zy-wcs.git - Gitblit

			@@ -8,10 +8,9 @@
			import com.core.common.DateUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.BasCrnErrorMapper;
			import com.zy.asrs.mapper.BasRgvErrMapper;
			import com.zy.asrs.mapper.WrkMastMapper;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.RouteUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.VersionUtils;
			import com.zy.common.model.LocTypeDto;
			@@ -48,6 +47,7 @@
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

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

			/**
			@@ -69,6 +69,8 @@
			private WrkMastMapper wrkMastMapper;
			@Autowired
			private WrkDetlService wrkDetlService;
			@Autowired
			private WaitPakinMapper waitPakinMapper;
			@Autowired
			private LocMastService locMastService;
			@Autowired
			@@ -93,6 +95,12 @@
			private BasRgvPathService basRgvPathService;
			@Autowired
			private RedisUtil redisUtil;
			@Autowired
			private WrkMastStaMapper wrkMastStaMapper;
			@Autowired
			private BasRgvMapMapper basRgvMapMapper;
			@Autowired
			private RgvOneSignMapper rgvOneSignMapper;

			@Value("${wms.url}")
			private String wmsUrl;
			@@ -114,7 +122,7 @@
			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);
			// 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;
			}
			@@ -132,6 +140,47 @@
			staProtocol = staProtocol.clone();
			}

			// 尺寸检测异常
			boolean back = false;
			String errMsg = "异常：";
			if (staProtocol.isFrontErr()) {
			errMsg = errMsg+"前超限；";
			back = true;
			}
			if (staProtocol.isBackErr()) {
			errMsg = errMsg+"后超限";
			back = true;
			}
			if (staProtocol.isHighErr()) {
			errMsg = errMsg+"高超限";
			back = true;
			}
			if (staProtocol.isLeftErr()) {
			errMsg = errMsg+"左超限";
			back = true;
			}
			if (staProtocol.isRightErr()) {
			errMsg = errMsg+"右超限";
			back = true;
			}
			if (staProtocol.isWeightErr()) {
			errMsg = errMsg+"超重";
			back = true;
			}
			if (staProtocol.isBarcodeErr()) {
			errMsg = errMsg+"扫码失败";
			back = true;
			}
			// 退回
			if (back) {
			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
			}
			continue;
			}

			// 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) {
			@@ -143,13 +192,13 @@
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990)
			&& staProtocol.getWorkNo() == 0
			&& 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.setWorkNo((short)32222);
			// staProtocol.setStaNo((short)172);
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			@@ -191,13 +240,16 @@
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());


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

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

			devpThread.setPakMk(staProtocol.getSiteId(), false);
			@@ -223,6 +275,62 @@
			}

			/**
			* 组托
			* 入库站，根据条码扫描通知桁架码垛
			*/
			public synchronized void generateStoreWrkFileFull2LouM() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历码垛口
			for (DevpSlave.Sta driveSta : devp.getDriveSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, driveSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();

			if (!Cools.isEmpty(barcode) && !barcode.equals("") && !barcode.equals(" ")) {
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取码垛口信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(driveSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& staProtocol.isEmptyMk()
			&& (staProtocol.getWorkNo() == 0 \|\| (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) )
			) {
			try {
			BasDevp basDevp = basDevpService.selectById(driveSta.getStaNo());
			if (basDevp.getReportSign()>0){
			continue;
			}
			basDevp.setBarcode(barcode);
			basDevp.setReportSign(1);
			basDevpService.updateById(basDevp);
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			}
			}

			/**
			* 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
			*/
			@@ -230,7 +338,7 @@
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			for (DevpSlave.Sta inSta : devp.getInWmsSta()) {
			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			@@ -241,13 +349,13 @@
			}

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

			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() == 9999)
			&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
			&& staProtocol.isPakMk()) {
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			@@ -258,8 +366,12 @@
			// 命令下发区 --------------------------------------------------------------------------

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			Integer staNo = wrkMast.getStaNo();
			if (wrkMast.getSourceStaNo()==145){
			staNo = 147;
			}
			staProtocol.setStaNo(staNo);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (result) {
			@@ -317,7 +429,7 @@

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
			// WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
			WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"7");
			if (wrkMast == null) {
			// 无拣料数据
			continue;
			@@ -327,79 +439,446 @@
			continue;
			}

			// 拣、盘、并作业站转换
			// int stnNo = 0;
			// if (wrkMast.getStaNo() == 109) {
			// stnNo = 127;
			// } else if (wrkMast.getStaNo() == 113) {
			// stnNo = 128;
			// } else {
			// log.error("{}号任务数据异常！", wrkMast.getWrkNo());
			// }
			// 获取目标站
			Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			.eq("type_no", wrkMast.getIoType() - 50)
			.eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
			.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());
			continue;
			}

			// 获取库位号
			try {
			// 保存工作明细档历史档
			if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作明细档历史档失败");
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(wrkMast.getBarcode());
			param.setIoType(wrkMast.getIoType());
			param.setSourceStaNo(pickSta.getStaNo()); //作业站点
			param.setLocType1((short)1);
			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;
			}
			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作主档历史档失败");
			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;
			}

			Date now = new Date();
			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			// 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
			wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
			wrkMast.setStaNo(staNo); // 目标站
			wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档数据状态失败");
			}
			// 更新明细档io_time (历史档关联使用）
			wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
			// 修改库位状态 Q.拣料/盘点/并板再入库
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException("修改库位状态失败");
			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(wrkMast.getWrkNo());
			staProtocol.setStaNo(dto.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			// ledThread.errorReset();
			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/拣料再入库任务下发成功===>>" + staProtocol);
			} catch (Exception e) {
			log.error("盘点再入库失败===>>" + e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			} else {
			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();
			continue;
			}

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			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());
			}

			}

			}

			}
			}

			/**
			* 拣料、并板、盘点再入库拆垛位置
			*/
			public synchronized void stnToCrnStnPick2() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta2()) {

			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
			if (Cools.isEmpty(basDevp) \|\| basDevp.getReportSign()!=1){
			continue;
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
			WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");

			if (wrkMast == null) {
			continue;
			}
			if (staProtocol.isEmptyMk()){
			log.error("站点号"+staProtocol.getSiteId()+"空板信号异常！");
			continue;
			}
			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			continue;
			}

