zy-wcs.git - Gitblit

			@@ -6,14 +6,23 @@
			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.BasCrnErrorMapper;
			import com.zy.asrs.mapper.WaitPakinMapper;
			import com.zy.asrs.mapper.WrkMastMapper;
			import com.zy.asrs.entity.param.AgvTaskAssignmentParam;
			import com.zy.asrs.entity.param.ArmOrderAssignmentParam;
			import com.zy.asrs.entity.param.ArmTaskAssignmentParam;
			import com.zy.asrs.entity.param.CombParam;
			import com.zy.asrs.entity.result.OrderDetlValueResultUtil;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.PostMesDataUtils;
			import com.zy.asrs.utils.RouteUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.VersionUtils;
			import com.zy.asrs.utils.core.ReturnT;
			import com.zy.common.constant.AgvConstant;
			import com.zy.common.constant.ArmConstant;
			import com.zy.common.model.LocTypeDto;
			import com.zy.common.model.MatDto;
			import com.zy.common.model.SearchLocParam;
			@@ -21,22 +30,23 @@
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.CollectionUtils;
			import com.zy.common.utils.HttpHandler;
			import com.zy.common.utils.News;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			import com.zy.core.cache.MessageQueue;
			import com.zy.core.cache.SlaveConnection;
			import com.zy.core.enums.*;
			import com.zy.core.model.CrnSlave;
			import com.zy.core.model.DevpSlave;
			import com.zy.core.model.LedSlave;
			import com.zy.core.model.Task;
			import com.zy.core.model.*;
			import com.zy.core.model.command.CrnCommand;
			import com.zy.core.model.command.LedCommand;
			import com.zy.core.model.command.RgvCommand;
			import com.zy.core.model.protocol.CrnProtocol;
			import com.zy.core.model.protocol.RgvProtocol;
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.BarcodeThread;
			import com.zy.core.thread.LedThread;
			import com.zy.core.thread.RgvThread;
			import com.zy.core.thread.SiemensDevpThread;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			@@ -45,10 +55,7 @@
			import org.springframework.transaction.annotation.Transactional;
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

			import java.util.ArrayList;
			import java.util.Date;
			import java.util.List;
			import java.util.Set;
			import java.util.*;
			import java.util.stream.Collectors;

			/**
			@@ -86,35 +93,50 @@
			private BasErrLogService basErrLogService;
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			@Autowired
			private WrkMastStaMapper wrkMastStaMapper;
			@Autowired
			private BasRgvService basRgvService;
			@Autowired
			private BasRgvMapMapper basRgvMapMapper;
			@Autowired
			private WrkMastService wrkMastService;
			@Autowired
			private WrkMastStaService wrkMastStaService;
			@Autowired
			private BasRgvMapService basRgvMapService;
			@Autowired
			private BasArmService basArmService;
			@Autowired
			private BasAgvMastService basAgvMastService;
			@Autowired
			private BasArmMastService basArmMastService;
			@Autowired
			private ApiLogService apiLogService;

			@Value("${wms.url}")
			private String wmsUrl;

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

			public Integer wrkNo = 10001;
			public static final List<Integer> LEFT_POSITION = Arrays.asList(1018,2018);
			/**
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			*/
			public synchronized void generateStoreWrkFile() {
			public synchronized void generateStoreWrkFile(Integer mark) {
			String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if (!Cools.isEmpty(barcode)) {
			log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取入库站信息
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			@@ -122,56 +144,162 @@
			} else {
			staProtocol = staProtocol.clone();
			}

			// 入出库模式判断
			// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
			if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
			if(!staProtocol.isLoading()){
			continue;
			}

			if (barcodeThread == null) {
			continue;
			}


			String barcode = barcodeThread.getBarcode();

			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			if (staProtocol.isFrontErr()) {
			errMsg = "前超限";
			back = true;
			}
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "高超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			log.error("物料码扫码失败");
			back = true;
			}
			// 退回
			if (back) {
			News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));

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

			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990)
			&& staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {

			// if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			// //条码为空或者不符合，退库到172站点
			// staProtocol.setWorkNo((short)9999);
			// staProtocol.setStaNo((short)172);
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			&& !staProtocol.isEmptyMk()
			&& staProtocol.isPakMk()
			&& staProtocol.getWorkNo() == 0
			) {
			if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			// News.error(JSON.toJSONString(staProtocol));
			News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			staProtocol.setWorkNo(wrkNo);
			News.info("条码判断{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			staProtocol.setBarcode(barcode);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
			continue;
			}
			// if (staProtocol.getSiteId()!= 159){
			// if( Cools.isEmpty(barcodeMat) \|\| "NG".endsWith(barcodeMat) \|\| "NoRead".equals(barcodeMat) \|\| "00000000".equals(barcodeMat)) {
			// News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcodeMat(), barcodeMat);
			//
			// staProtocol.setWorkNo(wrkNo);
			// News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			// wrkNo++;
			// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
			// continue;
			// }
			// continue;
			// }

			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			log.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			if (inSta.getStaNo()==100 \|\| inSta.getStaNo()==108 \|\| inSta.getStaNo()==116){
			staProtocol.setWorkNo((short)9999);
			staProtocol.setStaNo((short)100);
			int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
			if (wrkNo1 != 0){
			News.error(barcode + "条码已存在状态为（ 2.设备上走）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
			StaProtocol staProtocolNew = new StaProtocol();
			staProtocolNew.setWorkNo(wrkMast.getWrkNo());
			staProtocolNew.setStaNo(RouteUtils.SouStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
			staProtocolNew.setSiteId(staProtocol.getSiteId());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			staProtocolNew.setBarcode(barcode);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolNew));
			if (ledThread != null) {
			News.error(methodName + ":扫码失败，请重试");
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走）的任务,工作号="+ wrkMast.getWrkNo()));
			}
			continue;
			}
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast.getSourceStaNo()));
			staProtocol.setBarcode(barcode);

			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.info("输送线下发(存在设备上走的工作档，直接下发！))："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());

			ledThread.errorReset();
			log.info("组托请求后LED错误清除");

			if (!result) {
			News.error(methodName + ":更新plc站点信息失败");
			log.error("输送线下发(存在设备上走的工作档，直接下发！)==>更新plc站点信息失败");
			continue;
			}
			continue;

			}
			// // 获取入库通知档
			// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
			// if (waitPakins.isEmpty()) {
			// log.error("无此入库条码数据。条码号={}", barcode);
			// continue;
			// }

			WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
			.eq("barcode", barcode)
			.in("io_type", 107,103,57));
			if (!Cools.isEmpty(checkPick)) {
			continue;
			}
			try {

			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			@@ -188,76 +316,38 @@
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发2："+dto.getWorkNo()+","+dto.getStaNo());

			ledThread.errorReset();
			log.error("组托请求后LED错误清除");

			if (!result) {
			News.error(methodName + ":更新plc站点信息失败");

			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			News.error(JSON.toJSONString(staProtocol));
			staProtocol.setWorkNo(wrkNo);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			News.info("任务下发判断{}入库回退：{}，错误编号{},任务号：{}", inSta.getStaNo(), errMsg,jsonObject.getInteger("code"),wrkNo);
			wrkNo++;
			// if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			// }
			// News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}


			// // 检索库位
			// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			// List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
			// StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos, locTypeDto, 0);
			// // 工作号
			// int workNo = startupDto.getWorkNo();
			// // 插入工作明细档
			// wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);
			//
			// // 插入工作主档
			// wrkMast = new WrkMast();
			// wrkMast.setWrkNo(workNo);
			// wrkMast.setIoTime(new Date());
			// wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			// wrkMast.setIoType(1); // 入出库状态：1.入库
			// wrkMast.setIoPri(10D); // 优先级：10
			// wrkMast.setCrnNo(startupDto.getCrnNo());
			// wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
			// wrkMast.setStaNo(startupDto.getStaNo());
			// wrkMast.setLocNo(startupDto.getLocNo());
			// wrkMast.setBarcode(barcode); // 托盘码
			// wrkMast.setFullPlt("Y"); // 满板：Y
			// wrkMast.setPicking("N"); // 拣料
			// wrkMast.setExitMk("N"); // 退出
			// wrkMast.setEmptyMk("N"); // 空板
			// wrkMast.setLinkMis("N");
			// // 操作人员数据
			// wrkMast.setAppeTime(new Date());
			// wrkMast.setModiTime(new Date());
			// Integer insert = wrkMastMapper.insert(wrkMast);
			// if (insert == 0) {
			// throw new CoolException("保存工作档失败");
			// }
			// // 更新目标库位状态
			// LocMast locMast = locMastService.selectById(startupDto.getLocNo());
			// locMast.setLocSts("S"); // S.入库预约
			// locMast.setModiTime(new Date());
			// if (!locMastService.updateById(locMast)){
			// throw new CoolException("改变库位状态失败");
			// }
			// // 将入库通知档修改为已启动
			// if (wrkMastMapper.updateWaitPakInStep1(barcode) == 0) {
			// throw new CoolException("修改入库通知档状态为已启动失败");
			// }
			//
			// // 命令下发区 --------------------------------------------------------------------------
			//
			// // 更新站点信息且下发plc命令
			// barcodeThread.setBarcode("");
			// staProtocol.setWorkNo((short) workNo);
			// staProtocol.setStaNo(startupDto.getStaNo().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }

			} catch (Exception e) {
			e.printStackTrace();
			@@ -269,6 +359,7 @@

			}
			}
			// News.infoNoLog(""+mark+" - 0"+" - 组托 ===》执行完成");

			}

			@@ -276,7 +367,7 @@
			* wms入库
			* 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
			*/
			public synchronized void generateStoreWrkFile0() {
			public synchronized void generateStoreWrkFile0(Integer mark) {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			@@ -296,9 +387,13 @@
			}

			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			if (!staProtocol.isLoading()){
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() == 9999)
			&& staProtocol.isPakMk()) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行");
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			if (wrkMast == null) {
			@@ -308,33 +403,37 @@
			// 命令下发区 --------------------------------------------------------------------------

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发3："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			if (result) {
			// 更新工作主档
			wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			News.error(""+mark+" - 1"+" - 更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			}
			} else {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			News.error(""+mark+" - 2"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isLoading()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
			+"、锁定标记"+ staProtocol.isPakMk()+"、入库印记：" + staProtocol.getStamp());
			}


			}
			}
			// News.infoNoLog(""+mark+" - 0"+" - wms入库 ===》执行完成");

			}

			/**
			* 拣料、并板、盘点再入库
			*/
			public synchronized void stnToCrnStnPick() {
			public synchronized void stnToCrnStnPick(Integer mark) {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta()) {
			@@ -345,7 +444,7 @@
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			// News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			@@ -366,6 +465,7 @@
			// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行");
			WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
			if (wrkMast == null) {
			@@ -393,7 +493,19 @@
			.eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (Cools.isEmpty(staDesc)) {
			log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			staProtocol.setWorkNo(wrkNo++);
			staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()));
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发4："+9996+","+(pickSta.getStaNo().shortValue()-(short)1));
			//LED
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "此为拣料、并板、盘点再入库.请放在"+pickSta.getBackSta().shortValue()+"站点";
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			}
			continue;
			}

			@@ -410,6 +522,14 @@
			Date now = new Date();
			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			if(wrkMast.getSourceStaNo() > 2000){
			switch (wrkMast.getCrnNo()){
			case 1: staNo = 2004;break;
			case 2: staNo = 2010;break;
			case 4: staNo = 2022;break;
			case 5: staNo = 2028;break;
			}
			}
			// 更新工作档数据状态
			wrkMast.setIoTime(now);
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			@@ -438,12 +558,181 @@
			}

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发5："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			if (!result) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			News.error(""+mark+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isLoading()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk());
			}

			}

			}
			// News.infoNoLog(""+mark+" - 0"+" - 拣料、并板、盘点再入库 ===》执行完成");
			}


			//盘点再入库
			public synchronized void stnToCrnStnPick2(){
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta()) {
			// 获取拣料入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			// && staProtocol.getWorkNo() > 0
			&& staProtocol.isPakMk()){

