastExecute.getWrkNo().intValue());
			steCommand.setSteNo(wrkMastExecute.getSteId());
			steCommand.setStartLoad(startLoad);
			steCommand.setEndLoad(endLoad);
			steCommand.setTaskModeType(steTaskModeType);
			steCommand.setComplete(complete);
			if (!complete){
			steCommand.setTaskMode(steTaskModeType.id.shortValue());
			}
			steCommand.setJarNo(siteId.shortValue());
			if (!MessageQueue.offer(SlaveType.Ste, steCommand.getSteNo(), new Task(2, steCommand))) {
			log.error("穿梭车Ste命令下发失败，堆垛机号={},任务数据={},下发数据={},complete={}", steCommand.getSteNo(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steCommand),complete);
			return false;
			}
			return true;
			}catch (Exception e){
			log.error("穿梭车Ste命令下发失败，堆垛机号={},任务数据={},complete={}", wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(complete));
			}
			return false;
			}

			/*
			* Jar 动作
			* */
			public synchronized boolean jarDoorTake(WrkMastExecute wrkMastExecute,JarTaskModeType jarTaskModeType){
			try{
			JarCommand jarCommand = new JarCommand();
			jarCommand.setJarNo(wrkMastExecute.getJarId());
			jarCommand.setTaskModeType(jarTaskModeType);
			if (!MessageQueue.offer(SlaveType.Jar, jarCommand.getJarNo(), new Task(2, jarCommand))) {
			log.error("硫化罐Jar命令下发失败，堆垛机号={},任务数据={},下发数据={}", jarCommand.getJarNo(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarCommand));
			return false;
			}
			return true;
			}catch (Exception e){
			log.error("硫化罐Jar命令下发失败，堆垛机号={},任务数据={},下发数据={}", wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarTaskModeType));
			}
			return false;
			}

			/**
			* JarWrkMastExecute任务完成 //完成
			*/
			public synchronized void jarWrkMastExecuteGenerateComplete(Integer sign) {
			try{
			switch (sign){
			case 1:
			case 5:
			case 9:
			if (jarWrkMastExecuteGenerateSteComplete(sign)){
			break;
			}
			case 2:
			case 6:
			case 10:
			if (jarWrkMastExecuteGenerateJarComplete(sign)){
			break;
			}
			case 3:
			case 7:
			case 11:
			if (jarWrkMastExecuteGenerateRgvComplete1(sign)){
			break;
			}
			case 4:
			case 8:
			case 12:
			if (jarWrkMastExecuteGenerateRgvComplete2(sign)){
			break;
			}
			default:
			return;
			}
			}catch (Exception e){
			log.error("JarWrkMastExecute任务完成报错！"+e);
			}
			}

			/**
			* JarWrkMastExecute任务完成 ===>Ste //完成
			*/
			public synchronized boolean jarWrkMastExecuteGenerateSteComplete(Integer sign) {
			try{
			for (SteSlave steSlave : slaveProperties.getSte()) {
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steSlave.getId());
			if (steThread == null) {
			continue;
			}
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) {
			continue;
			}
			if (steProtocol.getMode()==(short)1 && steProtocol.taskNo!=0 && steProtocol.getChargeStatus()==0){
			// if (steProtocol.statusType.equals(SteStatusType.WAITING)){
			//
			// }
			List<WrkMastExecute> wrkMastExecuteByWrkNoList = wrkMastExecuteService.getWrkMastExecuteByWrkNoList(steProtocol.getTaskNo().longValue());
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteByWrkNoList){
			if (!Cools.isEmpty(wrkMastExecute)){
			switch (wrkMastExecute.getIoType()){
			case 6:
			if (wrkMastExecute.getWrkSts()==3){//==>4
			//1：RGV小车移动、2：RGV小车到位、3：Ste穿梭版取货、4：取货完成等待下一步、5：Ste穿梭版放货至冷却池、6：放货完成、7：更新完成 //io_type = 6
			//ste任务等待完成
			if (steProtocol.statusType.equals(SteStatusType.WAITING)){
			//ste任务完成
			if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭车Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			}
			return true;
			}
			}
			log.error("穿梭车Ste命令下发失败===>下发异常，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(steProtocol),sign);
			return true;
			}
			case 5:
			if (wrkMastExecute.getWrkSts()==5){
			//1：RGV小车移动、2：RGV小车到位、3：rgv取货、4：rgv取货完成、5：Ste穿梭版入硫化罐、6：入罐完成、7：更新完成 //io_type = 5
			//ste任务完成
			if (steProtocol.statusType.equals(SteStatusType.WAITING)){
			//ste任务完成
			if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			wrkMastExecute.setWrkSts(6);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭车Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			}
			return true;
			}
			}
			log.error("穿梭车Ste命令下发失败===>下发异常，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			return true;
			}
			continue;
			case 7:
			case 8:
			case 10:
			case 11:
			//1：RGV小车移动、2：RGV小车到位、3：Ste穿梭版移动中、4：移动完成、5：更新完成
			if (wrkMastExecute.getWrkSts()==3){
			//ste任务完成
			if (steProtocol.statusType.equals(SteStatusType.WAITING)){
			//ste任务完成
			if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭车Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			}
			return true;
			}
			}
			log.error("穿梭车Ste命令下发失败===>下发异常，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			return true;
			}
			continue;
			case 9:
			if (wrkMastExecute.getWrkSts()==1){
			//1：Ste穿梭版取放货中、2：放货完成等待下一步、3：输送线任务下发完成、4：更新完成 //io_type = 9
			//ste任务完成
			if (steProtocol.statusType.equals(SteStatusType.WAITING)){
			//ste任务完成
			if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
			wrkMastExecute.setWrkSts(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("穿梭车Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			}
			return true;
			}
			}
			log.error("穿梭车Ste命令下发失败===>下发异常，jar号={},任务数据={},穿梭车数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
			continue;
			}
			default: continue;
			}
			}

