*

lsh

2025-03-20 aedab7e738053f39dd339fff6c501d9ccf024aba

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

@@ -3,9 +3,9 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.*;
@@ -21,7 +21,6 @@
import com.zy.common.utils.CollectionUtils;
import com.zy.common.utils.HttpHandler;
import com.zy.common.utils.RedisUtil;
import com.zy.common.utils.RgvUtils;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
@@ -74,8 +73,6 @@
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private StaDescService staDescService;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private BasRgvService basRgvService;
@@ -94,8 +91,6 @@
    @Autowired
    private BasRgvPathService basRgvPathService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private WrkMastStaMapper wrkMastStaMapper;
    @Autowired
    private BasRgvMapMapper basRgvMapMapper;
@@ -104,6 +99,9 @@

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

    @Value("${wms.rgvOpen}")
    private boolean rgvOpen;

    /**
     * 组托
@@ -531,14 +529,14 @@
                    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.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()!=0) {//&& staProtocol.isInEnable()
                    if (staProtocol.isEmptyMk()){
                        log.error("站点号"+staProtocol.getSiteId()+"空板信号异常！");
                        continue;
                    }
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());

                    if (wrkMast == null || !wrkMast.getSheetNo().equals("3")) {
                        continue;
                    }
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
@@ -574,12 +572,12 @@
                                    .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();
//                            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);
//                        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;
                        }
@@ -587,35 +585,35 @@
//                        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 {
//                            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();
                                }
                            }
//                                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();
//                        e.printStackTrace();
//                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }

//                    // 获取目标站
@@ -864,9 +862,25 @@
                    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) {
//                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0) {
//                    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);
//                            }
//                        }
//                    }
//                } else
                if (staProtocol.isAutoing() && staProtocol.isLoading()  && staProtocol.isEmptyMk() && staProtocol.isPakMk() && staProtocol.getWorkNo()>0) {
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
                    if (wrkMast == null || (wrkMast.getSheetNo().equals("3") && wrkMast.getIoType()==101)) {
                        WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
                        if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
                            WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
@@ -1197,11 +1211,16 @@
                } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                    // 此标记避免多次执行移库任务
                    if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                        wrkMast.setUpdMk("Y");
                        wrkMast.setIoPri(14D);
                        wrkMastMapper.updateById(wrkMast);
                        // 生成工作档,将浅库位移转到新的库位中
                        moveLocForDeepLoc(slave, shallowLoc);
//                        wrkMast.setUpdMk("Y");
//                        wrkMast.setIoPri(14D);
//                        wrkMastMapper.updateById(wrkMast);
//                        // 生成工作档,将浅库位移转到新的库位中
//                        moveLocForDeepLoc(slave, shallowLoc);
                        if (moveLocForDeepLoc(slave, shallowLoc)){
                            wrkMast.setUpdMk("Y");
                            wrkMast.setIoPri(14D);
                            wrkMastMapper.updateById(wrkMast);
                        }
                        // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
//                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
                    }
@@ -1341,11 +1360,17 @@
                } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                    // 此标记避免多次执行移库任务
                    if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                        wrkMast.setUpdMk("Y");
                        wrkMast.setIoPri(14D);
                        wrkMastMapper.updateById(wrkMast);
                        // 生成工作档,将浅库位移转到新的库位中
                        moveLocForDeepLoc(slave, shallowLoc);
//                        wrkMast.setUpdMk("Y");
//                        wrkMast.setIoPri(14D);
//                        wrkMastMapper.updateById(wrkMast);
//                        // 生成工作档,将浅库位移转到新的库位中
//                        moveLocForDeepLoc(slave, shallowLoc);