			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			// log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if("00000000".equals(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			staProtocol.setWorkNo(wrkNo++);
			staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			}
			continue;
			}
			} else {
			staProtocol.setWorkNo(wrkNo++);
			staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			}
			continue;
			}

			WrkMast wrkMast = wrkMastMapper.selectPickStep2(barcode);
			if (wrkMast == null) {
			// 无盘点数据
			continue;
			}

			// 出库确认信号位
			// if ((Cools.isEmpty(wrkMast.getInvWh()) \|\| wrkMast.getInvWh().equals("N")) && wrkMast.getIoType() != 107) {
			// continue;
			// }
			// if ( wrkMast.getIoType() != 107 \|\| Cools.isEmpty(wrkMast.getStaNo())
			// \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			// continue;
			// }

			// 获取库位号
			try {
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", wrkMast.getSourceLocNo()));
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(107);
			param.setSourceStaNo(pickSta.getStaNo()); //作业站点
			if (!Cools.isEmpty(locMast)){
			param.setLocType1(locMast.getLocType1());
			}else {
			param.setLocType1(locTypeDto.getLocType1());
			}

			String response = "";
			log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			try {
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin2/loc/v1")
			.setJson(JSON.toJSONString(param))
			// .setTimeout(15, TimeUnit.SECONDS)
			.build()
			.doPost();
			} catch(Exception e){
			log.error("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
			e.printStackTrace();
			continue;
			}
			log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response);
			if(response.equals("")) {
			continue;
			}
			JSONObject jsonObject = JSON.parseObject(response);
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			Integer code = jsonObject.getInteger("code");
			if (code == 200) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			if (Cools.isEmpty(dto) \|\| Cools.isEmpty(dto.getStaNo())) {
			log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
			} else {
			log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位成功===>>" + jsonObject.toJSONString());
			try {
			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setStaNo((short)161);
			devpThread.setPakMk(staProtocol.getSiteId(), false);

			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库任务下发成功===>>" + staProtocol);

			ledThread.errorReset();
			log.error("盘点后led错误删除");

			} catch (Exception e) {
			log.error("盘点再入库失败===>>" + e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			} else {
			staProtocol.setWorkNo(wrkNo++);
			staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			}
			}
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			log.error("stnToCrnStnPick2===>>fail", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			}
			@@ -456,7 +745,8 @@
			/**
			* 堆垛机站出库到出库站
			*/
			public synchronized void crnStnToOutStn() {
			public synchronized void crnStnToOutStn(Integer mark) {

			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			@@ -469,15 +759,111 @@
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			WrkMast wrkMast9997 = wrkMastMapper.selectPakOutStep9997(staProtocol.getSiteId());
			WrkMast wrkMast9996 = wrkMastMapper.selectPakOutStep9996(staProtocol.getSiteId());

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

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

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

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

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

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

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

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

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

			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			@@ -489,14 +875,18 @@
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
			log.info("堆垛机出库完成 - 开始执行");

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

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

			// 更新工作档状态为14失败
			@@ -504,22 +894,144 @@
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位堆垛机
			log.error("出库任务完成下发堆垛机复位,{}", wrkMast.getWrkNo());
			crnThread.setResetFlag(true);
			} else {
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！"
			+" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO
			+"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast.getWrkNo().shortValue()
			+"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
			+"、货叉位置："+crnProtocol.forkPosType+"==HOME：0 // 货叉原位：" + CrnForkPosType.HOME);
			}

			}
			}
			}
			// News.infoNoLog(""+mark+" - 0"+" - 堆垛机站出库到出库站 ===》执行完成");
			}

			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			* 堆垛机任务衔接任务生成
			*/
			public synchronized void crnIoExecute() {
			public synchronized void connectWrk(Integer mark) {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocolIn = devpThread.getStation().get(4001);
			if (staProtocolIn == null) {
			continue;
			} else {
			staProtocolIn = staProtocolIn.clone();
			}
			int[] outStaNos = {1015, 2016}; //衔接入库点
			for (int outStaNo : outStaNos) {
			StaProtocol staProtocolOut = devpThread.getStation().get(outStaNo);// 盘点出库衔接站点（可能是 1015，也可能是 2016）
			if (staProtocolOut == null) {
			continue;
			} else {
			staProtocolOut = staProtocolOut.clone();
			}

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

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

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

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

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

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

			}


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

			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			@@ -529,7 +1041,7 @@
			}
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			News.error(""+mark+" - 1"+" - {}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}

			@@ -541,53 +1053,55 @@
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
			&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行堆垛机入出库作业下发");
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc(crn, crnProtocol); // 入库
			//mark - 1 - ....
			this.crnStnToLoc(crn, crnProtocol,mark); // 入库
			crnProtocol.setLastIo("O");
			} else if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn(crn, crnProtocol); // 出库
			//mark - 2 - ....
			this.locToCrnStn(crn, crnProtocol,mark); // 出库
			crnProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn(crn, crnProtocol); // 出库
			this.locToCrnStn(crn, crnProtocol,mark); // 出库
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc(crn, crnProtocol); // 入库
			this.crnStnToLoc(crn, crnProtocol,mark); // 入库
			crnProtocol.setLastIo("O");
			}
			}
			}
			// 库位移转
			this.locToLoc(crn, crnProtocol);
			//mark - 3 - ....
			this.locToLoc(crn, crnProtocol,mark);
			//预调度
			// this.crnRebackHp(crnProtocol, crnThread);

			}
			// News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
			}

			/**
			* 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
			*/
			public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) {
			// for (CrnSlave crn : slaveProperties.getCrn()) {
			// // 获取堆垛机信息
			// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			// if (crnProtocol == null) {
			// continue;
			// }
			// BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			// if (basCrnp == null) {
			// log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			// continue;
			// }
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
			if (crnProtocol.getBay() == 1) {
			return;
			}
			int x=1;
			switch (crnProtocol.getCrnNo()){
			case 1: x =1; break;
			case 2: x =3; break;
			case 3: x =5; break;
			case 4: x =7; break;
			case 5: x =9; break;
			}

			// 已经存在吊车执行任务时，则过滤3,12
			@@ -601,76 +1115,148 @@
			}

			//输送线没有入库任务，过滤2
			if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
			if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) != null) {
			return;
			}
			log.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
			News.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9999); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 回原点
			crnCommand.setSourcePosX((short) 0); // 源库位排
			crnCommand.setSourcePosY((short) 0); // 源库位列
			crnCommand.setSourcePosZ((short) 0); // 源库位层
			crnCommand.setTaskMode(CrnTaskModeType.X_MOVE); // 任务模式: 回原点
			crnCommand.setSourcePosX((short) x); // 源库位排
			crnCommand.setSourcePosY((short) 1); // 源库位列
			crnCommand.setSourcePosZ((short) 1); // 源库位层
			crnCommand.setDestinationPosX((short) 0); // 目标库位排
			crnCommand.setDestinationPosY((short) 0); // 目标库位列
			crnCommand.setDestinationPosZ((short) 0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
			News.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
			}
			crnThread.setBackHpFlag(true);
			}

			// }
			}

			/**
			* 入库 ===>> 堆垛机站到库位
			*/
			public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
			public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
			News.warnNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发：执行入库");
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			boolean flag = false;
			// 获取堆垛机入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			News.infoNoLog(""+mark+" - 1"+" - 1"+" - 堆垛机入库站信息(staProtocol!=null继续执行)：staProtocol="+staProtocol);
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// WrkMast wrkMast9996 = wrkMastMapper.selectByWrkNo9996(9996);
			//
			// if (slave.getId() == 3 && wrkMast9996 != null) {
			// SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp,2);
			// StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
			// if (staProtocol2 == null) {
			// News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
			// break;
			// } else {
			// staProtocol2 = staProtocol2.clone();
			// }
			// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			// if (staDetl == null) {
			// News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			// break;
			//// continue;
			// }
			// if( staProtocol2.isAutoing() && staProtocol2.isLoading() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
			// // 堆垛机控制过滤
			// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			//// continue;
			// break;
			// }
			// // 已经存在吊车执行任务时，则过滤
			// if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			// break;
			//// return;
			// }
			// // 1.堆垛机开始移动
			// CrnCommand crnCommand = new CrnCommand();
			// crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			// crnCommand.setTaskNo((short) 9996); // 工作号
			//// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			// crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			// crnCommand.setSourcePosX((short) 9); // 源库位排
			// crnCommand.setSourcePosY((short) 52); // 源库位列
			// crnCommand.setSourcePosZ((short) 3); // 源库位层
			// if(wrkMast9996.getStaNo()>2000){
			// crnCommand.setDestinationPosX((short) 9); // 目标库位排
			// crnCommand.setDestinationPosY((short) 52); // 目标库位列
			// crnCommand.setDestinationPosZ((short) 2); // 目标库位层
			// }else{
			// crnCommand.setDestinationPosX((short) 11); // 目标库位排
			// crnCommand.setDestinationPosY((short) 52); // 目标库位列
			// crnCommand.setDestinationPosZ((short) 1); // 目标库位层
			// }
			//
			//// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			// if (!MessageQueue.offer(SlaveType.Crn, wrkMast9996.getCrnNo(), new Task(2, crnCommand))) {
			// News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9996.getCrnNo(), JSON.toJSON(crnCommand));
			// } else {
			// // 修改工作档状态 11.生成出库ID => 12.吊车出库中
			// Date now = new Date();
			// wrkMast9996.setWrkSts(3L);
			// wrkMast9996.setCrnStrTime(now);
			// wrkMast9996.setModiTime(now);
			// if (wrkMastMapper.updateById(wrkMast9996) == 0) {
			// News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast9996.getWrkNo());
			// }
			// break;
			// }
			// }
			// }
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			News.error(""+mark+" - 1"+" - 2"+" - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			News.errorNoLog(""+mark+" - 1"+" - 3"+" - 堆垛机入库站信息(以下需要全true):"
			+"自动信号"+staProtocol.isAutoing()+"有物信号"+staProtocol.isLoading()
			+"工作号>0"+staProtocol.getWorkNo()+"可入信号"+staProtocol.isInEnable()
			+"能入信号（wms设置）.equals(\"Y\")"+staDetl.getCanining());
			continue;
			}
			// 获取工作状态为2（设备上走）的入库工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
			if (null == wrkMast) {
			News.infoNoLog(""+mark+" - 1"+" - 4"+" - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			// log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			// 获取库位信息
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			if (locMast == null) {
			log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
			News.error(""+mark+" - 1"+" - 5"+" - 查询库存无数据--库位号{}", wrkMast.getLocNo());
			continue;
			}
			if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
			log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
			News.error(""+mark+" - 1"+" - 6"+" - 入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
			continue;
			}

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// News.infoNoLog(""+mark+" - 1"+" - 7"+" - 堆垛机控制过滤:堆垛机是否空闲={}，任务号={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo());
			continue;
			}

			@@ -681,41 +1267,49 @@

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
			News.warnNoLog(""+mark+" - 1"+" - 8"+" - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行任务号={}",wrkMast.getWrkNo());
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			News.warnNoLog(""+mark+" - 1"+" - 9"+" - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！库位状态={}",shallowLoc.getLocSts());
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			News.error(""+mark+" - 1"+" - 10"+" - {}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			News.error(""+mark+" - 1"+" - 11"+" - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			}

			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			News.warnNoLog(""+mark+" - 1"+" - 12"+" - // F、D 库位状态={}",shallowLoc.getLocSts());
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			moveLocForDeepLoc(slave, shallowLoc,mark);
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			}
			continue;
			} else if (shallowLoc.getLocSts().equals("Q")) {
			News.warnNoLog(""+mark+" - 1"+" - 13"+" - // Q 库位状态={}",shallowLoc.getLocSts());
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			News.infoNoLog(""+mark+" - 1"+" - 14"+" - // F、D 工作状态(判断条件为==4)={}",waitWrkMast.getWrkSts());
			continue;
			}
			}
			}
			News.warnNoLog(""+mark+" - 1"+" - 15"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
			,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue()
			,locMast.getRow1().shortValue(),locMast.getBay1().shortValue(),locMast.getLev1().shortValue());

