zy-wcs.git - Gitblit

			@@ -4,6 +4,7 @@
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.core.common.Cools;
			import com.core.common.SpringUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.controller.CrnController;
			import com.zy.asrs.domain.enums.TaskStatusType;
			@@ -12,10 +13,7 @@
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.CommandUtils;
			import com.zy.asrs.utils.RouteUtils;
			import com.zy.asrs.utils.TrackRangeUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.*;
			import com.zy.common.model.MatDto;
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.CollectionUtils;
			@@ -41,6 +39,7 @@
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

			import java.io.IOException;
			import java.time.LocalDateTime;
			import java.util.*;
			import java.util.concurrent.ConcurrentHashMap;
			import java.util.stream.Collectors;
			@@ -56,8 +55,6 @@

			@Autowired
			private SlaveProperties slaveProperties;
			@Autowired
			private WrkMastMapper wrkMastMapper;
			@Autowired
			private LocMastService locMastService;
			@Autowired
			@@ -106,6 +103,11 @@

			@Value("${constant-parameters.avoidDistance}")
			private Long avoidDistance;
			@Autowired
			private TaskWrkLogServiceImpl taskWrkLogService;
			@Autowired
			private BasPlcerrorLogServiceImpl basPlcerrorLogService;
			public Long currentTimeMilliConnectCrnAuto= 0L;

			public void generateStoreWrkFile() {
			try {
			@@ -116,43 +118,74 @@
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			if (staProtocol == null \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Integer workNo = staProtocol.getWorkNo();
			if (workNo!=9998 && workNo!=9997){
			continue;
			}
			Integer stano = staProtocol.getStaNo();

			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			String errMsg = "-";
			if (staProtocol.getGrossWt()>=600){
			errMsg = "超重："+staProtocol.getGrossWt()+"kg";
			back = true;
			}
			if (staProtocol.isFrontErr()) {
			errMsg = "前超限";
			if (!back){
			errMsg = "前超限";
			} else {
			errMsg = errMsg+"---"+"前超限";
			}
			back = true;
			}
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			if (staProtocol.isBackErr()) {
			if (!back){
			errMsg = "后超限";
			} else {
			errMsg = errMsg+"---"+"后超限";
			}
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "高超限";
			if (staProtocol.isHighErr()) {
			if (!back){
			errMsg = "高超限";
			} else {
			errMsg = errMsg+"---"+"高超限";
			}
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			if (staProtocol.isLeftErr()) {
			if (!back){
			errMsg = "左超限";
			} else {
			errMsg = errMsg+"---"+"左超限";
			}
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			if (staProtocol.isRightErr()) {
			if (!back){
			errMsg = "右超限";
			} else {
			errMsg = errMsg+"---"+"右超限";
			}
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			// if (!back && staProtocol.isWeightErr()) {
			// errMsg = "超重";
			// back = true;
			// }
			if (staProtocol.isBarcodeErr()) {
			if (!back){
			errMsg = "扫码失败";
			} else {
			errMsg = errMsg+"---"+"扫码失败";
			}
			back = true;
			}
			// 退回
			@@ -166,10 +199,13 @@
			if (!staProtocol.isPakMk()) {
			continue;
			}
			System.out.println("扫码入库失败，{"+inSta.getStaNo()+"}入库站因{"+errMsg+"}异常，托盘已被退回");
			// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			staProtocol.setWorkNo(workNo);
			staProtocol.setStaNo(inSta.getStaNo());
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			devpThread.setPakMkRun(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
			if (taskWrk != null) {
			@@ -182,7 +218,7 @@
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo>9000 && workNo<10000))
			&& (workNo == 9998 \|\| workNo == 9997)
			&& staProtocol.isPakMk()
			&& staProtocol.isPakMkWalk()
			) {
			@@ -192,13 +228,33 @@
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if (!Cools.isEmpty(barcode) && !barcode.equals("99999999")) {
			int signI = 0;
			while (signI<6){
			Thread.sleep(200);
			signI = signI +1;
			// 获取条码扫描仪信息
			if (Cools.isEmpty(barcode) \|\| barcode.equals("000000")) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "循环次数："+signI+"；扫码值："+barcode);

			BarcodeThread barcodeThreadO = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThreadO == null) {
			continue;
			}
			barcode = barcodeThreadO.getBarcode();
			} else {
			break;
			}
			}


			if (!Cools.isEmpty(barcode) && !barcode.equals("99999999") && !barcode.equals("000000")) {
			// 请求wms接口，获取工作号和目标库位
			ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, 0);
			ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, workNo == 9998? 0 : 1);