                        if (moveLocForDeepLoc(slave, shallowLoc)){
                            wrkMast.setUpdMk("Y");
                            wrkMast.setIoPri(14D);
                            wrkMastMapper.updateById(wrkMast);
                        }
                        // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
//                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
                    }
@@ -1473,10 +1498,16 @@
//                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
//                                || Cools.isEmpty(waitWrkMast)) {
                            if (Cools.isEmpty(waitWrkMast)) {
                                wrkMast.setUpdMk("Y");
                                wrkMastMapper.updateById(wrkMast);
                                // 生成工作档,将浅库位移转到新的库位中
                                moveLocForDeepLoc(slave, shallowLoc);
//                                wrkMast.setUpdMk("Y");
//                                wrkMastMapper.updateById(wrkMast);
//                                // 生成工作档,将浅库位移转到新的库位中
//                                moveLocForDeepLoc(slave, shallowLoc);

                                if (moveLocForDeepLoc(slave, shallowLoc)){
                                    wrkMast.setUpdMk("Y");
//                                    wrkMast.setIoPri(14D);
                                    wrkMastMapper.updateById(wrkMast);
                                }
                            }
                            log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                            continue;
@@ -1553,7 +1584,7 @@
            }
            //退库模式跳过118、119出库任务
            if (wrkMast.getStaNo()==118 || wrkMast.getStaNo()==119){
                RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
                RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign("oneSign");
                if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
                    continue;
                }
@@ -1627,10 +1658,16 @@
//                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
//                                || Cools.isEmpty(waitWrkMast)) {
                        if (Cools.isEmpty(waitWrkMast)) {
                            wrkMast.setUpdMk("Y");
                            wrkMastMapper.updateById(wrkMast);
                            // 生成工作档,将浅库位移转到新的库位中
                            moveLocForDeepLoc(slave, shallowLoc);
//                            wrkMast.setUpdMk("Y");
//                            wrkMastMapper.updateById(wrkMast);
//                            // 生成工作档,将浅库位移转到新的库位中
//                            moveLocForDeepLoc(slave, shallowLoc);

                            if (moveLocForDeepLoc(slave, shallowLoc)){
                                wrkMast.setUpdMk("Y");
//                                wrkMast.setIoPri(14D);
                                wrkMastMapper.updateById(wrkMast);
                            }
                        }
                        log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                        continue;
@@ -2283,7 +2320,7 @@
     */
    public synchronized void storeEmptyPlt3() {
        try{
            RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
            RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign("oneSign");
            if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
                return;
            }
@@ -2319,6 +2356,7 @@
                        param.setIoType(10);
                        param.setSourceStaNo(122);
                        param.setLocType1((short)1);
                        param.setRgvNo(rgvProtocol.getRgvNo());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/empty/loc/v1")
@@ -2364,7 +2402,8 @@
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
            // 命令集合
            List<LedCommand> commands = new ArrayList<>();
            // 工作档集合
            String orderNo = null;
                    // 工作档集合
            List<WrkMast> wrkMasts = new ArrayList<>();
            for (Integer staNo : led.getStaArr()) {
                // 获取叉车站点
@@ -2424,7 +2463,13 @@
//                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)));
                    if (Cools.isEmpty(wrkDetls)){
                        continue;
                    }
                    Integer count1 = wrkDetlService.count1();
                    Integer count2 = wrkDetlService.count2(wrkDetls.get(0).getOrderNo());
                    Integer count3 = wrkDetlService.count3();
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl,count1,count2,count3)));
                }
                commands.add(ledCommand);
            }
@@ -2600,7 +2645,7 @@
     * 因双深库位阻塞，对浅库位进行移转（立即执行版)
     * tip：同步
     */
    private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
    private synchronized boolean moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
        try {
            List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
            LocMast loc = null;
@@ -2644,74 +2689,90 @@

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

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

        } catch (Exception e) {
            log.error("双深库位阻塞，对浅库位进行移转失败", e);
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
            return true;
//            e.printStackTrace();
//            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
        return true;
    }

//    /**
@@ -3144,7 +3205,7 @@
    }

    /**
     * 其他  ===>> 码垛完成驱动托盘进入下一步
     * 其他  ===>> 码垛完成驱动托盘进入下一步  2===》3
     */
    public synchronized void stackingCompletionDriveTrayOk2() {
        for (DevpSlave devp : slaveProperties.getDevp()) {
@@ -3160,7 +3221,7 @@
                    staProtocol = staProtocol.clone();
                }