			/*
			* Rgv 移动
			* */
			public synchronized boolean jarRgvTake2(Integer rgvId,BasJarMast basJarMast){
			}
			}
			}
			return true;
			}catch (Exception e){
			log.error("JarWrkMastExecute任务完成 ===>Ste报错！"+e);
			}
			return false;
			}
			/*
			* 小车取空板至工位任务满取
			* */
			public synchronized boolean jarRgvTake3(Integer rgvId,BasJarMast basJarMast){

			/**
			* JarWrkMastExecute任务完成 ===>Jar //完成
			* //硫化完成修改任务状态
			*/
			public synchronized boolean jarWrkMastExecuteGenerateJarComplete(Integer sign) {
			try{
			for (JarSlave jarSlave : slaveProperties.getJar()) {
			if (jarSlave.getId()>4){
			continue;
			}
			// 获取硫化罐信息
			JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
			JarProtocol jarProtocol = jarThread.getJarProtocol();
			if (jarProtocol == null) {
			continue;
			}
			if (jarProtocol.modeType != JarModeType.AUTO){
			continue;
			}
			if (jarProtocol.getJarTemperature()>50){
			log.error("{}号硫化罐查询设备温度过高，等待降温....！！！",jarProtocol.getJarNo());
			return false;
			}
			BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
			continue;
			}
			//WAITING2(4, "硫化完成"),
			if (jarProtocol.getJarErr()==0 && jarProtocol.getStatusType().equals(JarStatusType.WAITING2)
			&& jarProtocol.isRightDoor() && jarProtocol.isLeftDoor()
			&& jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0
			){
			List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
			add(5);//硫化中
			}});
			if (basJarMastList.isEmpty()){
			continue;
			}
			Integer integer = basJarMastService.updateStatus(jarProtocol.getJarNo(), 5, 6);
			if (basJarMastList.size()!=integer){
			log.error("{}号硫化罐硫化完成修改硫化档案状态结果数量不一致！！！查询资料数量={}，更新返回数量={}",jarProtocol.getJarNo(),basJarMastList.size(),integer);
			}
			} else if (jarProtocol.getJarErr()==0
			&& jarProtocol.isRightDoor() && jarProtocol.isLeftDoor()
			&& jarProtocol.leftDoorOpen!=1 && jarProtocol.leftDoorOpen!=3
			&& jarProtocol.rightDoorOpen!=1 && jarProtocol.rightDoorOpen!=3
			&& (jarProtocol.leftDoorOpen==2 \|\| jarProtocol.rightDoorOpen==2)){
			WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
			wrkMastExecuteSou.setWrkSts(3);
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
			if (wrkMastExecuteList.isEmpty()){
			WrkMastExecute execute = new WrkMastExecute();
			execute.setJarId(jarProtocol.getJarNo());
			//直接关门
			if (!jarDoorTake(execute,JarTaskModeType.OPEN_THE_DOOR_COMPLETE)){
			log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			execute.getJarId(), JSON.toJSON(execute), JSON.toJSON(jarProtocol),sign);
			}
			return true;
			}
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			if (wrkMastExecute.getIoType() == 1 \|\| wrkMastExecute.getIoType() == 3){
			//直接关门
			if (!jarDoorTake(wrkMastExecute,JarTaskModeType.OPEN_THE_DOOR_COMPLETE)){
			log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			}
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("平衡车Rgv命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			return false;
			}
			return true;
			}
			}
			} else if (jarProtocol.getJarErr()==0
			&& jarProtocol.isRightDoor() && jarProtocol.isLeftDoor()
			&& jarProtocol.leftDoorClose!=1 && jarProtocol.leftDoorClose!=3
			&& jarProtocol.rightDoorClose!=1 && jarProtocol.rightDoorClose!=3
			&& (jarProtocol.leftDoorClose==2 \|\| jarProtocol.rightDoorClose==2)){
			WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
			wrkMastExecuteSou.setWrkSts(3);
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
			if (wrkMastExecuteList.isEmpty()){
			WrkMastExecute execute = new WrkMastExecute();
			execute.setJarId(jarProtocol.getJarNo());
			//直接关门
			if (!jarDoorTake(execute,JarTaskModeType.CLOSE_THE_DOOR_COMPLETE)){
			log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			execute.getJarId(), JSON.toJSON(execute), JSON.toJSON(jarProtocol),sign);
			}
			return true;
			}
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			if (wrkMastExecute.getIoType() == 2 \|\| wrkMastExecute.getIoType() == 4){
			//直接关门
			if (!jarDoorTake(wrkMastExecute,JarTaskModeType.CLOSE_THE_DOOR_COMPLETE)){
			log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			}
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("平衡车Rgv命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
			return false;
			}
			return true;
			}
			}
			}
			}
			return true;
			}catch (Exception e){
			log.error("//硫化完成修改任务状态报错！"+e);
			}
			return false;
			}
			/*
			* 小车取空板至工位任务满取
			* */
			public synchronized boolean jarRgvTake4(Integer rgvId,BasJarMast basJarMast){