			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
			if (!Cools.isEmpty(taskWrk1)) {
			log.info("托盘码：" + barcode + "任务档存在");
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && (taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString()) \|\| taskWrk1.getStartPoint().equals(String.valueOf((staProtocol.getSiteId()+1))))) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));

			@@ -207,7 +263,9 @@
			return;
			} else {
			staProtocol.setWorkNo(taskWrk1.getWrkNo());
			staProtocol.setStaNo(staDesc.getCrnStn());
			staProtocol.setStaNo(staProtocol.getSiteId());
			devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}
			@@ -240,8 +298,10 @@
			log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1);
			}
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getStaNo());
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), e.getMessage());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			continue;
			}
			@@ -257,28 +317,40 @@
			);
			log.info("入库请求参数{}" + JSON.toJSONString(toWmsDTO));
			log.info("入库请求返回参数{}" + JSON.toJSONString(response));
			if (jsonObject.getInteger("code").equals(200)) {
			if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
			try {
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), "上报成功等待任务");

			} catch (Exception e) {
			// 退回
			log.error("扫码检测程序异常" + inSta.getStaNo() + errMsg);
			log.error("扫码检测程序异常,异常信息" + e);

			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getStaNo());
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), "上报成功锁定失败");

			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}

			} else {
			// 退回
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), jsonObject.getString("message"));
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			} else {
			// 退回
			log.error("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);

			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getStaNo());
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), "扫码入库扫码失败！！！扫码值："+barcode);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
			if (taskWrk != null) {
			@@ -307,12 +379,15 @@
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			if (staProtocol == null \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Integer workNo = staProtocol.getWorkNo();
			if (workNo!=9997){
			continue;
			}
			Integer stano = staProtocol.getStaNo();

			// 尺寸检测异常
			@@ -338,10 +413,10 @@
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			back = true;
			}
			// if (!back && staProtocol.isWeightErr()) {
			// errMsg = "超重";
			// back = true;
			// }
			// 退回
			if (back) {
			if (stano == inSta.getBackSta().shortValue()) {
			@@ -353,8 +428,9 @@
			if (!staProtocol.isPakMk()) {
			continue;
			}
			System.out.println("扫码入库失败，{"+inSta.getStaNo()+"}入库站因{"+errMsg+"}异常，托盘已被退回");
			// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			staProtocol.setWorkNo(workNo);
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			@@ -369,13 +445,25 @@
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo>9000 && workNo<10000))
			&& (workNo == 9997)
			&& staProtocol.isPakMk()
			&& staProtocol.isPakMkWalk()
			) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if (Cools.isEmpty(barcode) \|\| barcode.equals("0") \|\| barcode.equals("000000")) {
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			continue;
			}
			// 请求wms接口，获取工作号和目标库位
			ToWmsDTO toWmsDTO = new ToWmsDTO("", staProtocol.getSiteId(), 1);

			ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, 1);
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("Content-Type", "application/json");
			String response;
			@@ -403,7 +491,7 @@
			log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1);
			}
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getStaNo());
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			continue;
			@@ -420,7 +508,7 @@
			);
			log.info("入库请求参数{}" + JSON.toJSONString(toWmsDTO));
			log.info("入库请求返回参数{}" + JSON.toJSONString(response));
			if (jsonObject.getInteger("code").equals(200)) {
			if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
			try {
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			} catch (Exception e) {
			@@ -430,7 +518,7 @@
			log.error("扫码检测程序异常,异常信息" + e);

			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(inSta.getStaNo());
			staProtocol.setStaNo(inSta.getBackSta());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			@@ -465,7 +553,8 @@

			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable() && (workNo == 0 \|\| (workNo>9000 && workNo<10000))
			// && staProtocol.isInEnable()
			// && (workNo == 0 \|\| (workNo>9000 && workNo<10000))
			&& staProtocol.isPakMkWalk()
			) {
			if (inSta.isBarcodeSign()){
			@@ -482,7 +571,7 @@

			if (!Cools.isEmpty(taskWrk1)) {
			log.info("托盘码：" + barcode + "任务档存在");
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));