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

                    if (wrkMast == null) {
@@ -3173,7 +3234,7 @@
                    }
                    if (wrkMast.getIoType()==101){
                        //任务完成
                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
//                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
                        wrkMast.setSheetNo("3");
                        wrkMastMapper.updateById(wrkMast);
                    }else {
@@ -3182,17 +3243,17 @@
                            continue;
                        }
                        //任务完成
                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
//                        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){
//                        try{
//                            Thread.sleep(100);
//                        }catch (Exception e){
//
//                        }

                        }

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

                    }
                }
@@ -3379,6 +3440,26 @@
                if (!staProtocol.isLoading()){
                    continue;
                }
                StaProtocol staProtocol120 = devpThread.getStation().get(120);
                if (staProtocol120 == null) {
                    continue;
                } else {
                    staProtocol120 = staProtocol120.clone();
                }

                if (staProtocol120.isLoading()){
                    continue;
                }
                StaProtocol staProtocol121 = devpThread.getStation().get(121);
                if (staProtocol121 == null) {
                    continue;
                } else {
                    staProtocol121 = staProtocol121.clone();
                }

                if (staProtocol121.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());
//                }
@@ -3457,7 +3538,7 @@
                            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());
                       /* WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
                            Thread.sleep(200);
                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
@@ -3493,7 +3574,7 @@
//                            }catch (Exception e){
//
//                            }
                        }
                        }*/
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
@@ -3520,7 +3601,7 @@
                            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());
                        /*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);
@@ -3551,7 +3632,7 @@
//                            }catch (Exception e){
//
//                            }
                        }
                        }*/
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
@@ -3736,6 +3817,19 @@
                                continue;
                            }
                        }
                        BasDevp basDevpS = basDevpService.selectById(wrkMastSta.getStaStart());
                        if (!basDevpS.getAutoing().equals("Y") || !basDevpS.getLoading().equals("Y") || basDevpS.getWrkNo()!=wrkMastSta.getWrkNo().intValue()){
                            continue;
                        }
                        StaProtocol staProtocols = devpThread.getStation().get(basDevpS.getDevNo());
                        if (staProtocols == null) {
                            log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
                            continue;
                        }
                        if (!staProtocols.isAutoing() || !staProtocols.isLoading() || staProtocols.getWorkNo() != wrkMastSta.getWrkNo().intValue()){
                            continue;
                        }


                        log.info(date+"取放任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"取放任务下发：目标站状态："+basDevp);
@@ -4206,57 +4300,85 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
//                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
//                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
                        if (rgvProtocol.getRgvNo()==1){
                            signRgv1 = false;
                        }else {
                            signRgv2 = false;
                    if (rgvProtocol.getRgvNo()!=1){
                        if (!rgvProtocol.getRgvPosI().equals(120) && !rgvProtocol.getRgvPosI().equals(110)){
                            continue;
                        }
                    }
                    if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
                        signRgv1 = false;
                        continue;
                    } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
                        signRgv2 = false;
                        rgvAvoidanceXY(rgvProtocol.getRgvNo());
//                        return;
                        continue;
                    }
                    if (!rgvProtocol.getRgvPosI().equals(110) && !rgvProtocol.getRgvPosI().equals(108) &&  !rgvProtocol.getRgvPosI().equals(119)){
                        continue;
                    }
                    Integer count108Y = wrkMastStaMapper.selectAllWrkCount108Y();
                    if (count108Y!=0){
                        continue;
                    }
//                    Integer count108 = wrkMastStaMapper.selectAllWrkCount108();
//                    if (count108!=0){
//                        continue;
//                    }
                    rgvAvoidanceXY(rgvProtocol.getRgvNo());
                    continue;
//                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                    Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMap.getRgvNo(), basRgvMap.getEndRoute()); //获取合并干涉项
//                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(),fallMerge);
//                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route ,route);
//                    if (!wrkMastStaList.isEmpty()){
//                        log.info("小车存在可执行任务，跳过避让！！4214");
//                        return;
//                    }
//                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
////                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
////                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
//                        if (rgvProtocol.getRgvNo()==1){
//                            signRgv1 = false;
//                        }else {
//                            signRgv2 = false;
//                        }
//                    }
//                    if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
//                        signRgv1 = false;
//                        continue;
//                    } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
//                        signRgv2 = false;
//                        continue;
//                    }
                }else {
                    signRgv = false;
                    break;
                }
            }
            if (signRgv &&  (signRgv1 || signRgv2)){
                for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                    RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                    RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                    if (rgvProtocol == null) {
                        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
                    ) {
                        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;
                        }
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        rgvAvoidanceXY(rgvProtocol.getRgvNo());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());