			String barcode = wrkMast.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取库位号
			try {
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(wrkMast.getIoType());
			param.setSourceStaNo(pickSta.getStaNo()); //作业站点
			param.setLocType1((short)1);
			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(wrkMast.getWrkNo());
			staProtocol.setStaNo(dto.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			// ledThread.errorReset();
			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/拣料再入库任务下发成功===>>" + staProtocol);
			} catch (Exception e) {
			log.error("盘点再入库失败===>>" + e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			} else {
			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();
			}

			// // 获取目标站
			// Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			// .eq("type_no", wrkMast.getIoType() - 50)
			// .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
			// .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());
			// continue;
			// }
			//
			// try {
			// // 保存工作明细档历史档
			// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			// throw new CoolException("保存工作明细档历史档失败");
			// }
			// // 保存工作主档历史档
			// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			// throw new CoolException("保存工作主档历史档失败");
			// }
			//
			// Date now = new Date();
			// // 堆垛机站点(目标站)
			// Integer staNo = staDesc.getCrnStn();
			// // 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
			// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			// wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
			// wrkMast.setStaNo(staNo); // 目标站
			// wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			// wrkMast.setSourceLocNo(""); // 源库位清空
			// wrkMast.setModiTime(now);
			// if (wrkMastMapper.updateById(wrkMast) == 0) {
			// throw new CoolException("更新工作档数据状态失败");
			// }
			// // 更新明细档io_time (历史档关联使用）
			// wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
			// // 修改库位状态 Q.拣料/盘点/并板再入库
			// LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			// locMast.setLocSts("Q");
			// locMast.setModiTime(new Date());
			// if (!locMastService.updateById(locMast)) {
			// throw new CoolException("修改库位状态失败");
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// continue;
			// }
			//
			// // 更新站点信息且下发plc命令
			// staProtocol.setWorkNo(wrkMast.getWrkNo());
			// staProtocol.setStaNo(wrkMast.getStaNo());
			// 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());
			// }

			}

			}

			}
			}

			/**
			* 2楼212呼叫空板
			*/
			public synchronized void stnToCrnStnPick3Auto(Integer sign) {
			try{
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol = devpThread.getStation().get(212);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo()==0 ){
			switch (sign){
			//执行小车货物搬运任务
			case 1:
			case 4:
			stnToCrnStnPick3();
			return;
			//执行小车空板搬运任务
			case 2://放//拆盘
			case 5://放//拆盘
			stnToCrnStnPick4();
			return;
			default:
			return;
			}
			} else if (staProtocol.isAutoing() && staProtocol.isLoading()){
			switch (sign){
			case 3://满放
			case 6://满放
			stnToCrnStnPick5();
			return;
			default:
			return;
			}
			}
			}catch (Exception e){
			log.error("2楼212呼叫空板"+e);
			}
			}
			/**
			* 2楼212呼叫空板
			*/
			public synchronized void stnToCrnStnPick3() {
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
			if (Cools.isEmpty(wrkMast) \|\| wrkMast.getWrkSts()!=61){//61、等待空板
			return;
			}
			for (DevpSlave devp : slaveProperties.getDevp()) {
			for (DevpSlave.Sta driveSta : devp.getDriveSta()) {
			if (driveSta.getStaNo()!=215){
			continue;
			}
			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(driveSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo()==0
			\|\| (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000)) ){
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));

			staProtocol.setWorkNo(wrkMast.getWrkNo()-1);
			staProtocol.setStaNo(driveSta.getStaNo()==215? 217:221);
			boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result2) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			wrkMast.setWrkSts(62L);
			wrkMastMapper.updateById(wrkMast);

			boolean result3 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
			return;
			}
			}
			}
			}

			/**
			* 2楼212呼叫空板
			*/
			public synchronized void stnToCrnStnPick4() {
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
			if (Cools.isEmpty(wrkMast) \|\| wrkMast.getWrkSts()!=62){//62、等待小车搬运
			return;
			}
			for (DevpSlave devp : slaveProperties.getDevp()) {
			for (DevpSlave.Sta driveSta : devp.getInSta()) {
			if (driveSta.getStaNo()!=217){
			continue;
			}
			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(driveSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			StaProtocol staProtocol212 = devpThread.getStation().get(212);
			if (staProtocol212 == null) {
			continue;
			} else {
			staProtocol212 = staProtocol212.clone();
			}
			if (staProtocol212.isAutoing() && !staProtocol212.isLoading() && staProtocol212.getWorkNo()==0){
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo()==0
			\|\| (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) \|\| staProtocol.getWorkNo()==wrkMast.getWrkNo()-1) ){
			// boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));

			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(212);
			boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result2) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			wrkMast.setWrkSts(63L);
			wrkMastMapper.updateById(wrkMast);

			// boolean result3 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
			return;
			}
			}
			}
			}
			}

			/**
			* 2楼212呼叫空板
			*/
			public synchronized void stnToCrnStnPick5() {
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
			if (Cools.isEmpty(wrkMast) \|\| wrkMast.getWrkSts()!=63){//63、等待完成
			return;
			}

			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol = devpThread.getStation().get(212);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading()){
			// boolean result1 = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, staProtocol));

			wrkMast.setWrkSts(64L);
			wrkMastMapper.updateById(wrkMast);

			// boolean result3 = MessageQueue.offer(SlaveType.Devp, 2, new Task(4, staProtocol));
			return;
			}
			}
			/**
			* 拣料、并板、盘点再入库拆垛位置
			*/
			public synchronized void storeEmptyPlt4() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历叠盘入库口
			for (DevpSlave.Sta pickSta : devp.getEmptyInSta2()) {

			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
			if (Cools.isEmpty(basDevp) \|\| basDevp.getReportSign()!=1){
			continue;
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
			WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
			if (wrkMast == null) {
			WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
			if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
			if (Cools.isEmpty(wrkMastSta)){
			WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
			wrkMastSta1.setType(2);
			wrkMastSta1.setWrkType(1);
			wrkMastStaMapper.insert(wrkMastSta1);
			}
			}
			}
			}
			}
			}
			}

			@@ -443,8 +922,8 @@
			// 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))) {
			continue;
			}
			@@ -470,50 +949,54 @@
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			public synchronized void crnIoExecute() {
			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;
			}
			try{
			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;
			}

