#

zjj

2024-05-16 c6ba2c1aef70b32c9de7af4e13cfc7c4183a658a

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

@@ -46,6 +46,7 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;

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

/**
@@ -184,21 +185,49 @@
                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
                        News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);

                        staProtocol.setWorkNo(wrkNo);
                        News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
                        wrkNo++;
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
                        continue;
                    }
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    if (wrkMast != null) {
                        News.error(methodName + ":工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        if (ledThread != null) {
                            News.error(methodName + ":扫码失败，请重试");
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={" + wrkMast.getWrkNo() + "}, 请手动取消已存在工作档"));
                        int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
                        if (wrkNo1 != 0){
                            News.error(barcode + "条码已存在状态为（ 2.设备上走 ）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
                            if (ledThread != null) {
                                News.error(methodName + ":扫码失败，请重试");
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走 ）的任务,工作号="+ wrkMast.getWrkNo()));
                            }
                            continue;
                        }
                        continue;
                        barcodeThread.setBarcode("");
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast.getSourceStaNo()));
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.info("输送线下发(存在设备上走的工作档，直接下发！))："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());

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

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

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

                    }
                    WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                            .eq("barcode", barcode)
                            .in("io_type", 107,103));
                            .in("io_type", 107,103,57));
                    if (!Cools.isEmpty(checkPick)) {
                        continue;
                    }
@@ -225,12 +254,14 @@
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发2："+dto.getWorkNo()+","+dto.getStaNo());

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

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

                                throw new CoolException("更新plc站点信息失败");
                            }else {
                                ledThread.errorReset();
                            }
                        } else {
                            staProtocol.setWorkNo(wrkNo);
@@ -470,6 +501,170 @@
//        News.infoNoLog(""+mark+" - 0"+" - 拣料、并板、盘点再入库  ===》执行完成");
    }


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

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

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

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

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

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

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

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

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

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

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

                }

            }

        }
    }

    /**
     * 堆垛机站出库到出库站
     */
@@ -507,7 +702,7 @@
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
                            && crnProtocol.statusType == CrnStatusType.WAITING
                            && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                        News.error("堆垛机出库完成 - 开始执行");
                        log.info("堆垛机出库完成 - 开始执行");

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

@@ -515,7 +710,10 @@
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                            log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发失败");
                            continue;
                        }else {
                            log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发成功");
                        }

                        // 更新工作档状态为14失败
@@ -523,7 +721,7 @@
                        wrkMast.setCrnEndTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) != 0) {
                            // 复位堆垛机
                            News.error("出库任务完成下发堆垛机复位", wrkMast.getWrkNo());
                            log.error("出库任务完成下发堆垛机复位,{}", wrkMast.getWrkNo());
                            crnThread.setResetFlag(true);
                        } else {
                            News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
@@ -1171,10 +1369,7 @@
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                News.warnNoLog(""+mark+" - 0"+" - 开始执行对工作档的完成操作");
                if (crnProtocol.getTaskNo() == 9999) {
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
                } else {

                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                    if (wrkMast == null) {
@@ -1193,12 +1388,13 @@
                    // 修改成功后复位堆垛机
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        // 堆垛机复位
                        log.error(wrkMast.getWrkNo()+"任务修改状态4成功，复位堆垛机={}",crnThread.getCrnProtocol().getCrnNo());
                        News.warnNoLog(""+mark+" - 2"+" - 修改成功后复位堆垛机 : 堆垛机号={}",crnThread.getCrnProtocol().getCrnNo());
                        crnThread.setResetFlag(true);
                    }
                }