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			@@ -729,8 +1323,9 @@
			crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			crnCommand.setTraySize(locMast.getLocType1() == 2);
			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));
			News.error(""+mark+" - 1"+" - 16"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {

			// long startTime = System.currentTimeMillis();
			@@ -751,40 +1346,213 @@
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			News.error(""+mark+" - 1"+" - 17"+" - 修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			News.infoNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发：入库执行完毕");
			}

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
			*/
			public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
			public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
			News.warnNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发：执行出库");
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
			WrkMast wrkMast9997 = wrkMastMapper.selectByWrkNo9997(9997);
			WrkMast wrkMast9996 = wrkMastMapper.selectByWrkNo9997(9996);


			if (slave.getId() == 3 && wrkMast9997 != null) {
			SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol2 = devpThread1.getStation().get(1015);
			if (staProtocol2 == null) {
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
			break;
			} else {
			staProtocol2 = staProtocol2.clone();
			}
			SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol3 = devpThread2.getStation().get(2016);
			if (staProtocol3 == null) {
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
			break;
			} else {
			staProtocol3 = staProtocol3.clone();
			}
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			if(staProtocol2.isLoading() && staProtocol2.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9997); // 工作号
			// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX((short) 9); // 源库位排
			crnCommand.setSourcePosY((short) 52); // 源库位列
			crnCommand.setSourcePosZ((short) 1); // 源库位层
			crnCommand.setDestinationPosX((short) 11); // 目标库位排
			crnCommand.setDestinationPosY((short) 52); // 目标库位列
			crnCommand.setDestinationPosZ((short) 3); // 目标库位层
			// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast9997.getCrnNo(), new Task(2, crnCommand))) {
			News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9997.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast9997.setWrkSts(12L);
			wrkMast9997.setCrnStrTime(now);
			wrkMast9997.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast9997) == 0) {
			News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast9997.getWrkNo());
			}
			break;
			}
			}
			if(staProtocol3.isLoading() && staProtocol3.isAutoing()){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9997); // 工作号
			// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX((short) 11); // 源库位排
			crnCommand.setSourcePosY((short) 52); // 源库位列
			crnCommand.setSourcePosZ((short) 2); // 源库位层
			crnCommand.setDestinationPosX((short) 11); // 目标库位排
			crnCommand.setDestinationPosY((short) 52); // 目标库位列
			crnCommand.setDestinationPosZ((short) 3); // 目标库位层
			// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast9997.getCrnNo(), new Task(2, crnCommand))) {
			News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9997.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast9997.setWrkSts(12L);
			wrkMast9997.setCrnStrTime(now);
			wrkMast9997.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast9997) == 0) {
			News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast9997.getWrkNo());
			}
			break;
			}
			}
			}
			if (slave.getId() == 3 && wrkMast9996 != null) {
			SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol4001 = devpThread2.getStation().get(4001);
			if (staProtocol4001 == null) {
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol4001);
			break;
			} else {
			staProtocol4001 = staProtocol4001.clone();
			}
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			if(staProtocol4001.isLoading() && staProtocol4001.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9996); // 工作号
			// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX((short) 9); // 源库位排
			crnCommand.setSourcePosY((short) 52); // 源库位列
			crnCommand.setSourcePosZ((short) 3); // 源库位层
			if(wrkMast9996.getStaNo()>2000){
			crnCommand.setDestinationPosX((short) 9); // 目标库位排
			crnCommand.setDestinationPosY((short) 52); // 目标库位列
			crnCommand.setDestinationPosZ((short) 2); // 目标库位层
			}else{
			crnCommand.setDestinationPosX((short) 11); // 目标库位排
			crnCommand.setDestinationPosY((short) 52); // 目标库位列
			crnCommand.setDestinationPosZ((short) 1); // 目标库位层
			}
			// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast9996.getCrnNo(), new Task(2, crnCommand))) {
			News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9996.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast9996.setWrkSts(12L);
			wrkMast9996.setCrnStrTime(now);
			wrkMast9996.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast9996) == 0) {
			News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast9996.getWrkNo());
			}
			break;
			}
			}
			}
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast == null) {
			continue;
			}
			if (wrkMast.getIoType() == 107){
			int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("io_type", wrkMast.getIoType()).eq("wrk_sts", 14));
			if (count >= inventoryNumber) {
			continue;
			}
			}
			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null) {
			log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
			News.error(""+mark+" - 2"+" - 1"+" - 查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
			continue;
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			News.error(""+mark+" - 2"+" - 2"+" - 出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			News.infoNoLog(""+mark+" - 2"+" - 3"+" - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol="+staProtocol);
			break;
			// continue;
			} else {
			@@ -793,20 +1561,29 @@

			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
			if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
			continue;
			}
			// if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
			// News.infoNoLog(""+mark+" - 2"+" - 4"+" - 入出库模式（此处出库方法，出库模式继续=="+devpThread.ioModeOf2F);
			// continue;
			// }

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {

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

			// 堆垛机控制过滤
			@@ -817,19 +1594,21 @@

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
			News.warnNoLog(""+mark+" - 2"+" - 6"+" - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行任务号={}",wrkMast.getWrkNo());
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			News.warnNoLog(""+mark+" - 2"+" - 7"+" - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！库位状态={}",shallowLoc.getLocSts());
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			if (waitWrkMast.getWrkSts() == 11) {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			News.error(""+mark+" - 2"+" - 8"+" - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			} else {
			@@ -837,6 +1616,7 @@
			}
			}
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			News.warnNoLog(""+mark+" - 2"+" - 9"+" - // F、D 库位状态={}",shallowLoc.getLocSts());
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			//2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			@@ -847,13 +1627,15 @@
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			moveLocForDeepLoc(slave, shallowLoc,mark);
			}
			log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			News.warnNoLog(""+mark+" - 2"+" - 10"+" - // Q、S 库位状态={}",shallowLoc.getLocSts());
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			News.infoNoLog(""+mark+" - 2"+" - 11"+" - // F、D 工作状态(判断条件为==4)={}",waitWrkMast.getWrkSts());
			continue;
			}
			}
			@@ -864,6 +1646,10 @@
			break;
			// return;
			}

			News.warnNoLog(""+mark+" - 2"+" - 12"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
			,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue()
			,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue());

			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			@@ -877,8 +1663,9 @@
			crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			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));
			News.error(""+mark+" - 2"+" - 13"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			@@ -886,13 +1673,14 @@
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			News.error(""+mark+" - 2"+" - 14"+" - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			break;
			}
			}
			}
			}
			News.infoNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发：出库执行完毕");
			}

			// /**
			@@ -1015,16 +1803,17 @@
			/**
			* 库位移转
			*/
			public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
			public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
			// 获取工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
			if (null == wrkMast) {
			return;
			}
			News.warnNoLog(""+mark+" - 3"+" - 0"+" - 堆垛机入出库作业下发：执行库位移转");
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (null == sourceSta) {
			log.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			News.error(""+mark+" - 3"+" - 1"+" - 工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			return;
			}
			// 源库位库位状态判断
			@@ -1034,7 +1823,11 @@
			// 获取目标库位信息
			LocMast sta = locMastService.selectById(wrkMast.getLocNo());
			if (null == sta) {
			log.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
			News.error(""+mark+" - 3"+" - 2"+" - 工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
			return;
			}
			if(sta.getLocType1() != sourceSta.getLocType1()){
			News.error("移库目标库位类型与源库位类型不符");
			return;
			}
			// 获取堆垛机信息并判断是否可入出
			@@ -1053,6 +1846,10 @@
			return;
			}

			News.warnNoLog(""+mark+" - 3"+" - 3"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
			,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue()
			,sta.getRow1().shortValue(),sta.getBay1().shortValue(),sta.getLev1().shortValue());

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			@@ -1065,8 +1862,9 @@
			crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 目标库位层
			crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			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));
			News.error(""+mark+" - 3"+" - 4"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			@@ -1074,16 +1872,18 @@
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("【库位移转】修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			News.error(""+mark+" - 3"+" - 5"+" - 【库位移转】修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			News.infoNoLog(""+mark+" - 3"+" - 0"+" - 堆垛机入出库作业下发：库位移转完成");

			}

			/**
			* 执行对工作档的完成操作
			*/
			public synchronized void storeFinished() {
			public synchronized void storeFinished(Integer mark) {

			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			@@ -1091,16 +1891,50 @@
			if (crnProtocol == null) {
			continue;
			}
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			if (crnProtocol.getTaskNo() == 9999) {
			if(crnProtocol.getTaskNo() == 9999){
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());



			// 堆垛机复位
			News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
			crnThread.setResetFlag(true);
			} else {
			}
			} else if (crnProtocol.getTaskNo() == 9996) {//盘点入库衔接
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			wrkMast.setWrkSts(4L);
			} else {
			continue;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo());
			News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
			crnThread.setResetFlag(true);
			}
			}
			}else{
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null ) {
			News.error("" + mark + " - 1" + " - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			continue;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			@@ -1115,18 +1949,24 @@
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo());
			News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
			crnThread.setResetFlag(true);
			}
			}

			}



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


			/**
			* 堆垛机异常信息记录
			*/
			public synchronized void recCrnErr() {
			public synchronized void recCrnErr(Integer mark) {
			Date now = new Date();
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			@@ -1139,9 +1979,11 @@
			// if (crnProtocol.getModeType() != CrnModeType.STOP) {
			// 有任务
			if (crnProtocol.getTaskNo() != 0) {

			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			News.warnNoLog(""+mark+" - 1"+" - 开始执行：堆垛机异常信息记录：有任务，有异常");
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			@@ -1173,7 +2015,7 @@
			"任务中异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			News.error(""+mark+" - 2"+" - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			} else {
			@@ -1183,7 +2025,7 @@
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			News.error(""+mark+" - 3"+" - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			@@ -1192,6 +2034,7 @@
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			News.warnNoLog(""+mark+" - 4"+" - 开始执行：堆垛机异常信息记录：无任务，有异常");
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			@@ -1220,7 +2063,7 @@
			"无任务异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			News.error(""+mark+" - 5"+" - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			// 无异常
			@@ -1231,7 +2074,7 @@
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			News.error(""+mark+" - 6"+" - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			@@ -1239,6 +2082,7 @@
			}

			}
			// News.infoNoLog(""+mark+" - 0"+" - 堆垛机异常信息记录执行完成");
			}


			@@ -1247,7 +2091,8 @@
			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			public synchronized void storeEmptyPlt() {
			public synchronized void storeEmptyPlt(Integer mark) {

			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			@@ -1260,9 +2105,24 @@
			staProtocol = staProtocol.clone();
			}

			LedThread ledThread = null;
			if (!Cools.isEmpty(emptyInSta.getLed())) {
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
			}

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

			// 站点条件判断
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.isEmptyMk() && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999) && staProtocol.isPakMk()) {
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& staProtocol.isEmptyMk()
			&& staProtocol.isPakMk()
			&& (staProtocol.getWorkNo() !=0 && staProtocol.getWorkNo() > 9700)
			) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行：空栈板初始化入库,叉车入库站放货");