			// 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) {
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc1(crn, crnProtocol); // 入库
			crnProtocol.setLastIo("O");
			} else if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn1(crn, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			// 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) {
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc1(crn, crnProtocol); // 入库
			crnProtocol.setLastIo("O");
			} else if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn1(crn, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn1(crn, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc1(crn, crnProtocol); // 入库
			crnProtocol.setLastIo("O");
			}
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn1(crn, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc1(crn, crnProtocol); // 入库
			crnProtocol.setLastIo("O");
			}
			}
			}
			// 库位移转
			this.locToLoc(crn, crnProtocol);
			// 库位移转
			this.locToLoc(crn, crnProtocol);
			// this.crnRebackHp(crnProtocol, crnThread);

			}
			}catch (Exception e){
			log.error("堆垛机出入库下发报错"+e);
			}
			}

			@@ -521,234 +1004,64 @@
			* 搜索RGV车。通过目标站搜索哪台车可用
			*/
			public synchronized Integer searchRgvNo(Integer staNo) {
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			return null;//目标站不存在
			}
			//路径值
			int path = basDevp.getLocType3().intValue();

			ArrayList<RgvThread> list = new ArrayList<>();
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			try{
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			return null;//目标站不存在
			}
			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgv.getId());
			continue;
			}
			//路径值
			int path = basDevp.getLocType3().intValue();

			list.add(rgvThread);
			}
			ArrayList<RgvThread> list = new ArrayList<>();
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {

			if (list.size() > 1) {
			//超过两台车，按照配置的规则进行分配
			for (RgvThread rgvThread : list) {
			//获取车辆配置的路径规则
			BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(rgvThread.getSlave().getId());
			if (basRgvPath == null) {
			continue;
			}
			//目标站是否包含当前路径中
			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgv.getId());
			continue;
			}

			list.add(rgvThread);
			}

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

			return null;
			}

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

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

			/**
			* 入出库 ===>> RGV入出库作业下发
			*/
			public synchronized void rgvIoExecute() {
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgv.getId());
			continue;
			}

			// 只有当RGV空闲、自动,
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			// && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
			// && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getLoaded2() == 0
			) {

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

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);


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

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 4.RGV取货完成 => 5.RGV放货中
			Date now = new Date();
			wrkMast.setWrkSts(5L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 4.RGV取货完成 => 5.RGV放货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			} else if (wrkMast.getWrkSts() == 23) {//23.设备上走1 => 24.RGV取货中
			if (rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
			continue;
			}

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 23.设备上走1 => 24.RGV取货中
			Date now = new Date();
			wrkMast.setWrkSts(24L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 23.设备上走1 => 24.RGV取货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			} else if (wrkMast.getWrkSts() == 25) {//25.RGV取货完成 => 26.RGV放货中
			if (rgvProtocol.getTaskNo1() == 0 \|\| !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致
			continue;
			}
			if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物
			continue;
			}

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 25.RGV取货完成 => 26.RGV放货中
			Date now = new Date();
			wrkMast.setWrkSts(26L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 25.RGV取货完成 => 26.RGV放货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			}

			}
			return null;
			}catch (Exception e){
			log.error("搜索RGV车。通过目标站搜索哪台车可用"+e);
			return null;
			}
			}

			@@ -791,7 +1104,7 @@
			// 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.setTaskNo((short) 63333); // 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
			@@ -953,11 +1266,9 @@

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
			if(crnStn1.getStaNo() == wrkMast.getStaNo()){
			if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
			crnStn = crnStn1;
			break;
			} else {
			continue;
			}
			}
			if(Cools.isEmpty(crnStn)){
			@@ -1225,11 +1536,9 @@

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
			if(crnStn1.getStaNo() == wrkMast.getSourceStaNo()){
			if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){
			crnStn = crnStn1;
			break;
			} else {
			continue;
			}
			}
			if(Cools.isEmpty(crnStn)){
			@@ -1240,6 +1549,13 @@
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null) {
			log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
			continue;
			}
			//退库模式跳过118、119出库任务
			if (wrkMast.getStaNo()==118 \|\| wrkMast.getStaNo()==119){
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
			if (Cools.isEmpty(rgvOneSign) \|\| rgvOneSign.getRgvOneSign()==1){
			continue;
			}
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			@@ -1433,201 +1749,6 @@
			}

			/**
			* 入库 ===>> RGV入库站到站
			*/
			public synchronized void rgvInStn(RgvSlave slave, RgvProtocol rgvProtocol) {
			WrkMast wrkMast = wrkMastMapper.selectRgvInSteNo(slave.getId());


			//查找工作状态为2（设备上走）,且RGV入库接驳站符合的的入库工作档，提取出最多2笔
			List<WrkMast> wrkMastTask = getRgvInTask(slave);
			if(wrkMastTask.size() <= 0){
			return;
			}

			// RGV控制过滤，必须满足自动、空闲，没有任务号
			if (!rgvProtocol.getStatusType().equals(CrnStatusType.IDLE)
			\|\| rgvProtocol.getModeType() != RgvModeType.AUTO
			\|\| rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getTaskNo2() != 0) {
			return;
			}

			// 已经存在RGV执行任务时，则过滤
			if(wrkMastMapper.selectRgvInWorking(slave.getId()).size() > 0){
			return;
			}

			if(wrkMastTask.size() == 2){
			//有2笔RGV待入库任务，2个工位，取货、放货任务同时下发
			WrkMast wrkMast1 = wrkMastTask.get(0);
			WrkMast wrkMast2 = wrkMastTask.get(1);
			if(Cools.isEmpty(wrkMast1) \|\| Cools.isEmpty(wrkMast2)){
			log.error("工作档RGV入库数据为空");
			return;
			}
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(slave.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货
			rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 工位2任务模式: 取放货
			rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点
			rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) {
			//step=2,工位1、2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={}", slave.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 6.RGV入库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(6L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}

			wrkMast2.setWrkSts(6L);
			wrkMast2.setCrnStrTime(now);
			wrkMast2.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast2) == 0) {
			log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中失败！！，工作号={}", wrkMast2.getWrkNo());
			}
			}
			} else if(wrkMastTask.size() == 1){
			//只有1笔RGV待入库任务，先下发取货任务，取货后再判断是否有下一笔待入库任务
			WrkMast wrkMast1 = wrkMastTask.get(0);
			if(Cools.isEmpty(wrkMast1)){
			log.error("工作档RGV入库数据为空");
			return;
			}
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(slave.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 6.RGV入库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(6L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}
			}
			}
			}