            }

        }
//        News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成");
    }
@@ -1460,7 +1656,7 @@
                }
                // 获取工作档数据
                WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
                if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
                if (null == wrkMast) { continue; }
                wrkMasts.add(wrkMast);
                // 组装命令
                LedCommand ledCommand = new LedCommand();
@@ -1468,6 +1664,12 @@
                ledCommand.setIoType(wrkMast.getIoType());
                // 出库模式
                switch (wrkMast.getIoType()) {
                    case 1:
                        ledCommand.setTitle("全板入库");
                        break;
                    case 10:
                        ledCommand.setTitle("空板入库");
                        break;
                    case 101:
                        ledCommand.setTitle("全板出库");
                        break;
@@ -1491,7 +1693,7 @@
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
                ledCommand.setBarcode(wrkMast.getBarcode());
                if (wrkMast.getIoType() != 110) {
                if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());

                    wrkDetls.forEach(wrkDetl -> {
@@ -1503,7 +1705,7 @@
                        } else {
                            total = locDetl.getAnfme();
                        }
                        if (wrkMast.getIoType() == 101) {
                        if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
                        }
                        if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
@@ -1526,7 +1728,7 @@
            // 命令下发 -------------------------------------------------------------------------------
            if (!commands.isEmpty()) {
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
                    News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    News.error("{}号LED显示内容命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    continue;
                }
            }
@@ -1565,21 +1767,20 @@
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (staProtocol == null) { continue; }
                if (staProtocol.getWorkNo() != 0) {
                if (staProtocol.getWorkNo() != 0 || staProtocol.isErr()) {
                    reset = false;
                    break;
                }
            }
            // 获取led线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
            // led显示默认内容
            if (reset) {
                if (ledThread == null) {
                    continue;
                }
                ledThread.errorReset();
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
                    News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    News.error("{}号LED显示默认命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                }
            }
        }
@@ -2130,7 +2331,7 @@
    /*
     * 小车地图更新  更新锁
     * */
    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd,String sign){

//        List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
        //更新当前小车锁
@@ -2140,7 +2341,7 @@
            basRgvMapCurrent.setLockEndRoute(fallMerge);
            Integer i = basRgvMapMapper.updateById(basRgvMapCurrent);
//            if (i>0){
//                log.error("{}号车更新结束锁,{}",basRgvMapCurrent.getRgvNo(),JSON.toJSONString(basRgvMapCurrent));
//                log.error("{}:==>{}:{}号车更新结束锁,{}",sign,new Date(),basRgvMapCurrent.getRgvNo(),JSON.toJSONString(basRgvMapCurrent));
//            }

            //更新另一台小车地图
@@ -2151,7 +2352,7 @@
            basRgvMapOther.setEndRoute(lockEndRoute);
            Integer i1 = basRgvMapMapper.updateById(basRgvMapOther);
//            if (i1>0){
//                log.error("{}号车更新结束位置,{}",basRgvMapOther.getRgvNo(),JSON.toJSONString(basRgvMapOther));
//                log.error("{}:==>{}:{}号车更新结束位置,{}",sign,new Date(),basRgvMapOther.getRgvNo(),JSON.toJSONString(basRgvMapOther));
//            }
            return true;
        }catch (Exception e){
@@ -2181,16 +2382,41 @@
                }

                // 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.getTaskNo1()==9999)

                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE &&
                    rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                    && (rgvProtocol.getTaskNo1()==0)
                        &&rgvThread.isPakMk()
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());

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

                    }



                }
            }
        }catch (Exception e){
@@ -2235,7 +2461,8 @@
                            }
                            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2415");
                            rgvThread.setPakMk(true);
                            break;
                        }
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
@@ -2287,11 +2514,17 @@
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }
                        WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
                        wrkMast1.setPdcType("Y");

                        wrkMastService.updateById(wrkMast1);

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

                    else {
@@ -2330,6 +2563,7 @@
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==0
                        && rgvProtocol.getTaskNo1() == 0
                        && rgvThread.isPakMk()
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
@@ -2346,7 +2580,8 @@
                        boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
                        wrkEnable = true;
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
                            rgvThread.setPakMk(false);
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
                            if (signMap){
                                Thread.sleep(300);
                                wrkMastSta.setWrkSts(1);
@@ -2535,8 +2770,9 @@
                        && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && rgvProtocol.getTaskNo1()==0
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvThread.isPakMk()
//                        && rgvProtocol.getTaskNo2()==0
                ) {
                ){
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
                        continue;
@@ -2547,7 +2783,7 @@
//                        continue;
//                    }
                    rgvAvoidanceXY(rgvProtocol.getRgvNo());
                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
                }
            }
        }catch (Exception e){