			/**
			* JarWrkMastExecute任务完成 ===>RGV移动 //完成
			*/
			public synchronized boolean jarWrkMastExecuteGenerateRgvComplete1(Integer sign) {
			try{
			WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
			wrkMastExecuteSou.setWrkSts(1);
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			if (wrkMastExecute.getIoType() == 9){
			continue;
			}
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocolRGV = devpThread.getStation().get(wrkMastExecute.getRgvId());
			if (staProtocolRGV == null) {
			continue;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV == null) {
			continue;
			}

			StaProtocol staProtocolRGVEnd = devpThread.getStation().get(wrkMastExecute.getRgvEndId());
			if (staProtocolRGVEnd == null) {
			continue;
			} else {
			staProtocolRGVEnd = staProtocolRGVEnd.clone();
			}
			if (staProtocolRGVEnd == null) {
			continue;
			}
			if (staProtocolRGV.getNowRow() == staProtocolRGVEnd.getNowRow()
			&& staProtocolRGV.getNowRow() == SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId())){
			wrkMastExecute.setWrkSts(2);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("平衡车Rgv命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},平衡车Rgv数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocolRGV),sign);
			return false;
			}
			return true;
			}
			}
			return true;
			}catch (Exception e){
			log.error("JarWrkMastExecute任务完成 ===>RGV移动！异常"+e);
			}
			return false;
			}
			/*
			* 小车取空板至工位任务满取
			* */
			public synchronized boolean jarRgvTake5(Integer rgvId,BasJarMast basJarMast){

			/**
			* JarWrkMastExecute任务完成 ===>RGV取货 //完成
			*/
			public synchronized boolean jarWrkMastExecuteGenerateRgvComplete2(Integer sign) {
			try{
			WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
			wrkMastExecuteSou.setWrkSts(3);
			wrkMastExecuteSou.setIoType(5);
			List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
			for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocolRGV = devpThread.getStation().get(wrkMastExecute.getRgvId());
			if (staProtocolRGV == null) {
			continue;
			} else {
			staProtocolRGV = staProtocolRGV.clone();
			}
			if (staProtocolRGV == null) {
			continue;
			}