			/**
			* 出库 ===>> RGV出库站到站
			*/
			public synchronized void rgvOutStn(RgvSlave slave, RgvProtocol rgvProtocol) {
			//查找工作状态为14（出库完成）,且RGV出库接驳站符合的的出库工作档，提取出最多2笔
			List<WrkMast> wrkMastTask = getRgvOutTask(slave);
			if(wrkMastTask.size() <= 0){
			return;
			}

			// RGV控制过滤，必须满足自动、空闲，没有任务号
			if (!rgvProtocol.getStatusType().equals(CrnStatusType.IDLE)
			\|\| rgvProtocol.getModeType() != RgvModeType.AUTO
			\|\| rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getTaskNo2() != 0) {
			return;
			}

			// 已经存在RGV执行任务时，则过滤
			if(wrkMastMapper.selectRgvOutWorking(slave.getId()).size() > 0){
			return;
			}

			if(wrkMastTask.size() == 2){
			//有2笔RGV待入库任务，2个工位，取货、放货任务同时下发
			WrkMast wrkMast1 = wrkMastTask.get(0);
			WrkMast wrkMast2 = wrkMastTask.get(1);
			if(Cools.isEmpty(wrkMast1) \|\| Cools.isEmpty(wrkMast2)){
			log.error("工作档RGV入库数据为空");
			return;
			}
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(slave.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货
			rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 工位2任务模式: 取放货
			rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点
			rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) {
			//step=2,工位1、2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={}", slave.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 14.出库完成 => 16.RGV出库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(16L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}

			wrkMast2.setWrkSts(16L);
			wrkMast2.setCrnStrTime(now);
			wrkMast2.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast2) == 0) {
			log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中失败！！，工作号={}", wrkMast2.getWrkNo());
			}
			}
			} else if(wrkMastTask.size() == 1){
			//只有1笔RGV待入库任务，先下发取货任务，取货后再判断是否有下一笔待入库任务
			WrkMast wrkMast1 = wrkMastTask.get(0);
			if(Cools.isEmpty(wrkMast1)){
			log.error("工作档RGV入库数据为空");
			return;
			}
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(slave.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 14.出库完成 => 16.RGV出库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(16L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}
			}
			}
			}

			/**
			* 查找工作状态为14（出库完成）,且RGV出库接驳站符合的的出库工作档，提取出最多2笔
			* @param slave
			* @return
			@@ -1696,332 +1817,6 @@
			}
			}
			return wrkMastTask;
			}

			/**
			* 根据RGV完成信号，执行对工作档的完成操作，和RGV的任务下发
			*/
			public synchronized void rgvFinished() {
			Date now = new Date();
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			//判断RGV是否空闲，工位1是否空闲，工位1是否有物，是否为电脑模式，工位1是否有工作号
			if (rgvProtocol.statusType1 == RgvStatusType.FETCHWAITING
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1() != 0
			&& rgvProtocol.getStatus() != 0
			&& rgvProtocol.getStatus1() != 0
			) {
			WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
			if (wrkMast1 == null) {
			log.error("RGV工位1处于等待确认且取货任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgv.getId(), rgvProtocol.getTaskNo1());
			continue;
			}

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

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

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

			}
			}

			/**
			* 入出库 ===>> RGV出库站到堆垛机入库站/系统入库站
			* rgvInDStnToCrnStn
			*/
			public synchronized void rgvDestStnToCrnStn() {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			// 遍历入库任务的RGV出库站
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvDestStn()) {
			// 获取RGV出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档List
			// List<WrkMast> wrkMasts = wrkMastMapper.selectRgvInStep2(staProtocol.getSiteId());
			List<WrkMast> wrkMasts = wrkMastMapper.selectRgvDestStep2(staProtocol.getSiteId());
			for(WrkMast wrkMast : wrkMasts){
			// 判断工作档条件
			if (wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null
			\|\| wrkMast.getRgvSstaNo() == null \|\| wrkMast.getRgvDstaNo() == null) {
			continue;
			}

			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, wrkMast.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// 判断RGV状态等待确认,工位1
			if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())
			&& rgvProtocol.statusType1 == RgvStatusType.WAITING) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			// 更新工作档状态为2,14
			wrkMast.setWrkSts(wrkMast.getWrkSts()==7L ? 2L : 14L);
			wrkMast.setOnlineYn("Y");
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位RGV工位1
			rgvThread.setResetFlag1(true);
			} else {
			log.error("RGV工位1接驳，更新工作档的工作状态为{}失败！！！ [工作号:{}]", wrkMast.getWrkSts()==7L ? 2L : 14L, wrkMast.getWrkNo());
			}
			}
			// 判断RGV状态等待确认,工位2
			if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo2().equals(wrkMast.getWrkNo().shortValue())
			&& rgvProtocol.statusType2 == RgvStatusType.WAITING) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			// 更新工作档状态为2,14
			wrkMast.setWrkSts(wrkMast.getWrkSts()==7L ? 2L : 14L);
			wrkMast.setOnlineYn("Y");
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位RGV工位2
			rgvThread.setResetFlag2(true);
			} else {
			log.error("RGV工位2接驳，更新工作档的工作状态为{}失败！！！ [工作号:{}]", wrkMast.getWrkSts()==7L ? 2L : 14L, wrkMast.getWrkNo());
			}
			}
			}

			}
			}
			}
			}

			/**
			* 出库 ===>> RGV出库站到系统出库站
			*/
			public synchronized void rgvOutDStnToOutStn() {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			// 遍历出库任务的RGV出库站
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvDestStn()) {
			// 获取RGV出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档List
			List<WrkMast> wrkMasts = wrkMastMapper.selectRgvOutStep2(staProtocol.getSiteId());
			for(WrkMast wrkMast : wrkMasts){
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null
			\|\| wrkMast.getRgvSstaNo() == null \|\| wrkMast.getRgvDstaNo() == null) {
			continue;
			}