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			@@ -1282,86 +2142,67 @@
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setStaNo(staProtocol.getSiteId().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发6："+dto.getWorkNo()+","+staProtocol.getSiteId());
			if (!result) {
			News.errorNoLog(""+mark+" - 1"+" - 更新plc站点信息失败");
			throw new CoolException("更新plc站点信息失败");
			}

			if (ledThread != null) {
			// 命令集合
			List<LedCommand> commands = new ArrayList<>();
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(dto.getWorkNo());
			ledCommand.setIoType(1);
			ledCommand.setTitle("全板入库");
			ledCommand.setLocNo(dto.getLocNo());
			ledCommand.setStaNo(dto.getStaNo());
			commands.add(ledCommand);
			MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(1, commands));
			// ledThread.errorReset();
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			// staProtocol.setWorkNo(wrkNo++);
			// staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// News.errorNoLog(""+mark+" - 2"+" - 更新plc站点信息失败");
			// throw new CoolException("更新plc站点信息失败");
			// }
			//
			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
			}
			}
			// News.error(""+mark+" - 3"+" - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}


			// // 检索库位
			// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			// StartupDto startupDto = commonService.getLocNo(1, 10, emptyInSta.getStaNo(), null, locTypeDto, 0);
			// // 工作号
			// int workNo = startupDto.getWorkNo();
			//
			// try {
			// // 插入工作主档
			// WrkMast wrkMast = new WrkMast();
			// wrkMast.setWrkNo(workNo);
			// wrkMast.setIoTime(new Date());
			// wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			// wrkMast.setIoType(10); // 入出库状态：10.空板入库
			// wrkMast.setIoPri(10D); // 优先级：10
			// wrkMast.setCrnNo(startupDto.getCrnNo());
			// wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
			// wrkMast.setStaNo(startupDto.getStaNo());
			// wrkMast.setLocNo(startupDto.getLocNo());
			// wrkMast.setFullPlt("N"); // 满板
			// wrkMast.setPicking("N"); // 拣料
			// wrkMast.setExitMk("N"); // 退出
			// wrkMast.setEmptyMk("Y"); // 空板
			// wrkMast.setLinkMis("N");
			//// wrkMast.setCtnType(sourceStaNo.getCtnType()); // 容器类型
			// // 操作人员数据
			// wrkMast.setAppeTime(new Date());
			// wrkMast.setModiTime(new Date());
			// Integer insert = wrkMastMapper.insert(wrkMast);
			// if (insert == 0) {
			// throw new CoolException("保存工作档失败");
			// }
			// // 更新目标库位状态
			// LocMast locMast = locMastService.selectById(startupDto.getLocNo());
			// locMast.setLocSts("S"); // S.入库预约
			// locMast.setModiTime(new Date());
			// if (!locMastService.updateById(locMast)){
			// throw new CoolException("改变库位状态失败");
			// }
			// // 命令下发区 --------------------------------------------------------------------------
			//
			// // 更新站点信息且下发plc命令
			// staProtocol.setWorkNo((short) workNo);
			// staProtocol.setStaNo(startupDto.getStaNo().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }

			} else {
			News.errorNoLog(""+mark+" - 4"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isAutoing()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
			+"、锁定标记"+ staProtocol.isPakMk());
			}


			}
			}
			// News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成");
			}

			/**
			* 出库 ===>> 工作档信息写入led显示器
			*/
			public synchronized void ledExecute() {
			public synchronized void ledExecute(Integer mark) {
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			@@ -1379,10 +2220,7 @@
			}
			// 获取工作档数据
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			// if (null == wrkMast \|\| wrkMast.getWrkSts() < 14 \|\| wrkMast.getIoType() < 100) { continue; }
			if (null == wrkMast) {
			continue;
			}
			if (null == wrkMast) { continue; }
			wrkMasts.add(wrkMast);
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			@@ -1413,16 +2251,34 @@
			ledCommand.setEmptyMk(true);
			break;
			default:
			log.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			break;
			}
			ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			ledCommand.setLocNo(wrkMast.getLocNo());
			ledCommand.setStaNo(wrkMast.getStaNo());
			// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
			ledCommand.setBarcode(wrkMast.getBarcode());
			if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())));

			wrkDetls.forEach(wrkDetl -> {
			Double total = 0.0;
			EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
			LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
			if (Cools.isEmpty(locDetl)) {
			total = wrkDetl.getAnfme();
			} else {
			total = locDetl.getAnfme();
			}
			if (wrkMast.getIoType() == 101 \|\| wrkMast.getIoType() == 1) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			}
			if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() \|\| 0 == wrkDetl.getInspect())) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			}
			if (wrkMast.getIoType() == 107) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			}
			});
			}
			commands.add(ledCommand);
			}
			@@ -1435,22 +2291,10 @@
			}
			// 命令下发 -------------------------------------------------------------------------------
			if (!commands.isEmpty()) {
			if (led.getId() == 7) {
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			} else {
			ledThread.setLedMk(false);
			}
			} else {
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			} else {
			ledThread.setLedMk(false);
			}
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
			News.error("{}号LED显示内容命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			}

			}

			try {
			@@ -1478,33 +2322,6 @@
			* 其他 ===>> LED显示器复位，显示默认信息
			*/
			public synchronized void ledReset() {
			// for (LedSlave led : slaveProperties.getLed()) {
			// // 获取输送线plc线程
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// // 命令集合
			// boolean reset = true;
			// for (Integer staNo : led.getStaArr()) {
			// // 获取叉车站点
			// StaProtocol staProtocol = devpThread.getStation().get(staNo);
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// if (staProtocol.getWorkNo() != 0) {
			// reset = false;
			// break;
			// }
			// }
			// // 获取led线程
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
			// // led显示默认内容
			// if (reset) {
			// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
			// log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			// }
			// }
			// }
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			@@ -1513,10 +2330,8 @@
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			}
			if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
			if (staProtocol == null) { continue; }
			if (staProtocol.getWorkNo() != 0 \|\| staProtocol.isErr()) {
			reset = false;
			break;
			}
			@@ -1524,21 +2339,12 @@
			// 获取led线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// led显示默认内容
			if (reset && !ledThread.isLedMk()) {
			if (led.getId() == 7) {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			} else {

			}
			} else {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			} else {

			}
			if (reset) {
			if (ledThread == null) {
			continue;
			}
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
			News.error("{}号LED显示默认命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			}
			}
			}
			@@ -1624,8 +2430,10 @@
			* 因双深库位阻塞，对浅库位进行移转（立即执行版)
			* tip：同步
			*/
			private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
			private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc,Integer mark) {

			try {
			News.warnNoLog(""+mark+"moveLocForDeepLoc"+" - 0"+" - 开始执行:因双深库位阻塞，对浅库位进行移转（立即执行版)");
			List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
			LocMast loc = null;
			for (Integer row : rows) {
			@@ -1667,7 +2475,7 @@
			}

			if (null == loc) {
			log.error("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			News.error(""+mark+"moveLocForDeepLoc"+" - 1"+" - 双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			throw new CoolException("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			}

			@@ -1683,7 +2491,7 @@
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setFullPlt(shallowLoc.getLocSts().equals("F") ? "Y" : "N"); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			@@ -1693,6 +2501,7 @@
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 2"+" - 保存工作档失败");
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			@@ -1707,6 +2516,7 @@
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 3"+" - 保存工作档明细失败");
			throw new CoolException("保存工作档明细失败");
			}
			}
			@@ -1716,9 +2526,11 @@
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 4"+" - 更新源库位状态失败");
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 5"+" - 源库位出库失败");
			throw new CoolException("源库位出库失败");
			}
			// 修改目标库位状态
			@@ -1726,13 +2538,15 @@
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 6"+" - 更新目标库位状态失败");
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 7"+" - 移转失败");
			throw new CoolException("移转失败");
			}
			} catch (Exception e) {
			log.error("双深库位阻塞，对浅库位进行移转失败", e);
			News.error(""+mark+"moveLocForDeepLoc"+" - 8"+" - 双深库位阻塞，对浅库位进行移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			@@ -1833,7 +2647,7 @@
			}
			}
			} catch (Exception e) {
			log.error("堆垛机演示 ===>> 库位移转失败", e);
			News.error("堆垛机演示 ===>> 库位移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			@@ -1860,27 +2674,27 @@
			}
			// 入库
			if (wrkMast.getWrkSts() == 1 \|\| wrkMast.getWrkSts() == 2) {
			log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
			News.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			News.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			News.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			}
			// 出库、移库
			if (wrkMast.getWrkSts() == 11) {
			log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
			News.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			News.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			News.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			}


			@@ -1952,94 +2766,2036 @@

			}

			public synchronized void outOfDevp() {
			public synchronized void outOfDevp(Integer mark) {

			List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
			if (wrkMasts.size()!=0){
			News.warnNoLog(""+mark+" - 0"+" - 开始执行outOfDevp");
			}
			for (WrkMast wrkMast : wrkMasts) {
			if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
			wrkMast.setCtnNo("Y");
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
			News.error(""+mark+" - 1"+" - 修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
			}
			}

			}
			// News.infoNoLog(""+mark+" - 0"+" - outOfDevp执行完成");
			}


			public synchronized void autoEmptyOut() {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			Integer autoOutSite = 12;
			//如果站点可出禁用，则不生成空盘出库任务
			StaProtocol staProtocol = devpThread.getStation().get(autoOutSite);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() //自动
			&& !staProtocol.isLoading() //无物
			&& staProtocol.isOutEnable() //可出信号
			&& staProtocol.getWorkNo() == 0
			) {
			WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(autoOutSite);
			if (null != pakoutEmpty) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			List<Integer> list = new ArrayList<>();
			list.add(1108);list.add(2031);
			for (Integer site:list){
			Integer emptyCount = wrkMastMapper.countPakOutEmpty(site);
			StaProtocol staProtocol = null;
			if(emptyCount >= 1 && site == 1108){
			continue;
			}else if(emptyCount == 1 && site == 2031){
			continue;
			}
			//如果站点可出禁用，则不生成空盘出库任务
			switch (site){
			case 1108:staProtocol = devpThread.getStation().get(site - 2);break;
			case 2031:staProtocol = devpThread.getStation().get(site);break;
			}
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			try {
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/emptyOut/v1")
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			JSONObject data = (JSONObject) jsonObject.get("data");
			log.info((String) data.get("msg"));
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
			if (staProtocol.isAutoing() //自动
			&& !staProtocol.isLoading() //无物
			// && staProtocol.isOutEnable() //可出信号
			&& staProtocol.getWorkNo() == 0
			) {
			Short loctype1 = 1;
			LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
			locTypeDto.setSiteId(site);
			try {
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/emptyOut/v1")
			.setJson(JSON.toJSONString(locTypeDto))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			String data = jsonObject.get("data").toString();
			News.info((String) jsonObject.get("msg")+","+data);
			} else {
			News.warnNoLog("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			}

			public synchronized void autoEmptyIn() {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			Integer autoInSite = 12;
			StaProtocol staProtocol = devpThread.getStation().get(autoInSite);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() //自动
			&& staProtocol.isLoading() //有物
			&& staProtocol.isInEnable() //可入信号
			&& (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990) //工作号为0或者工作号是9991~9999（输送机留用）
			) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			List<Integer> list = new ArrayList<>();
			list.add(1038);
			for (Integer site:list){
			StaProtocol staProtocol = devpThread.getStation().get(site);
			StaProtocol staProtocol1 = devpThread.getStation().get(1040);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() //自动
			&& staProtocol.isLoading() //有物
			&& staProtocol.isInEnable() //可入信号
			&& staProtocol.isPakMk()
			&& staProtocol1.isFull() //叠满信号
			&& (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990 ) //工作号为0或者工作号是9991~9999（输送机留用）
			) {

			try {
			LocTypeDto locTypeDto = new LocTypeDto((short) 1, (short) 1, (short) 1);
			System.out.println(staProtocol);
			try {
			Short loctype1 = 1;
			LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
			locTypeDto.setSiteId(site);


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

			}

			}

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

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

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

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

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

			/*
			* 刷新地图数据
			* */
			public synchronized void refreshRgvMap() {
			try{
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			for (BasRgvMap rgvSlave:basRgvMaps) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}else {
			rgvProtocol = rgvProtocol.clone();
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！2", rgvSlave.getRgvNo());
			continue;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE &&
			rgvProtocol.getModeType() == RgvModeType.AUTO
			&& !rgvProtocol.isLoaded1ing() //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			&& rgvProtocol.getTaskNo1()==0
			&& !rgvProtocol.isLoaded2ing()
			&& rgvProtocol.getTaskNo2()==0
			&&rgvThread.isPakMk()
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