                    }
                }
            }
//            if (signRgv &&  (signRgv1 || signRgv2)){
//                for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
//                    RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
//                    RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
//                    if (rgvProtocol == null) {
//                        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
//                    ) {
//                        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;
//                        }
//                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                        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);
@@ -4312,7 +4434,7 @@
                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.setSourceStaNo1( (short)104);
                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
@@ -4334,7 +4456,7 @@
                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.setSourceStaNo2((short)114);
                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
@@ -4551,6 +4673,9 @@
     * 小车地图更新  更新锁
     * */
    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
        if (rgvOpen){
            return true;
        }

//        List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
        //更新当前小车锁
@@ -4566,7 +4691,8 @@
            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);
            Integer lockEndRouteL = RouteUtils.RouteIndexFarMasL(rgvNoOther, lockEndRoute);//另一台小车可活动最远位置
            basRgvMapOther.setEndRoute(lockEndRouteL);
            basRgvMapMapper.updateById(basRgvMapOther);
            return true;
        }catch (Exception e){
@@ -4575,4 +4701,87 @@
        }
    }


    /**
     *  ste充电任务创建   //完成
     */
    public synchronized void armNoStartTwoLo() {
        int[] staNos =new int[]{215,219};
        for (int staNo : staNos){
            try{
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk()){
                    RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign("armNo"+staNo);
                    if (!Cools.isEmpty(rgvOneSign) && rgvOneSign.getRgvOneSign() == 1){
                        int workNo = commonService.getWorkNo(6);

                        StaProtocol staProtocolnew = new StaProtocol();
                        staProtocolnew.setSiteId(staNo);
                        staProtocolnew.setWorkNo(workNo);
                        staProtocolnew.setStaNo(staNo==215? 217:221);
                        boolean result1 = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, staProtocolnew));

                        devpThread.setPakMk(staProtocolnew.getSiteId(), false);

                        boolean result2 = MessageQueue.offer(SlaveType.Devp, 2, new Task(2, staProtocolnew));
                        if (!result2) {
                            log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", 2);
                        }
                        if (!staProtocol.isLoading()){
                            updateRgvOneSign("armNo"+staNo,0);
                        }


                        boolean result3 = MessageQueue.offer(SlaveType.Devp, 2, new Task(4, staProtocolnew));
                    }
                }
            }catch (Exception e){
                log.error("站点"+staNo+"2楼机械臂码垛后标记清除失败，异常信息："+e);
            }
        }
    }

    public synchronized void armNoCleanUpTwoLo() {
        int[] staNos =new int[]{215,219};
        for (int staNo : staNos){
            try{
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (!staProtocol.isLoading()){
                    updateRgvOneSign("armNo"+staNo,0);
                }
            }catch (Exception e){
                log.error("站点"+staNo+"2楼机械臂码垛后标记清除失败，异常信息："+e);
            }
        }
    }

    public void updateRgvOneSign(String signType,Integer oneSign){
        try{
            RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign(signType);
            if (!Cools.isEmpty(rgvOneSign)){
                rgvOneSign.setRgvOneSign(oneSign);
                rgvOneSignMapper.updateById(rgvOneSign);
            }
        } catch (Exception e){
            RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign(signType);
            if (!Cools.isEmpty(rgvOneSign)){
                rgvOneSign.setRgvOneSign(999);
                rgvOneSignMapper.updateById(rgvOneSign);
            }
        }
    }

}