			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, wrkMast.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// 判断RGV状态等待确认,工位1
			if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())
			&& rgvProtocol.statusType1 == RgvStatusType.WAITING) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			// 更新工作档状态为14
			wrkMast.setWrkSts(14L);
			wrkMast.setOnlineYn("Y"); //控制WMS将工作状态14转15的时机，只有RGV运搬完成后才可以转
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位RGV工位1
			rgvThread.setResetFlag1(true);
			} else {
			log.error("RGV工位1接驳，更新工作档的工作状态为2失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			}
			// 判断RGV状态等待确认,工位2
			if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo2().equals(wrkMast.getWrkNo().shortValue())
			&& rgvProtocol.statusType2 == RgvStatusType.WAITING) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			// 更新工作档状态为14
			wrkMast.setWrkSts(14L);
			wrkMast.setOnlineYn("Y"); //控制WMS将工作状态14转15的时机，只有RGV运搬完成后才可以转
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位RGV工位2
			rgvThread.setResetFlag2(true);
			} else {
			log.error("RGV工位2接驳，更新工作档的工作状态为2失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			}
			}

			}
			}
			}
			}

			/**
			@@ -2105,7 +1900,7 @@
			}
			// 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() == 32222) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			@@ -2392,6 +2187,7 @@
			*/
			public synchronized void storeEmptyPlt() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			if (devp.getId()==1) continue;
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			// 获取空板入库站信息
			@@ -2405,7 +2201,7 @@

			// 站点条件判断
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.isEmptyMk() && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999) && staProtocol.isPakMk()) {
			&& staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) \|\| staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			@@ -2425,8 +2221,8 @@
			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(dto.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			@@ -2439,65 +2235,122 @@
			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();
			// }

			/**
			* 入库 ===>> 空栈板初始化入库,1楼叠盘机叠盘
			*/
			public synchronized void storeEmptyPlt2() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			if (devp.getId()==2) continue;
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			// 获取空板入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}


			// 站点条件判断
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) \|\| staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
			try {
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
			if (Cools.isEmpty(wrkMastSta)){
			WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
			wrkMastSta1.setType(2);
			wrkMastSta1.setWrkType(1);//工作类型 1:取（叠盘） 2：拆盘 3：取放 5：满取 6：满放
			wrkMastStaMapper.insert(wrkMastSta1);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			}
			}

			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			public synchronized void storeEmptyPlt3() {
			try{
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
			if (Cools.isEmpty(rgvOneSign) \|\| rgvOneSign.getRgvOneSign()==1){
			return;
			}
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			continue;
			}

			// 只有当RGV空闲、自动,工位二有物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			// && (rgvProtocol.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			&& rgvProtocol.getLoaded2()==3 ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			try {
			WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122);
			if (!Cools.isEmpty(wrkMast1)){
			continue;
			}
			// 获取空板入库站信息

			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			param.setSourceStaNo(122);
			param.setLocType1((short)1);
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/empty/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			// 更新站点信息且下发plc命令
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(dto.getWorkNo());
			if (!Cools.isEmpty(wrkMast) && wrkMast.getIoType()==10 && wrkMast.getWrkSts()==2){
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
			if (Cools.isEmpty(wrkMastSta)){
			WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),wrkMast.getStaNo());
			wrkMastSta1.setWrkNo(wrkMast.getWrkNo().longValue());
			wrkMastSta1.setType(2);
			wrkMastSta1.setWrkType(6);//工作类型 1:取（叠盘） 2：拆盘 3：取放 5：满取 6：满放
			wrkMastStaMapper.insert(wrkMastSta1);
			}
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/empty/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			}catch (Exception e){
			log.error("3933行执行小车放空板任务下发失败");
			log.error("3933行"+e);
			}
			}

			@@ -2534,6 +2387,7 @@
			// 出库模式
			switch (wrkMast.getIoType()) {
			case 1:
			case 202:
			ledCommand.setTitle("全板入库");
			break;
			case 10:
			@@ -2555,6 +2409,10 @@
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			case 212:
			ledCommand.setTitle("空板出库");
			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());
			break;
			@@ -2565,7 +2423,7 @@
			// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
			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 -> ledCommand.getMatDtos().add(new MatDto(wrkDetl)));
			}
			commands.add(ledCommand);
			}
			@@ -2578,21 +2436,22 @@
			}
			// 命令下发 -------------------------------------------------------------------------------
			if (!commands.isEmpty()) {
			if (led.getId() == 7) {
			// 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);
			}
			}
			// }
			// 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);
			// }
			// }

			}

			@@ -2854,26 +2713,26 @@
			}
			}

			/**
			* 初始化RGV地图
			*/
			public synchronized void initRgvMap() {
			Object data = redisUtil.get("rgv_map");
			if (data == null) {
			//重新获取全路径地图
			BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//获取默认路径
			if (basRgvPath != null) {
			ArrayList<RgvNode> rgvNodes = new ArrayList<>();
			List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
			for (Integer integer : rgvPath) {
			RgvNode rgvNode = new RgvNode(integer);
			rgvNodes.add(rgvNode);
			}
			//将数据库地图数据存入redis
			redisUtil.set("rgv_map", JSON.toJSONString(rgvNodes));
			}
			}
			}
			// /**
			// * 初始化RGV地图
			// */
			// public synchronized void initRgvMap() {
			// Object data = redisUtil.get("rgv_map");
			// if (data == null) {
			// //重新获取全路径地图
			// BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//获取默认路径
			// if (basRgvPath != null) {
			// ArrayList<RgvNode> rgvNodes = new ArrayList<>();
			// List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
			// for (Integer integer : rgvPath) {
			// RgvNode rgvNode = new RgvNode(integer);
			// rgvNodes.add(rgvNode);
			// }
			// //将数据库地图数据存入redis
			// redisUtil.set("rgv_map", JSON.toJSONString(rgvNodes));
			// }
			// }
			// }