			Integer rgvNoOther = basRgvMap.getRgvNoOther((int) rgvProtocol.getRgvNo());
			RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNoOther);
			RgvProtocol rgvProtocolOther = rgvThreadOther.getRgvProtocol();
			if (rgvProtocolOther == null) {
			continue;
			}else {
			rgvProtocolOther = rgvProtocolOther.clone();
			}
			if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocolOther.getModeType() == RgvModeType.AUTO
			&& !rgvProtocolOther.isLoaded1ing()
			&& rgvProtocolOther.getTaskNo1()==0
			&& !rgvProtocolOther.isLoaded2ing()
			&& rgvProtocolOther.getTaskNo2()==0
			&&rgvThreadOther.isPakMk()
			){
			//对工作档进行判断
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			if (rgvProtocol.getTaskNo1() >0 && rgvProtocol.getTaskNo1()<=9000){
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
			rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2366");
			}else if (rgvProtocol.getTaskNo1() == 0){
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2366");
			}

			}



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

			/**
			* 自动生成RGV接驳任务（检索出入口任务，生成对应RGV任务，检索4楼任务，非3号堆垛机，则生成对应接驳任务）
			*/
			// public synchronized void rgvCreateWrkMastSta(){
			// try{
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(1105);
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			// continue;
			// }
			// }
			// }
			// }

			/**
			* 小车上工位左右移动
			*
			*/
			// public synchronized boolean rgvStaMove(Long workNo) {
			// try {
			// for (RgvSlave rgv : slaveProperties.getRgv()) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// if (rgvProtocol == null) {
			// continue;
			// } else {
			// rgvProtocol = rgvProtocol.clone();
			// }
			// if (rgvProtocol.isLoaded2ing() && rgvProtocol.isLoaded1ing()) {
			// continue;
			// }
			// if (rgvProtocol.isLoaded1ing() && !rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo1() != 0) {
			// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
			// Short moveSta = 0;
			//
			// if (wrkMastSta.getStaEnd() < 1036 \|\| (2000 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd() < 2031)) {
			// moveSta = 2;
			// boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(), 7, wrkMastSta.getWrkNo(), moveSta);
			// if (!rgvComplete) {
			// log.error("小车工位移动失败，小车号{}！", rgvProtocol.getRgvNo());
			// break;
			// }
			// }
			// }
			// if (!rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo2() != 0) {
			// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
			// Short moveSta = 0;
			//
			// if (wrkMastSta.getStaEnd() > 2030 \|\| (1036 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd() < 2000)) {
			// moveSta = 1;
			// boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(), 8, wrkMastSta.getWrkNo(), moveSta);
			// if (!rgvComplete) {
			// log.error("小车工位移动失败，小车号{}！", rgvProtocol.getRgvNo());
			// break;
			// }
			// }
			// }
			//
			//
			// }
			// } catch (Exception e) {
			// log.error("小车复位线程报错！" + e);
			// }
			// }
			/**
			* 完成小车任务
			*/
			// public synchronized void rgvCompleteWrkMastSta() {
			// try{
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			// for (RgvSlave rgv : slaveProperties.getRgv()) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// if (rgvProtocol == null) {
			// continue;
			// }else {
			// rgvProtocol = rgvProtocol.clone();
			// }
			// BasRgv basRgv = basRgvService.selectById(rgv.getId());
			// if (basRgv == null) {
			// log.error("{}号RGV尚未在数据库进行维护！3", rgv.getId());
			// continue;
			// }
			// //放货确认
			// if(rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
			// boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
			// if (!rgvComplete){
			// log.error("小车放货复位失败，小车号{}！", rgvProtocol.getRgvNo());
			// }
			// }
			// if(rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
			// boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 6);
			// if (!rgvComplete){
			// log.error("小车放货复位失败，小车号{}！", rgvProtocol.getRgvNo());
			// }
			// }
			//
			// // 只有当RGV工位1等待WCS确认、自动
			// if (rgvProtocol.getStatusType1() == RgvStatusType.WAITING
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// ){
			//
			// log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType1(),rgvProtocol);
			// if(rgvProtocol.getTaskNo1() == 9999){ // 预调度任务确认
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// Integer staNo = basRgvMap.getNowRoute();
			// switch (staNo){
			// case 1004: staNo = 1042; break;
			// case 1007: staNo = 1105; break;
			// }
			//
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(staNo);
			// boolean rgvComplete = false;

			// long now = System.currentTimeMillis();
			// if (staProtocol.isLoading()) {
			// rgvProtocol.setLoadingStartTime(null); // 已到位，清空时间戳
			// } else {
			// if (rgvProtocol.getLoadingStartTime() == null) {
			// rgvProtocol.setLoadingStartTime(now);
			// }
			// }
			//
			// if (staProtocol.isLoading()) {
			// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
			// if (!rgvComplete){
			// log.error("小车复位失败，小车号{}！等待入库取货", rgvProtocol.getRgvNo());
			// }
			// }
			// }
			// if ( rgvProtocol.getTaskNo1()!=9999 && rgvProtocol.getTaskNo1() != 0){
			// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
			// if(null == wrkMastSta){
			// log.error("小车无任务");
			// continue;
			// }
			// if(wrkMastSta.getWrkSts() == 1){//取货确认
			//// if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
			//// continue;
			//// }
			// boolean rgvComplete = false;
			// rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),7,wrkMastSta.getWrkNo(),(short)2);
			// if (!rgvComplete){
			// log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			// break;
			// }
			// wrkMastSta.setUpdateTime(new Date());
			// wrkMastSta.setWrkSts(2);
			// try{
			// wrkMastStaMapper.updateById(wrkMastSta);
			// log.error("更新小车任务成功");
			// }catch (Exception e){
			// log.error("更新小车任务失败");
			// }
			// break;
			// }
			// }
			//
			// else {
			// log.error("小车复位失败，小车号{},等待wcs确认但是没有工作号！",rgvProtocol.getRgvNo());
			// }
			// }
			// // 只有当RGV工位2等待WCS确认、自动
			// if (rgvProtocol.getStatusType2() == RgvStatusType.WAITING
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// ){
			// log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType2(),rgvProtocol);
			// if (rgvProtocol.getTaskNo2() !=0 ){
			// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
			// if(wrkMastSta.getWrkSts() == 1){//取货确认
			// boolean rgvComplete = false;
			// rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),8,wrkMastSta.getWrkNo(),(short)1);
			// if (!rgvComplete){
			// log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			// break;
			// }
			// wrkMastSta.setWrkSts(2);
			// try{
			// wrkMastStaMapper.updateById(wrkMastSta);
			// log.error("更新小车任务成功");
			// }catch (Exception e){
			// log.error("更新小车任务失败");
			// }
			// break;
			// }
			// if(wrkMastSta.getWrkSts() == 4){//行走后确认
			// wrkMastSta.setWrkSts(2);
			// try{
			// wrkMastStaMapper.updateById(wrkMastSta);
			// log.error("更新小车任务成功");
			// }catch (Exception e){
			// log.error("更新小车任务失败");
			// }
			// boolean rgvComplete = false;
			//
			// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
			// if (!rgvComplete){
			// log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			// break;
			// }
			// break;
			// }
			// if (Cools.isEmpty(wrkMastSta) \|\| wrkMastSta.getWrkSts()!=1){
			// log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
			// continue;
			// }

			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			// continue;
			// }
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			//
			// int sourceSta = wrkMast.getSourceStaNo();
			// boolean rgvComplete = false;
			//
			// //双工位出入库不同工位复位
			// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),6);

			// if (!rgvComplete){
			// log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			// break;
			// }
			// WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1());
			// wrkMast1.setPdcType("Y");
			//
			// wrkMastService.updateById(wrkMast1);
			//
			// wrkMastSta.setWrkSts(3);
			// wrkMastStaMapper.updateById(wrkMastSta);
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
			// }
			// else {
			// log.error("小车复位失败，小车号{},等待wcs确认！",rgvProtocol.getRgvNo());
			// }
			// }
			// //当小车无任务时取消锁定
			// if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0){
			// rgvThread.setPakMk(true);
			// rgvThread.setPakIn(true);
			// rgvThread.setPakOut(true);
			// }
			// }
			// }
			// }catch (Exception e){
			// log.error("小车复位线程报错！"+e);
			// }
			// }

			/**
			* rgv放货任务下发
			*/
			public synchronized void rgvOutExecute() {
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol.getStatusType1() != RgvStatusType.IDLE && rgvProtocol.getModeType() != RgvModeType.AUTO) {
			continue;
			}
			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！4", rgv.getId());
			continue;
			}
			if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
			rgvThread.setPaking(true);
			continue;
			}
			//小车无任务时跳过
			if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0 ){
			continue;
			}
			if(!rgvThread.isPaking()){
			continue;

			}
			if(!basRgv.getPakAll().equals("1")){
			continue;
			}
			if(basRgv.getPakIn().equals("1")){
			for(RgvSlave.RgvStn rgvStn : rgv.getRgvInPStn()){//入库放货站点
			boolean flag = false;

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			if (staProtocol == null) {
			News.infoNoLog( " - 1" + " - 1" + " - Rgv入库放货站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
			if (staDetl == null) {
			News.error( " - 1" + " - 2" + " - 入库 ===>>Rgv放货站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}

			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			News.errorNoLog( " - 1" + " - 3" + " - Rgv入库放货站信息(以下需要全true):"
			+ "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
			+ "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isInEnable()
			+ "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
			continue;
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			Integer workNo = 0;
			if(rgvProtocol.getTaskNo2() > 9999\|\| rgvProtocol.getTaskNo1() > 9999){
			workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1() : rgvProtocol.getTaskNo2();
			}else{
			workNo = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2() : rgvProtocol.getTaskNo1();
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNoPut(workNo);
			WrkMast wrkMast = wrkMastMapper.selectByWrkNo(workNo);
			if( null == wrkMastSta ) {
			News.infoNoLog( " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			if (sign){
			try{
			rgvThread.setPaking(false);
			if(wrkMast != null){
			wrkMast.setSheetNo("2");
			wrkMastMapper.updateById(wrkMast);
			}
			wrkMastSta.setWrkSts(2);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			}catch (Exception e){
			log.error("更新小车任务失败"+ e);
			}
			} else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}

			}
			basRgv.setPakRgv("1");
			basRgvService.updateById(basRgv);
			}
			//出库放货
			if( basRgv.getPakOut().equals("1")){
			for(RgvSlave.RgvStn rgvStn : rgv.getRgvOutPStn()){//入库放货站点
			boolean flag = false;

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			if (staProtocol == null) {
			News.infoNoLog( " - 1" + " - 1" + " - Rgv出库放货站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
			if (staDetl == null) {
			News.error( " - 1" + " - 2" + " - 出库 ===>>Rgv放货站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}

			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			News.errorNoLog( " - 1" + " - 3" + " - Rgv出库放货站信息(以下需要全true):"
			+ "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
			+ "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isOutEnable()
			+ "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanouting());
			continue;
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			Integer workNo = 0;
			if(basRgv.getPakToCrn().equals("1")){
			workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1():rgvProtocol.getTaskNo2(); //正常情况出库放货优先工位1放
			}else{
			workNo = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2():rgvProtocol.getTaskNo1(); //接驳情况优先工位2放
			}

			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNoPut(workNo);//根据站点工作号和小车工作范围检索任务档
			WrkMast wrkMast = wrkMastMapper.selectByWrkNo(workNo);

			if( null == wrkMastSta ) {
			News.infoNoLog( " - 1" + " - 4" + " - 查询无待出库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			if (sign){
			try{
			rgvThread.setPaking(false);
			if(wrkMast != null){
			wrkMast.setSheetNo("2");
			wrkMastMapper.updateById(wrkMast);
			}
			wrkMastSta.setWrkSts(2);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			}catch (Exception e){
			log.error("更新小车任务失败");
			}