			if ( staProtocolRGV.rgvBoolean(2)
			&& staProtocolRGV.getNowRow() == SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId())){
			//调车 == > 取货完成复位
			if (!jarRgvGetFuTake(wrkMastExecute,true)){
			log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
			wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocolRGV),sign);
			return true;
			}
			wrkMastExecute.setWrkSts(4);
			if (!wrkMastExecuteService.updateById(wrkMastExecute)){
			log.error("平衡车Rgv命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},平衡车Rgv数据={},sign={}",
			wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocolRGV),sign);
			return true;
			}
			return true;
			}
			}
			return true;
			}catch (Exception e){
			log.error(" JarWrkMastExecute任务完成 ===>RGV取货异常！"+e);
			}
			return false;
			}
			/*
			* 小车取空板至工位任务满取
			* */
			public synchronized boolean jarRgvTake6(Integer rgvId,BasJarMast basJarMast){

			/**
			* Jar任务穿梭车移动任务 //完成
			*/
			public synchronized boolean jarMastMove() {
			try{
			for (SteSlave steSlave : slaveProperties.getSte()){
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steSlave.getId());
			if (steThread == null) {
			continue;
			}
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) {
			continue;
			}

			if (wrkMastExecuteService.selectNoStart(steSlave.getId())!=0){
			continue;
			}

			if (wrkMastExecuteService.selectMoveStart(steSlave.getId())!=0){
			continue;
			}

			try{
			if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),1,SteStatusType.IDLE)){
			List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null);
			if (wrkMastExecutes.isEmpty()){
			List<WrkMastExecute> wrkMastExecutesB = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null);
			List<WrkMastExecute> wrkMastExecutesC = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null);

			if (!wrkMastExecutesB.isEmpty() \|\| !wrkMastExecutesC.isEmpty()){
			WrkMastExecute wrkMastExecute = !wrkMastExecutesB.isEmpty() ? wrkMastExecutesB.get(0) : wrkMastExecutesC.get(0);
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",wrkMastExecute.getJarId());
			return false;
			}
			BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
			//A==>B
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),10,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
			}
			continue;
			}
			}
			} else if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),2,SteStatusType.IDLE)){
			List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null);
			if (wrkMastExecutes.isEmpty()){
			List<WrkMastExecute> wrkMastExecutesA = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null);
			List<WrkMastExecute> wrkMastExecutesC = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null);
			if (!wrkMastExecutesA.isEmpty()){
			WrkMastExecute wrkMastExecute = wrkMastExecutesA.get(0);
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",wrkMastExecute.getJarId());
			return false;
			}
			BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
			//B==>A
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),11,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
			}
			continue;
			}

			if (!wrkMastExecutesC.isEmpty()){
			WrkMastExecute wrkMastExecute = wrkMastExecutesC.get(0);
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",wrkMastExecute.getJarId());
			return false;
			}
			BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
			//B==>C
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),7,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
			}
			continue;
			}
			}
			} else if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),3,SteStatusType.IDLE)){
			List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null);
			if (wrkMastExecutes.isEmpty()){
			List<WrkMastExecute> wrkMastExecutesB = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null);
			List<WrkMastExecute> wrkMastExecutesA = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null);
			if (!wrkMastExecutesB.isEmpty() \|\| !wrkMastExecutesA.isEmpty()){
			WrkMastExecute wrkMastExecute = !wrkMastExecutesB.isEmpty() ? wrkMastExecutesB.get(0) : wrkMastExecutesA.get(0);
			BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
			if (Cools.isEmpty(basJar)){
			log.error("{}号硫化罐查询设备档案无信息！！！",wrkMastExecute.getJarId());
			return false;
			}
			BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
			//C==>B
			if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),8,1})){
			log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
			}
			continue;
			}
			}
			}
			}catch (Exception e){
			log.error("硫化区域分段任务完成异常,steProtocol={},异常信息={}",JSON.toJSONString(steProtocol),e.getMessage());
			}

			WrkMastExecute wrkMastExecute = wrkMastExecuteService.selectStart(steSlave.getId());


			}
			} catch (Exception e){
			log.error("硫化区域分段任务完成异常,异常信息={}",e.getMessage());
			}
			return false;
			}
			/*
			* 小车取空板至工位任务满取
			* */
			public synchronized boolean jarRgvTake7(Integer rgvId,BasJarMast basJarMast){
			return false;
			}
			/*
			* 穿梭板移动
			* */
			public synchronized boolean jarRgvTake8(Integer rgvId,BasJarMast basJarMast){
			return false;
			}

			}