			/**
			* 堆垛机演示 ===>> 库位移转
			@@ -3089,94 +2948,1424 @@

			}

			public synchronized void outOfDevp() {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
			for (WrkMast wrkMast : wrkMasts) {
			if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
			wrkMast.setCtnNo("Y");
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
			// /**
			// * 其他 ===>> 码垛位自动补充空板：驱动拆盘机输出托盘
			// */
			// public synchronized void dischargingMachineOutputTray() {
			// try {
			// List<WrkMast> wrkMasts = wrkMastMapper.selectDischargingMachineOutputTray();
			// if (Cools.isEmpty(wrkMasts) \|\| wrkMasts.size()>3){
			// return;
			// }
			//
			// // 获取入库站信息
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			// StaProtocol staProtocol = devpThread.getStation().get(213);
			// if (staProtocol == null) {
			// log.error("码垛位自动补充空板：驱动拆盘机输出托盘，任务下发失败，站点查询失败");
			// return;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			//
			// if (!staProtocol.isLoading()){
			// log.info("码垛位自动补充空板：驱动拆盘机输出托盘，任务下发失败，站点无物，正在自动调出空板！");
			// int i = wrkMastMapper.selectConfigCount10468N();
			// if (i==1){
			// wrkMastMapper.updateConfig10468Y();
			// }
			// return;
			// }else {
			// int i = wrkMastMapper.selectConfigCount10468N();
			// if (i==0){
			// return;
			// }
			// }
			// StaProtocol staProtocol214 = devpThread.getStation().get(214);
			// // 判断是否满足入库条件
			// if (staProtocol.isAutoing() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk() && staProtocol214.getWorkNo()==0) {
			// staProtocol.setWorkNo((short)9999);
			// staProtocol.setStaNo((short)214);
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败==>码垛位自动补充空板：驱动拆盘机输出托盘！");
			// }
			// log.info("码垛位自动补充空板：驱动拆盘机输出托盘，任务下发成功：工作号9999、目标站214！");
			// }else {
			// log.error("码垛位自动补充空板：驱动拆盘机输出托盘，任务下发失败，站点状态不符合！");
			// }
			// }catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			// }

			// /**
			// * 其他 ===>> 拆盘机处空板扫码，驱动托盘向码垛位，不入库
			// */
			// public synchronized void scanBarcodeEmptyBoard() {
			// try {
			//
			// }catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			// }

			/**
			* 其他 ===>> 码垛完成驱动托盘进入下一步（入库前扫码）
			*/
			public synchronized void stackingCompletionDriveTray() {
			try {
			int[] staNos=new int[]{215,219};//(2楼两个入库码垛站)
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			if ((basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 \|\| basDevp.getWrkNo()>9999)) \|\| Cools.isEmpty(basDevp.getBarcode())){
			continue;
			}
			Integer zpallet = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet", basDevp.getBarcode()).eq("status","N"));
			if (zpallet<=0){
			continue;
			}
			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} 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) {
			// continue;
			// }

			if (!staProtocol.isLoading()){
			log.info("{}站点无物，正在自动调出空板！",staNo);
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& (basDevp.getWrkNo()==0 \|\| (basDevp.getWrkNo()>=9900 && basDevp.getWrkNo()<=9999))
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
			int workNo = commonService.getWorkNo(5);
			staProtocol.setWorkNo(workNo);
			staProtocol.setStaNo(staNo + 2);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}

			}
			}
			}catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 码垛完成驱动托盘进入下一步（入库前扫码）"+e);
			}
			}
			/**
			* 其他 ===>> 码垛完成驱动托盘进入下一步
			*/
			public synchronized void stackingCompletionDriveTray2() {
			try {
			int[] staNos=new int[]{131,135};//(2个入库站点，1楼2个出库码垛站,根据现场修改)
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (Cools.isEmpty(basDevp) \|\| basDevp.getReportSign()!=1){
			continue;
			}
			if (basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 \|\| basDevp.getWrkNo()>9999)){
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
			if (Cools.isEmpty(wrkMast)){
			continue;
			}
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} 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) {
			// continue;
			// }

			if (!staProtocol.isLoading()){
			log.info("{}站点无物，异常！",staNo);
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& (staProtocol.getWorkNo() == 0 \|\| (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000))
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {

			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			Thread.sleep(100);

			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(144);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}
			wrkMast.setWrkSts(52L);
			wrkMastMapper.updateById(wrkMast);
			Thread.sleep(100);

			//任务完成
			boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol));

			}
			}
			}catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 码垛完成驱动托盘进入下一步"+e);
			}
			}

			/**
			* 其他 ===>> 码垛完成驱动托盘进入下一步
			*/
			public synchronized void stackingCompletionDriveTrayOk2() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta2()) {

			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();
			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()!=0 && staProtocol.isOutEnable()) {//
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());

			if (wrkMast == null) {
			log.error("站点号"+staProtocol.getSiteId()+"未查询到工作档案！");
			// 无拣料数据
			continue;
			}
			if (Cools.isEmpty(wrkMast.getSheetNo()) \|\| !wrkMast.getSheetNo().equals("2") \|\| wrkMast.getIoType()<100 \|\| wrkMast.getWrkSts()!=14){
			continue;
			}
			if (wrkMast.getIoType()==101){
			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			wrkMast.setSheetNo("3");
			wrkMastMapper.updateById(wrkMast);
			}else {
			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			continue;
			}
			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			wrkMast.setSheetNo("3");
			wrkMastMapper.updateById(wrkMast);

			try{
			Thread.sleep(100);
			}catch (Exception e){

			}

			boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol));

			}
			}
			}
			}
			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) {
			}
			/**
			* 其他 ===>> 贴标完成驱动托盘进入下一步
			*/
			public synchronized void stackingCompletionDriveTray3() {
			try {
			int[] staNos=new int[]{144};//(1楼1个贴标位,根据现场修改)
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			if ((basDevp.getWrkNo()<9900 \|\| basDevp.getWrkNo()>9999) && basDevp.getWrkNo()!=32222){
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
			if (Cools.isEmpty(wrkMast)){
			continue;
			}
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} 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) {
			// continue;
			// }

			if (!staProtocol.isLoading()){
			log.info("{}站点无物，异常！",staNo);
			continue;
			}
			if (!staProtocol.getWorkNo().equals(wrkMast.getWrkNo())){
			log.info("站点工作号={} 与贴标工作号={} 不一致，异常！",staProtocol.getWorkNo(),wrkMast.getWrkNo().shortValue());
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {

			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}
			wrkMast.setWrkSts(55L);
			wrkMastMapper.updateById(wrkMast);

			}
			}
			}catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 贴标完成驱动托盘进入下一步"+e);
			}
			}

			/**
			* 其他 ===>> 退货码垛完成托盘继续下一步
			*/
			public synchronized void stackingCompletionDriveTrayOk3() {
			try {
			int[] staNos=new int[]{118};
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (Cools.isEmpty(basDevp) \|\| basDevp.getWrkNo()!=0 \|\| basDevp.getReportSign()!=3){
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne145(145);
			if (Cools.isEmpty(wrkMast)){
			continue;
			}
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			StaProtocol staProtocol147 = devpThread.getStation().get(147);
			if (staProtocol147 == null) {
			continue;
			} else {
			staProtocol147 = staProtocol147.clone();
			}

			if (!staProtocol.isLoading()){
			log.info("{}站点无物，异常！",staNo);
			continue;
			}

			if (staProtocol147.isLoading()){
			log.info("{}站点有物！",staProtocol147.getSiteId());
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& !staProtocol.isEmptyMk()
			) {

			boolean result3 = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol147));