			} else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}

			}
			basRgv.setPakRgv("1");
			basRgvService.updateById(basRgv);
			}
			}
			}
			/**
			* rgv任务完成
			*/
			public synchronized void rgvTaskComplete(){
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取堆垛机信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！4", rgv.getId());
			continue;
			}
			Long taskNo1 = Long.valueOf(rgvProtocol.getTaskNo1());
			Long taskNo2 = Long.valueOf(rgvProtocol.getTaskNo2());
			List<WrkMastSta> wrkMastStaList = wrkMastStaService.selectList(
			new EntityWrapper<WrkMastSta>()
			.eq("wrk_sts" ,2)
			.eq("rgv_no", rgvProtocol.getRgvNo())
			);
			for(WrkMastSta wrkMastSta : wrkMastStaList){
			if(!Objects.equals(wrkMastSta.getWrkNo(), taskNo1) && !Objects.equals(wrkMastSta.getWrkNo(), taskNo2)){
			try{
			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.info("更新小车工作档至完成成功");
			}catch (Exception e){
			log.error("更新小车工作档至完成失败");
			}
			}
			}
			if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
			&& !rgvProtocol.isLoaded1ing()
			&& !rgvProtocol.isLoaded2ing()){
			List<WrkMastSta> wrkMastStaLock = wrkMastStaService.selectLockWrk();
			List<WrkMastSta> wrkMastStaLockT = wrkMastStaService.selectLockWrkT();

			if(wrkMastStaLock.size() > 0 && rgvProtocol.getRgvNo() == 1){
			continue ;
			}
			if(wrkMastStaLockT.size() > 0 && rgvProtocol.getRgvNo() == 2){
			continue ;
			}
			basRgv.setPakRgv("1");
			basRgv.setPakToCrn("1");
			basRgv.setPakIn("1");
			basRgv.setPakOut("1");
			basRgv.setPakAll("1");
			basRgvService.updateById(basRgv);
			rgvThread.setPakMk(true);
			}

			}
			}


			/**
			* rgv出入库任务下发
			*/
			public synchronized void rgvIoExecute(Integer mark) {
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取堆垛机信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}

			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！4", rgv.getId());
			continue;
			}
			if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
			rgvThread.setPaking(true);
			}
			if(rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing()){
			basRgv.setPakAll("1");
			basRgvService.updateById(basRgv);
			}
			// 只有当RGV空闲并且无任务时才继续执行
			if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE &&
			rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk()
			&& basRgv.getPakToCrn().equals("1") && rgvThread.isPaking()) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行RGV入出库作业下发");
			// 如果最近一次是入库模式
			// rgvRunWrkMastInTest();

			if (rgvProtocol.getLastIo().equals("I")) {
			if (basRgv.getInEnable().equals("1") && basRgv.getPakIn().equals("1")) {
			//mark - 1 - ....
			if (rgvProtocol.getTaskNo1()==0){
			this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 入库
			}
			rgvProtocol.setLastIo("O");
			} else if (basRgv.getOutEnable().equals("1") && basRgv.getPakOut().equals("1")) {
			//mark - 2 - ....
			if (rgvProtocol.getTaskNo2()==0){
			this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 出库
			}
			rgvProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (rgvProtocol.getLastIo().equals("O")) {
			if (basRgv.getOutEnable().equals("1") && basRgv.getPakOut().equals("1")) {
			if (rgvProtocol.getTaskNo2()==0){
			this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 出库
			}
			rgvProtocol.setLastIo("I");
			} else if (basRgv.getInEnable().equals("1") && basRgv.getPakIn().equals("1")) {
			if (rgvProtocol.getTaskNo1()==0){
			this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 入库
			}
			rgvProtocol.setLastIo("O");
			}
			}
			}
			WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
			WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
			if(wrkMastSta1 != null && wrkMastSta2 != null){
			rgvThread.setPakMk(false); //小车双工位锁定
			}
			// if(basRgv.getPakToCrn().equals("0")){
			// rgvRunWrkToCrn(rgv, rgvProtocol,mark); //若小车取到一个接驳任务，第二个工位只能取接驳任务
			// }
			// if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakIn() && rgvThread.isPakRgv()){
			// rgvPreScheduling();//若暂无下发任务预调度提前到取货点
			// }


			// if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
			// //小车执行放货任务
			// rgvOutExecute();
			//
			// }
			}
			}
			public synchronized void rgvRunWrkMastInTest(){
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(1);
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(1021); //更新小车当前位置站点号
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(342);//根据站点工作号和小车工作范围检索任务档

			// WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, 1);
			boolean result = false;
			// if(wrkMastSta2 != null && rgvProtocol.getRgvNo() == 1){ //距离计算 2楼单入库口不需要计算
			// result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta2.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
			// }
			// if(result){//若小车距离放货点距离近于取货点则跳过取货 true跳过取货/false优先取货
			// rgvThread.setPakRgv(false);
			// continue;
			// }
			wrkMastSta.setWorkSta(1);
			wrkMastSta.setRgvNo(1);
			wrkMastSta.setStaStart(1035);
			Short direction = 2;//双工位最终抵达位置
			boolean sign = false;
			// sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction,); //命令下发
			if (sign){
			wrkMastSta.setWrkSts(1);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			// rgvThread.setPakOut(false);//出库不允许
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
			if (!signMap){
			log.error("货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			} else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			}
			/**
			* 小车入库任务取货下发
			*/
			public synchronized void rgvRunWrkMastIn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark) {
			for (RgvSlave.RgvStn rgvStn : slave.getRgvInTStn()) {//rgv入库取货站点
			boolean flag = false;
			BasRgv basRgv = basRgvService.selectById(slave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！4", slave.getId());
			continue;
			}
			//遍历rgv入库取货站点
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			StaProtocol staProtocol2 = null; //连续取货任务站点
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
			WrkMastSta wrkMastSta3 = null;//连取两个
			if(rgvStn.getStaNo2()!= null ){
			staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
			if (staProtocol2 == null) {
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol2 = staProtocol2.clone();
			}
			BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
			if (staDetl2 == null) {
			News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}
			if((staProtocol.getWorkNo()>9999 && staProtocol2.getWorkNo()>9999) \|\| (staProtocol.getWorkNo()<10000 && staProtocol2.getWorkNo()<10000)){
			//当连续取货站点为相同类型时才能连续取
			wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
			}

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

			if (staProtocol == null) {
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
			if (staDetl == null) {
			News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv入库取货站信息(以下需要全true):"
			+ "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
			+ "工作号>0" + staProtocol.getWorkNo() + "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
			continue;
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			List<Integer> route = new ArrayList<>();
			switch (rgvProtocol.getRgvNo()){
			case 1: route = RouteUtils.getRouteOne();break;
			case 2: route = RouteUtils.getRouteTwo();break;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			basRgvMapService.updateById(basRgvMap);
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
			if( null == wrkMastSta ) {
			News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			WrkMastSta wrkMastSta2 = null;
			if(rgvProtocol.getTaskNo2() != null){
			wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
			}
			boolean result = false;
			if(wrkMastSta2 != null && rgvProtocol.getRgvNo() == 1){ //距离计算 2楼单入库口不需要计算
			result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta2.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
			}
			if(result){//若小车距离放货点距离近于取货点则跳过取货 true跳过取货/false优先取货
			basRgv.setPakRgv("0");
			basRgvService.updateById(basRgv);

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

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

			try{
			wrkMastStaMapper.updateById(wrkMastSta3);
			log.error("锁定相隔站点任务");
			}catch (Exception e){
			log.error("锁定相隔站点任务失败");
			}
			}
			}
			basRgv.setPakOut("0");//出库不允许
			basRgvService.updateById(basRgv);
			rgvThread.setPaking(false);//任务下发锁定

			try{
			wrkMastSta.setWrkSts(1);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			} else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}


			}
			}
			/**
			* 小车出库任务取货下发
			*/
			public synchronized void rgvRunWrkMastOut(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
			for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv出库取货站点
			boolean flag = false;
			//遍历rgv入库取货站点
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
			BasRgv basRgv = basRgvService.selectById(slave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！4", slave.getId());
			continue;
			}
			StaProtocol staProtocol2 = null;
			WrkMastSta wrkMastSta3 = null;

			if(rgvStn.getStaNo2()!= null ){
			staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
			if (staProtocol2 == null) {
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol2 = staProtocol2.clone();
			}
			BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
			if (staDetl2 == null) {
			News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}
			wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());

			}
			if (staProtocol == null) {
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv出库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
			if (staDetl == null) {
			News.error("" + mark + " - 1" + " - 2" + " - 出库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
			&& staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv出库取货站信息(以下需要全true):"
			+ "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
			+ "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isOutEnable()
			+ "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanouting());
			continue;
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			List<Integer> route = new ArrayList<>();
			switch (rgvProtocol.getRgvNo()){
			case 1: route = RouteUtils.getRouteOne();break;
			case 2: route = RouteUtils.getRouteTwo();break;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			basRgvMapService.updateById(basRgvMap);
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
			if( null == wrkMastSta ) {
			News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
			if(basRgv.getPakToCrn().equals("0")){
			wrkMastSta = wrkMastStaMapper.selectNoInterfereCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));
			}
			boolean result = false;
			if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //距离计算 2楼单入库口不需要计算
			result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
			}
			if(result){//若小车距离放货点距离近于取货点则跳过取货 true跳过取货/false优先取货
			basRgv.setPakRgv("0");
			basRgvService.updateById(basRgv);

			continue;
			}
			wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//若1号工位有任务给2号工位
			wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
			boolean sign = false;
			sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			if (sign){
			if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
			basRgv.setPakToCrn("0");
			basRgvService.updateById(basRgv);
			if(wrkMastSta3 != null){
			if(!LEFT_POSITION.contains(wrkMastSta3.getStaEnd())){
			wrkMastSta3 = null;//若接驳第二位不接驳时取消连续取货
			}
			}
			}

			if(wrkMastSta3 != null ){
			List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
			if(wrkMastStaPaking.size() < 1){
			wrkMastSta3.setMk(1);
			basRgv.setPakAll("0");
			basRgvService.updateById(basRgv);
			try{
			wrkMastStaMapper.updateById(wrkMastSta3);
			log.error("锁定相隔站点任务");
			}catch (Exception e){
			log.error("锁定相隔站点任务失败");
			}
			}
			}
			basRgv.setPakIn("0");
			basRgvService.updateById(basRgv);

			rgvThread.setPaking(false);
			// rgvThread.setPakIn(false);//入库不允许
			try{
			wrkMastSta.setWrkSts(1);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			} else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}


			}
			}

			/**
			* 小车出库接驳任务取货下发
			*/
			public synchronized void rgvRunWrkToCrn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
			for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv出库取货站点
			boolean flag = false;
			//遍历rgv入库取货站点
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
			BasRgv basRgv = basRgvService.selectById(slave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！4", slave.getId());
			continue;
			}
			StaProtocol staProtocol2 = null;
			WrkMastSta wrkMastSta3 = null;

			if(rgvStn.getStaNo2()!= null ){
			staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
			if (staProtocol2 == null) {
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol2 = staProtocol2.clone();
			}
			BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
			if (staDetl2 == null) {
			News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}
			wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());

			}
			if (staProtocol == null) {
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv出库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
			if (staDetl == null) {
			News.error("" + mark + " - 1" + " - 2" + " - 出库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
			continue;
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
			&& staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv出库取货站信息(以下需要全true):"
			+ "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
			+ "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isOutEnable()
			+ "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanouting());
			continue;
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			List<Integer> route = new ArrayList<>();
			switch (rgvProtocol.getRgvNo()){
			case 1: route = RouteUtils.getRouteOne();break;
			case 2: route = RouteUtils.getRouteTwo();break;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			basRgvMapService.updateById(basRgvMap);
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
			if( null == wrkMastSta ) {
			News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
			if(basRgv.getPakToCrn().equals("0")){
			wrkMastSta = wrkMastStaMapper.selectNoInterfereCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));
			}
			boolean result = false;
			if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //距离计算 2楼单入库口不需要计算
			result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
			}
			if(result){//若小车距离放货点距离近于取货点则跳过取货 true跳过取货/false优先取货
			basRgv.setPakRgv("0");
			basRgvService.updateById(basRgv);

			continue;
			}
			wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//若1号工位有任务给2号工位
			wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
			boolean sign = false;
			sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			if (sign){
			if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
			basRgv.setPakToCrn("0");
			basRgvService.updateById(basRgv);
			if(wrkMastSta3 != null){
			if(!LEFT_POSITION.contains(wrkMastSta3.getStaEnd())){
			wrkMastSta3 = null;//若接驳第二位不接驳时取消连续取货
			}
			}
			}

			if(wrkMastSta3 != null ){
			List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
			if(wrkMastStaPaking.size() < 1){
			wrkMastSta3.setMk(1);
			basRgv.setPakAll("0");
			basRgvService.updateById(basRgv);
			try{
			wrkMastStaMapper.updateById(wrkMastSta3);
			log.error("锁定相隔站点任务");
			}catch (Exception e){
			log.error("锁定相隔站点任务失败");
			}
			}
			}
			basRgv.setPakIn("0");
			basRgvService.updateById(basRgv);

			rgvThread.setPaking(false);
			// rgvThread.setPakIn(false);//入库不允许
			try{
			wrkMastSta.setWrkSts(1);
			wrkMastStaMapper.updateById(wrkMastSta);
			log.error("更新小车任务成功");
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			} else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}


			}
			}
			/**
			* 执行小车搬运任务
			*
			* @return
			*/
			// public synchronized boolean rgvRunWrkMastFullSta() {
			// boolean wrkEnable = false;
			// try{
			// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			// for (BasRgvMap rgvSlave:basRgvMaps) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// if (rgvProtocol == null) {
			// continue;
			// }else {
			// rgvProtocol = rgvProtocol.clone();
			// }
			// BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
			// if (basRgv == null) {
			// log.error("{}号RGV尚未在数据库进行维护！4", rgvSlave.getRgvNo());
			// continue;
			// }
			//
			// // 只有当RGV空闲、自动,工位一无物//rgv可用入库取货
			// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// && !rgvProtocol.isLoaded1ing()
			// && rgvProtocol.getTaskNo1() == 0
			// && rgvThread.isPakMk()
			// && rgvThread.isPakIn()
			// ) {
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// if (basRgvMap == null) {
			// log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			// continue;
			// }
			// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			// for (WrkMastSta wrkMastSta : wrkMastStaList){
			// List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//入库口
			// if (!staNos.contains(wrkMastSta.getStaStart())) {
			// continue;
			// }
			// boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			// wrkEnable = true;
			// if (sign){
			// wrkMastSta.setWrkSts(1);
			// try{
			// wrkMastStaMapper.updateById(wrkMastSta);
			// log.error("更新小车任务成功");
			// }catch (Exception e){
			// log.error("更新小车任务失败");
			// }
			// rgvThread.setPakMk(false);
			// rgvThread.setPakOut(false);
			// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
			// if (signMap){
			// return wrkEnable;
			//// break;
			// }else {
			// log.error("货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			// Thread.sleep(500);
			// }
			// } else {
			// log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			// Thread.sleep(500);
			// }
			// break;
			// }
			// }
			//
			// // 只有当RGV空闲、自动,工位一无物//rgv可用出库取货
			// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// && !rgvProtocol.isLoaded2ing()
			// && rgvProtocol.getTaskNo2() == 0
			// && rgvThread.isPakMk()
			// && rgvThread.isPakOut()
			// ){
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// if (basRgvMap == null) {
			// log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			// continue;
			// }
			// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			// for (WrkMastSta wrkMastSta : wrkMastStaList){
			// List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//入库口
			// if (staNos.contains(wrkMastSta.getStaStart())) {//非入库口（出库口）限制
			// continue;
			// }
			// boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null); //命令下发
			// wrkEnable = true;
			// if (sign){
			// wrkMastSta.setWrkSts(1);
			// try{
			// wrkMastStaMapper.updateById(wrkMastSta);
			// log.error("更新小车任务成功");
			// }catch (Exception e){
			// log.error("更新小车任务失败");
			// }
			// rgvThread.setPakMk(false);
			// rgvThread.setPakOut(false);
			// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
			// if (signMap){
			// return wrkEnable;
			//// break;
			// }else {
			// log.error("货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			// Thread.sleep(500);
			// }
			// } else {
			// log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			// Thread.sleep(500);
			// }
			// break;
			// }
			//
			// }
			//
			// }
			// }catch (Exception e){
			// log.error("执行小车搬运任务下发失败");
			// }
			// return wrkEnable;
			// }
			/**
			* 小车预调度
			*/
			// public synchronized void rgvPreScheduling(){
			// try{
			// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			// for (BasRgvMap rgvSlave:basRgvMaps) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// if (rgvProtocol == null) {
			// continue;
			// }else {
			// rgvProtocol = rgvProtocol.clone();
			// }
			// BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
			// if (basRgv == null) {
			// log.error("{}号RGV尚未在数据库进行维护！4", rgvSlave.getRgvNo());
			// continue;
			// }
			//
			// // 只有当RGV空闲、自动,工位一无物//rgv可用才进行预调度
			// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// && !rgvProtocol.isLoaded1ing()
			// && rgvProtocol.getTaskNo1() == 0
			// && !rgvProtocol.isLoaded2ing()
			// && rgvProtocol.getTaskNo2() == 0
			// && rgvThread.isPakMk()
			// ) {
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// if (basRgvMap == null) {
			// log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			// continue;
			// }
			// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			// // 根据输送线plc遍历
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历入库口入库预调度
			// List<Integer> staNos = Arrays.asList( 1043, 1104, 1029, 1022, 1019, 1008, 1005);
			// for (Integer staNo : staNos) {
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(staNo);
			// if(staProtocol.isLoading()){
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo((int) rgvProtocol.getRgvNo()); // RGV编号
			// rgvCommand.setAckFinish1(false); // 工位1任务完成确认位
			// rgvCommand.setTaskNo(9999); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式: 移动
			// switch (staNo){
			// case 1043: rgvCommand.setTargetPosition1(1042);break; //工位1目标站点
			// case 1104: rgvCommand.setTargetPosition1(1105);break;
			// case 1037: rgvCommand.setTargetPosition1(1036);break;
			//
			// }
			// if(Objects.equals(basRgvMap.getNowRoute(), staNo)){
			// continue;
			// }
			// rgvCommand.setCommand(true); //工位1任务确认
			// if (!MessageQueue.offer(SlaveType.Rgv, (int) rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
			// //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", (int) rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
			// }
			// }
			// }
			//
			// }
			//
			// }
			// }
			// }catch (Exception e){
			// log.error("执行小车移动下发失败");
			// }
			// }



			/*
			* 小车取货至工位任务
			* */
			public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			RgvTaskStatusType type;
			Integer targetPosition = 0;
			if(wrkMastSta.getWrkSts() == 0){
			type = RgvTaskStatusType.FETCH; //取货
			targetPosition = wrkMastSta.getStaStart();
			}else{
			type = RgvTaskStatusType.PUT; //放货
			targetPosition = wrkMastSta.getStaEnd();
			}
			rgvCommand.setTaskNo(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位工作号
			rgvCommand.setTaskStatus(type); // 工位任务模式: 取货
			rgvCommand.setTargetPosition(targetPosition); //工位目标站点
			rgvCommand.setWrkTaskPri(wrkMastSta.getWorkSta());
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(2, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {

			return true;
			}

			}catch (Exception e){
			return false;
			}
			}

			/**
			* 取放取路径计算
			*/
			public synchronized boolean rgvCalcDistance(Integer rgvNo, Integer outStn, Integer inStn){
			try {
			// 小车当前位置
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvNo);
			Integer currPos = basRgvMap.getNowRoute(); // 或者用 rgvProtocol.getRgvPosI()

			if(currPos == null \|\| outStn == null \|\| inStn == null){
			return false; // 无效数据直接放弃
			}

			// 计算两段距离
			List<Integer> routeToOut = RouteUtils.getRouteDis(currPos, outStn);
			List<Integer> routeToIn = RouteUtils.getRouteDis(currPos, inStn);

			int distOut = (routeToOut != null) ? routeToOut.size() : Integer.MAX_VALUE;
			int distIn = (routeToIn != null) ? routeToIn.size() : Integer.MAX_VALUE;

			// 调试日志
			log.info("RGV距离计算: currPos={}, outStn={}, distOut={}, inStn={}, distIn={}",
			currPos, outStn, distOut, inStn, distIn);

			return distOut < distIn; // 放货点更近 → true
			} catch (Exception e) {
			log.error("RGV路径距离计算异常", e);
			return false;
			}
			}

			/*
			* 小车复位
			* */
			public synchronized boolean rgvComplete(Integer rgvId,Integer step){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(step, new RgvCommand()))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}",rgvId);
			return false;
			} else {
			log.info("RGV命令下发成功，RGV号={}",rgvId);
			return true;
			}
			}catch (Exception e){
			log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
			return false;
			}
			}



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

			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(armSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// String barcode = staProtocol.getBarcode();
			// if(!Cools.isEmpty(barcode)) {
			// if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			// armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
			// continue;
			// }
			// } else {
			// armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
			// continue;
			// }
			List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>()
			.eq("arm_no", armSta.getArmNo())
			.eq("sta_no_sou", armSta.getStaNo())
			.eq("status", 1));
			for (BasArm basArm : basArmList) {
			if (basArm.getStatus()!=1){
			continue;
			}
			try{
			List<BasArmMast> basArmMastList = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("status", 3)
			);
			if (basArmMastList.isEmpty()){
			continue;
			}
			CombParam combParam = new CombParam(basArmMastList);
			//arm任务完成自动组托
			ReturnT<String> result = new PostMesDataUtils().postMesData("arm任务完成自动组托",wmsUrl, wmsComb, combParam);
			if (result.getCode()==200){
			basArmMastService.updateArmMastStatus(basArm.getArmNo(),basArm.getSortingLineSou(),3,4);
			} else {
			armTaskAssignmentCallApiLogSave(staProtocol, "自动组托失败", staProtocol.getSiteId()+"码垛位置，===》自动组托失败，等待重试", false);
			// log.error("机械臂抓取任务完成："+JSON.toJSON(basArmMastList)+"===》自动组托失败，等待重试");
			}
			} catch (Exception e){
			armTaskAssignmentCallApiLogSave(staProtocol, "机械臂抓取任务完成异常", staProtocol.getSiteId()+"码垛位置，===》自动组托失败，等待重试", false);
			// log.error("arm编号："+basArm.getArmNo()+"====》机械臂抓取任务完成"+e.getMessage());
			}
			break;
			}
			}
			}
			} catch (Exception e){
			log.error("机械臂抓取任务完成组托失败"+e.getMessage());
			}
			}
			public synchronized void armMissionAccomplishedScanToCheckIn() {
			try{
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta armSta : devp.getArmSta()) {

			List<BasArmMast> basArmMastList = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", armSta.getArmNo())
			.eq("sta_no", armSta.getStaNo())
			.eq("status", 4)
			);

			if (basArmMastList.isEmpty()){
			continue;
			}
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(armSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
			// int workNo = commonService.getWorkNo(6);//待完善
			// // 更新站点信息且下发plc命令
			// staProtocol.setWorkNo(workNo);
			// staProtocol.setStaNo(armSta.getStaNoEnd().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// log.error("输送线下发5："+workNo+","+armSta.getStaNoEnd());
			// if (!result) {
			// News.error(""+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			// }
			basArmMastService.updateArmMastStatus(basArmMastList.get(0).getArmNo(),basArmMastList.get(0).getSortingLine(),4,5);
			// }
			}
			}
			} catch (Exception e){
			log.error("组托完成驱动托盘扫码入库失败"+e.getMessage());
			}
			}