			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}

			wrkMast.setSheetNo("5");
			wrkMastMapper.updateById(wrkMast);

			boolean result4 = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol147));

			}
			}
			}catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 退货码垛完成托盘继续下一步"+e);
			}
			}

			/**
			* 其他 ===>> 拆垛完成继续下一步运行途中自动避让空板
			*/
			public synchronized void stackingCompletionDriveTray4() {
			try {
			int[] staNos=new int[]{134};//(134有任务，135空闲，则避让)
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			BasDevp basDevp135 = basDevpService.selectById(135);
			if (basDevp.getWrkNo()==0 \|\| (basDevp.getWrkNo()<10000 && basDevp.getWrkNo()>9899) ){
			continue;
			}
			if (basDevp135.getReportSign()!=0){
			continue;
			}
			WrkMast wrkMast131 = wrkMastMapper.selectWrkMastUnstackingOne202Two(131);
			if (Cools.isEmpty(wrkMast131)){
			continue;
			}
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol135 = devpThread.getStation().get(135);
			if (staProtocol135 == null) {
			continue;
			} else {
			staProtocol135 = staProtocol135.clone();
			}
			if (staProtocol135.getWorkNo()<9900 \|\| staProtocol135.getWorkNo()>9999 \|\| staProtocol135.getWorkNo()==0
			\|\| !staProtocol135.isLoading() \|\| !staProtocol135.isAutoing()){
			continue;
			}
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (!staProtocol.isLoading()){
			continue;
			}
			// if (!staProtocol.getWorkNo().equals(wrkMast131.getWrkNo())){
			// log.info("站点工作号={} 与贴标工作号={} 不一致，异常！",staProtocol.getWorkNo(),wrkMast131.getWrkNo().shortValue());
			// }
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& basDevp.getReportSign()==0
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
			// if (true){
			// return;
			// }

			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol135));
			try{
			Thread.sleep(100);
			}catch (Exception e){ }
			basDevp135.setReportSign(2);
			basDevpService.updateById(basDevp135);
			int workNo = commonService.getWorkNo(5);
			staProtocol135.setWorkNo(workNo);
			staProtocol135.setStaNo(144);
			devpThread.setPakMk(staProtocol135.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol135));
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}
			boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol135));

			}
			}
			}catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 贴标完成驱动托盘进入下一步"+e);
			}
			}

			/**
			* 完成小车任务
			*/
			public synchronized void rgvCompleteWrkMastSta() {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			continue;
			}

			// 只有当RGV等待WCS确认、自动
			if (rgvProtocol.getStatusType() == RgvStatusType.WORKING
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& ((rgvProtocol.getStatusType1()==RgvStatusType.WAITING \|\| rgvProtocol.getStatusType2()==RgvStatusType.WAITING ) \|\|
			(rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING \|\| rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING ))
			) {
			log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
			if (rgvProtocol.getTaskNo1()!=0 && (rgvProtocol.getStatusType1()==RgvStatusType.WAITING \|\| rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)){
			if (rgvProtocol.getTaskNo1()==(short)32222){
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			break;
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue());
			if (Cools.isEmpty(wrkMastSta) \|\| wrkMastSta.getType()!=1 \|\| 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;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
			Thread.sleep(200);
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			continue;
			}
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
			continue;
			}
			log.error("小车任务完成下发输送线任务："+staProtocol);
			// try{
			// Thread.sleep(1000);
			// DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			// StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
			// log.error("小车任务完成读取输送线任务："+staProtocolEnd);
			// if (staProtocolEnd.getWorkNo()==0 ){ //\|\| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
			// staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
			// staProtocolEnd.setStaNo(wrkMast.getStaNo());
			// if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
			// continue;
			// }
			// log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
			// }
			// }catch (Exception e){
			//
			// }
			}
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			}else if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING \|\| rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){
			if (rgvProtocol.getTaskNo2()==(short)32222){
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			break;
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().longValue());
			if (Cools.isEmpty(wrkMastSta) \|\| wrkMastSta.getType()!=2){
			log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
			Thread.sleep(200);
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			continue;
			}
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
			continue;
			}
			log.error("小车任务完成下发输送线任务："+staProtocol);
			// try{
			// Thread.sleep(1000);
			// DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			// StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
			// log.error("小车任务完成读取输送线任务："+staProtocolEnd);
			// if (staProtocolEnd.getWorkNo()==0 ){ //\|\| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
			// staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
			// staProtocolEnd.setStaNo(wrkMast.getStaNo());
			// if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
			// continue;
			// }
			// log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
			// }
			// }catch (Exception e){
			//
			// }
			}
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			}else {
			log.error("小车复位失败，小车号{},等待wcs确认但是没有工作号！",rgvProtocol.getRgvNo());
			}
			}
			}
			}catch (Exception e){
			log.error("小车复位线程报错！"+e);
			}
			}
			/**
			* 入出库 ===>> 小车作业下发
			*/
			public synchronized boolean rgvIoExecute(Integer sign) {
			boolean rgvIoExecuteSign = false;
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// 获取小车信息
			boolean signWork = false;
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			continue;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			) {
			switch (sign){
			//执行小车货物搬运任务
			case 1:
			signWork = rgvRunWrkMastFullSta(rgvSlave);
			break;
			//执行小车空板搬运任务
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
			break;
			case 6:////提升
			// signWork = qwe();
			break;
			default:
			break;
			}
			for (int signCount = 1;!signWork && signCount<7;signCount++){
			switch (signCount){
			case 1://执行小车货物搬运任务
			signWork = rgvRunWrkMastFullSta(rgvSlave);
			break;
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
			break;
			case 6:////提升
			// signWork = rgvRunWrkMastEmptyStaPut();
			break;
			default:
			break;
			}
			}
			}else {
			continue;
			}
			if (!rgvIoExecuteSign){
			rgvIoExecuteSign = signWork;
			}
			}
			// if (!rgvIoExecuteSign){
			// if (sign>6){
			//
			// }
			// }
			}catch (Exception e){
			log.error("RGV小车任务下发报错"+e);
			}
			return rgvIoExecuteSign;
			}
			/**
			* 执行小车搬运任务
			*/
			public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) {
			try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			return false;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=1 \|\| wrkMastSta.getWrkType()!=3){//1:满版 3：取放
			continue;
			}
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y")){
			continue;
			}
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
			if (signMap){
			wrkMastSta.setWrkSts(1);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return true;
			}else {
			log.error("3864行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			// }
			}catch (Exception e){
			log.error("3875行执行小车搬运任务下发失败");
			log.error("3875行"+e);
			}
			return false;
			}
			/**
			* 执行小车搬运任务//拆盘
			*/
			public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//拆盘
			try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			return false;
			}