			/*
			* arm任务下发
			* */
			public synchronized void armTaskAssignment() {
			try{
			List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<>());
			for (BasArm basArm : basArmList) {
			if (basArm.getStatus()!=1){
			continue;
			}
			try{
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basArm.getDevpId());
			StaProtocol staProtocol = devpThread.getStation().get(basArm.getStaNoSou());
			if (staProtocol == null \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

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

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

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

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

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

			List<BasArmMast> basArmMastListRuningBarCode = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("barcode", barcode)
			.eq("status", 3)
			);
			if (!basArmMastListRuningBarCode.isEmpty()){
			armTaskAssignmentCallApiLogSave(staProtocol, "条码数据已存在,正在自动组托！！！", staProtocol.getSiteId()+"码垛位置，条码数据正在自动组托===>>" + barcode, false);
			continue;
			}
			List<BasArmMast> basArmMastListError = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("status", 9)
			);
			if (!basArmMastListError.isEmpty()){
			armTaskAssignmentCallApiLogSave(staProtocol, "存在异常机械臂任务", basArm.getArmNo()+"号机械臂存在异常数据需要维护！！！", false);

			// log.error(basArm.getArmNo()+"号机械臂存在异常数据需要维护！！！");
			continue;
			}
			List<BasArmMast> basArmMastListRuning = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("status", 1)
			);
			List<BasArmMast> basArmMastListRuning3 = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq(

			"sorting_line", basArm.getSortingLineSou())
			.eq("status", 3)
			);
			if (basArmMastListRuning.isEmpty() && basArmMastListRuning3.isEmpty()){
			List<BasArmMast> basArmMastList = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("status", 0)
			);
			if (basArmMastList.isEmpty()){
			continue;
			}
			if (basArmMastList.size()>1){
			armTaskAssignmentCallApiLogSave(staProtocol, "任务待执行数量大于1,无法分辨待执行任务", "arm编号："+basArm.getArmNo()+"====》拆码垛任务异常禁止下发！！！任务待执行数量大于1！！！", false);

			// log.error("arm编号："+basArm.getArmNo()+"====》拆码垛任务异常禁止下发！！！任务待执行数量大于1！！！");
			continue;
			}
			BasArmMast basArmMast = basArmMastList.get(0);
			List<BasArmMast> basArmMastListOrder = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("sku", basArmMast.getSku())
			.eq("order_no", basArmMast.getOrderNo())
			.eq("binding_tags", basArmMast.getBindingTags())
			);
			if (basArmMastListOrder.size()==1){
			Thread.sleep(100);


			List<BasArmMast> basArmMastListRuningBarCode2 = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("barcode", barcode)
			);
			if (!basArmMastListRuningBarCode2.isEmpty()){
			int binding_tags = basArmMastService.selectCount(
			new EntityWrapper<BasArmMast>()
			.eq("status", 2)
			.eq("binding_tags", basArmMast.getBindingTags())
			);
			if (binding_tags<2){
			armTaskAssignmentCallApiLogSave(staProtocol, "条码数据已存在！！！", staProtocol.getSiteId()+"码垛位置，条码数据正在自动组托===>>" + barcode, false);
			continue;
			}
			}
			OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getSku());

			if (Cools.isEmpty(orderDetlValueResultUtil)){
			continue;
			}
			Double anfmeSign = basArmMastService.selectBasArmMastSignValue(basArmMast.getOrderNo(), basArmMast.getSku(),basArmMast.getBindingTags());
			orderDetlValueResultUtil.setAnfme(anfmeSign);
			//订单下发
			try{
			ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
			// 订单下发(SKU+订单)
			ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取订单（SKU）下发：",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_ADAPTOR, armOrderAssignmentParam);
			if (result.getCode()==200){
			// basArmMast.setStatus(1);
			// basArmMast.setBarcode(barcode);
			// basArmMastService.updateById(basArmMast);
			} else {
			armTaskAssignmentCallApiLogSave(staProtocol, "机械臂抓取订单（SKU）下发", "arm编号："+basArm.getArmNo()+"订单下发订单信息下发失败！！！", false);

			// log.error("arm编号："+basArm.getArmNo()+"机械臂抓取订单（SKU）下发："+JSON.toJSON(basArmMast)+"===》订单信息下发失败");
			}
			} catch (Exception e){
			armTaskAssignmentCallApiLogSave(staProtocol, "机械臂抓取订单（SKU）下发", "arm编号："+basArm.getArmNo()+"订单下发订单信息下发失败！！！", false);
			// log.error("arm编号："+basArm.getArmNo()+"机械臂抓取订单（SKU）下发："+JSON.toJSON(basArmMast)+"===》订单下发订单信息下发失败");
			continue;
			}
			}
			ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArm.getSortingLine());
			//设置工作空间就绪
			ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取任务下发：通知工作空间已就绪",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_WORKSPACE, armTaskAssignmentParam);
			if (result.getCode()==200){
			basArmMast.setStatus(1);
			basArmMast.setBarcode(barcode);
			basArmMastService.updateById(basArmMast);
			} else {
			armTaskAssignmentCallApiLogSave(staProtocol, "机械臂抓取任务信息下发失败", "arm编号："+basArm.getArmNo()+"任务信息下发失败！！！", false);
			// log.error("机械臂抓取任务："+JSON.toJSON(basArmMast)+"===》任务信息下发失败");
			}
			}
			} catch (Exception e){
			log.error("arm编号："+basArm.getArmNo()+"====》拆码垛任务下发失败"+e.getMessage());
			}
			}
			}catch (Exception e){
			log.error("arm任务下发失败"+e.getMessage());
			}
			}

			public void armTaskAssignmentCallApiLogSave(StaProtocol staProtocol ,String tableName, String response, Boolean bool) {
			ApiLog apiLog = apiLogService.selectOne(new EntityWrapper<ApiLog>()
			.eq("namespace", "机械臂任务相关")
			.eq("request", "站点号:" + staProtocol.getSiteId())
			.eq("response", response)
			.eq("url", tableName)
			.eq("client_ip", staProtocol.getBarcode())
			.eq("result", 0)
			.orderBy("create_time", false)
			);

			if (!Cools.isEmpty(apiLog)){
			long parseLong = Long.parseLong(apiLog.getTimestamp());
			if (new Date().getTime()-parseLong<5100060){
			return;
			}
			}
			apiLogService.save("机械臂任务相关", tableName, "null", staProtocol.getBarcode(),
			"站点号:" + staProtocol.getSiteId() ,
			response, bool);
			}

			/*
			* agv任务下发:AGV库位==》输送线站点
			* */
			public synchronized void agvTaskAssignment0() {
			try{
			List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("status", 0));
			for (BasAgvMast basAgvMast : basAgvMastList) {
			if (basAgvMast.getStatus()!=0 && basAgvMast.getIoType()!=0){//0==》AGV库位==》输送线站点
			continue;
			}
			try{
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getDevpId());
			StaProtocol staProtocol = devpThread.getStation().get(basAgvMast.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing()){

			AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);

			//任务下发
			ReturnT<String> result = new PostMesDataUtils().postMesData("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
			if (result.getCode()==200){
			basAgvMast.setStatus(1);
			basAgvMastService.updateById(basAgvMast);
			} else {
			agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
			}
			}
			} catch (Exception e){
			log.error("任务号："+basAgvMast.getTaskNo()+"====》AGV任务下发失败"+e.getMessage());
			}
			}
			}catch (Exception e){
			log.error("AGV任务下发失败"+e.getMessage());
			}
			}

			/*
			* agv任务下发:AGV库位==》AGV库位
			* */
			public synchronized void agvTaskAssignment1() {
			try{
			List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("status", 0));
			for (BasAgvMast basAgvMast : basAgvMastList) {
			if (basAgvMast.getStatus()!=0 && basAgvMast.getIoType()!=1){//1==》AGV库位==》AGV库位
			continue;
			}
			try{
			AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam();

			//任务下发
			ReturnT<String> result = new PostMesDataUtils().postMesData("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
			if (result.getCode()==200){
			basAgvMast.setStatus(1);
			basAgvMastService.updateById(basAgvMast);
			} else {
			agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
			}

			} catch (Exception e){
			log.error("任务号："+basAgvMast.getTaskNo()+"====》AGV任务下发失败"+e.getMessage());
			}
			}
			}catch (Exception e){
			log.error("AGV任务下发失败"+e.getMessage());
			}
			}

			/*
			* agv任务下发:输送线站点==》AGV库位
			* */
			public synchronized void agvTaskAssignment2() {
			try{
			List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("status", 0));
			for (BasAgvMast basAgvMast : basAgvMastList) {
			if (basAgvMast.getStatus()!=0 && basAgvMast.getIoType()!=2){//2==》输送线站点==》AGV库位
			continue;
			}
			try{
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getDevpId());
			StaProtocol staProtocol = devpThread.getStation().get(basAgvMast.getSourceStaNo());
			if (staProtocol == null \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())){

			AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam();

			//任务下发
			ReturnT<String> result = new PostMesDataUtils().postMesData("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
			if (result.getCode()==200){
			basAgvMast.setStatus(1);
			basAgvMastService.updateById(basAgvMast);
			} else {
			agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
			}
			}
			} catch (Exception e){
			log.error("任务号："+basAgvMast.getTaskNo()+"====》AGV任务下发失败"+e.getMessage());
			}
			}
			}catch (Exception e){
			log.error("AGV任务下发失败"+e.getMessage());
			}
			}

			/*
			* agv任务下发:输送线站点==》输送线站点
			* */
			public synchronized void agvTaskAssignment3() {
			try{
			List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("status", 0));
			for (BasAgvMast basAgvMast : basAgvMastList) {
			if (basAgvMast.getStatus()!=0 && basAgvMast.getIoType()!=3){//3==》输送线站点==》输送线站点
			continue;
			}
			try{
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getDevpId());
			StaProtocol staProtocol = devpThread.getStation().get(basAgvMast.getSourceStaNo());
			if (staProtocol == null \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 获取站点信息
			StaProtocol staProtocolEnd = devpThread.getStation().get(basAgvMast.getStaNo());
			if (staProtocolEnd == null \|\| !staProtocolEnd.isAutoing()) {
			continue;
			} else {
			staProtocolEnd = staProtocolEnd.clone();
			}

			if (!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())){

			AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam();

			//任务下发
			ReturnT<String> result = new PostMesDataUtils().postMesData("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
			if (result.getCode()==200){
			basAgvMast.setStatus(1);
			basAgvMastService.updateById(basAgvMast);
			} else {
			agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
			}
			}
			} catch (Exception e){
			log.error("任务号："+basAgvMast.getTaskNo()+"====》AGV任务下发失败"+e.getMessage());
			}
			}
			}catch (Exception e){
			log.error("AGV任务下发失败"+e.getMessage());
			}
			}

			public void agvTaskAssignmentCallApiLogSave(BasAgvMast basAgvMast ,String tableName, String response, Boolean bool) {
			ApiLog apiLog = apiLogService.selectOne(new EntityWrapper<ApiLog>()
			.eq("namespace", "Agv任务下发")
			.eq("request", "任务号:" + basAgvMast.getTaskNo())
			.eq("response", response)
			.eq("url", tableName)
			.eq("result", 0)
			.orderBy("create_time", false)
			);

			if (!Cools.isEmpty(apiLog)){
			long parseLong = Long.parseLong(apiLog.getTimestamp());
			if (new Date().getTime()-parseLong<5100060){
			return;
			}
			}
			apiLogService.save("Agv任务下发", tableName, "null", "127.0.0.1",
			"任务号:" + basAgvMast.getTaskNo() ,
			response, bool);
			}

			}