			// 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==3 \|\| rgvProtocol.getLoaded2()==1 \|\| rgvProtocol.getLoaded2()==4)////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物() ；3 1、2层都有物 4：（）只允许拆盘
			) {
			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());
			return false;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=2){// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
			continue;
			}
			boolean sign = false;
			if ( wrkMastSta.getStaEnd()!=0){//放
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y")){
			continue;
			}
			sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
			}else {
			continue;
			}
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
			if (signMap){
			wrkMastSta.setWrkSts(2);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return true;
			}else {
			log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			// }
			}catch (Exception e){
			log.error("3933行执行小车放空板任务下发失败");
			log.error("3933行"+e);
			}
			return false;
			}

			/**
			* 执行小车搬运任务
			*/
			public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//满放
			try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			return false;
			}

			// 只有当RGV空闲、自动,工位二有物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			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());
			return false;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=6){// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放 7:提升
			continue;
			}
			boolean sign = false;
			if ( wrkMastSta.getStaEnd()!=0){//满放
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y")){
			continue;
			}
			sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
			}else {
			continue;
			}
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
			if (signMap){
			wrkMastSta.setWrkSts(2);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return true;
			}else {
			log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			// }
			}catch (Exception e){
			log.error("3933行执行小车放空板任务下发失败");
			log.error("3933行"+e);
			}
			return false;
			}

			public synchronized boolean rgvRunWrkMastEmptyStaTake(RgvSlave rgvSlave) {//叠盘
			try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			return false;
			}

			// 只有当RGV空闲、自动,工位二无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==0 \|\| rgvProtocol.getLoaded2()==1 ) //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			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());
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=1){// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
			continue;
			}
			boolean sign = false;
			if ( wrkMastSta.getStaStart()!=0){//取
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
			if (!basDevp.getAutoing().equals("Y") \|\| !basDevp.getLoading().equals("Y")){
			continue;
			}
			sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
			}else {
			continue;
			}
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
			if (signMap){
			wrkMastSta.setWrkSts(1);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return true;
			}else {
			log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			// }
			}catch (Exception e){
			log.error("3989行执行小车取空板任务下发失败");
			log.error("3989行"+e);
			}
			return false;
			}

			public synchronized boolean rgvRunWrkMastEmptyStaTakeFull(RgvSlave rgvSlave) {//满取
			try{
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			return false;
			}

			// 只有当RGV空闲、自动,工位二无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& rgvProtocol.getLoaded2()==0 //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			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());
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=5){// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
			continue;
			}
			boolean sign = false;
			if (wrkMastSta.getStaStart()!=0){//满取
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
			if (!basDevp.getAutoing().equals("Y") \|\| !basDevp.getLoading().equals("Y")){
			continue;
			}
			sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
			}else {
			continue;
			}
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
			if (signMap){
			wrkMastSta.setWrkSts(1);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return true;
			}else {
			log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			// }
			}catch (Exception e){
			log.error("3989行执行小车取空板任务下发失败");
			log.error("3989行"+e);
			}
			return false;
			}

			/*
			* 有任务但未执行此时需要调整小车位置
			* */
			public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
			try{
			Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
			if (integer==0){
			return;
			}
			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);
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			continue;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			&& rgvProtocol.getTaskNo1()==0
			&& rgvProtocol.getTaskNo2()==0
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			continue;
			}
			if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) \|\| rgvProtocol.getRgvPosI().equals(102) )){
			continue;
			} else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) \|\| rgvProtocol.getRgvPosI().equals(117) ) ){
			continue;
			}
			rgvAvoidanceXY(rgvProtocol.getRgvNo());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			}
			}
			}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);
			}
			}

			/*
			* 刷新地图数据
			* */
			public synchronized void refreshRgvMap() {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			continue;
			}

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

			/*
			* 小车XY移动避让
			* */
			public synchronized boolean rgvAvoidanceXY(Integer rgvId){
			if (rgvId==1){
			try{
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1((short)32222); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式: 回原点
			//basRgvMap.getLockStartRoute().shortValue()
			rgvCommand.setSourceStaNo1( (short)101);
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;

			}
			}else {
			try{
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2((short)32222); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式: 回原点
			rgvCommand.setSourceStaNo2((short)117);
			rgvCommand.setCommand((short) 2); //工位2任务确认
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;

			}
			}
			}

			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）
			) {

			try {
			LocTypeDto locTypeDto = new LocTypeDto((short) 1, (short) 1, (short) 1);


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

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

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

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

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

			/*
			* 小车取空板至工位任务满取
			* */
			public synchronized boolean rgvTakeEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_5); // 工位2任务模式: 满取
			rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //工位2起点
			rgvCommand.setCommand((short) 2); //工位2任务确认
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			}

			/*
			* 小车放空板至输送线任务 //满放
			* */
			public synchronized boolean rgvPutEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.PUT_6); // 工位2任务模式: 满放
			rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //工位2目标站点
			rgvCommand.setCommand((short) 2); //工位2任务确认
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			}

			/*
			* 小车复位
			* */
			public synchronized boolean rgvComplete(Integer rgvId){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}",rgvId);
			return false;
			} else {
			log.info("RGV命令下发成功，RGV号={}",rgvId);
			return true;
			}
			}catch (Exception e){
			log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
			return false;
			}
			}

			/*
			* 小车地图更新更新锁
			* */
			public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer 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
			Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
			basRgvMapCurrent.setLockEndRoute(fallMerge);
			basRgvMapMapper.updateById(basRgvMapCurrent);

			//更新另一台小车地图
			Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther();
			BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
			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
			basRgvMapOther.setEndRoute(lockEndRoute);
			basRgvMapMapper.updateById(basRgvMapOther);
			return true;
			}catch (Exception e){
			log.error("小车地图更新出错！");
			return false;
			}
			}

			}