			@@ -510,6 +599,7 @@
			} else {
			staProtocol.setWorkNo(taskWrk1.getWrkNo());
			staProtocol.setStaNo(staDesc.getCrnStn());
			devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}
			@@ -517,7 +607,7 @@
			}
			}
			} else {
			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>());
			TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("IO_TYPE",1).eq("WRK_STS",1).eq("START_POINT",staProtocol.getSiteId().toString()));

			if (!Cools.isEmpty(taskWrk1)) {
			if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
			@@ -528,8 +618,22 @@
			return;
			} else {
			staProtocol.setWorkNo(taskWrk1.getWrkNo());
			staProtocol.setStaNo(staDesc.getCrnStn());
			staProtocol.setStaNo(BarcodeUtils.getStaNo(staProtocol.getSiteId()));
			devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), "-");
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			Date now = new Date();
			// taskWrk1.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
			// taskWrk.setAssignTime(now);//派发时间
			taskWrk1.setExecuteTime(now);
			taskWrk1.setWrkSts(2);//工作状态 3.吊车入库
			taskWrk1.setCrnNo(staDesc.getCrnNo());//堆垛机号
			taskWrk1.setModiTime(now);
			taskWrk1.setModiUser(9988L);
			taskWrkService.updateById(taskWrk1);


			}
			}
			return;
			@@ -550,20 +654,26 @@
			* 堆垛机站出库到出库站
			*/
			public void crnStnToOutStn() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			for (CrnSlave crn : slaveProperties.getCrn()) {

			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crnSlave.getId());
			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！", crnSlave.getId());
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}
			if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {

			CrnSlave crnSlave = new CrnSlave(crn);
			if (Cools.isEmpty(crnProtocol.getLaneNo()) \|\| crnProtocol.getLaneNo()==0){
			continue;
			}

			if (!crn.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			crnSlave.updateCrnInStn(crnOther);
			@@ -593,7 +703,7 @@
			log.info("下发输送线任务：taskWrk:" + JSON.toJSONString(taskWrk));
			// R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
			staProtocol.setWorkNo(taskWrk.getWrkNo());
			staProtocol.setStaNo(staDesc.getCrnStn());
			staProtocol.setStaNo(BarcodeUtils.getStaNo(staProtocol.getSiteId()));
			boolean offer = false;
			try {
			offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			@@ -605,7 +715,7 @@
			if (offer) {
			log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk));
			Date now = new Date();
			taskWrk.setStatus(5);
			taskWrk.setStatus(TaskStatusType.OVER3.id);
			taskWrk.setWrkSts(14);
			taskWrk.setModiTime(now);
			taskWrk.setCompleteTime(now);
			@@ -625,23 +735,114 @@
			}

			/**
			* 堆垛机5分钟无任务则回到源点
			*/
			public void crnStnToOutStnSou() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}
			if (System.currentTimeMillis()-currentTimeMilliConnectCrnAuto<10006010){
			continue;
			}
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.statusType == CrnStatusType.IDLE && crnProtocol.getLoaded().equals((short)0) && crnProtocol.getLaneNo()!=0 && crnProtocol.getTaskNo() == 0 ) {
			if (crnProtocol.getBay()!=1 \|\| crnProtocol.getLevel()!=1){
			//获取工作档
			List<TaskWrk> taskWrks = taskWrkMapper.selectByLaneNo(crnProtocol.getLaneNo());
			if (!taskWrks.isEmpty()) {
			continue;
			}
			List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<TaskWrkLog>().eq("CRN_NO",crnProtocol.getLaneNo()).orderBy("COMPLETE_TIME",false));
			if (!taskWrkLogs.isEmpty()) {
			boolean signT = false;
			for (TaskWrkLog taskWrkLog : taskWrkLogs){
			Date completeTime = taskWrkLog.getCompleteTime();
			if (completeTime==null){
			continue;
			}
			long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(completeTime, new Date());
			if (differenceInSeconds <= 6021000) {
			signT = true;
			break;
			} else {
			signT = false;
			break;
			}
			}
			if (signT){
			continue;
			}
			}
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
			crnCommand.setTaskNo((short)999); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.SITE_MOVE); // 任务模式: 站位移转4
			int row = crnProtocol.getLaneNo() * 2;
			crnCommand.setSourcePosX((short) row); // 源库位排
			crnCommand.setSourcePosY((short) 1); // 源库位列
			crnCommand.setSourcePosZ((short) 1); // 源库位层
			crnCommand.setDestinationPosX((short) row); // 目标库位排
			crnCommand.setDestinationPosY((short) 1); // 目标库位层
			crnCommand.setDestinationPosZ((short) 1); // 目标库位列
			if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机自动回源点失败，堆垛机号={}", crnProtocol.getCrnNo());

			if (System.currentTimeMillis()-currentTimeMilliConnectCrnAuto>10006010){
			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("CrnErr", crnProtocol.getCrnNo(), "堆垛机自动回源点失败");
			} catch (Exception e2){
			}
			if (currentTimeMilliConnectCrnAuto == 0){
			currentTimeMilliConnectCrnAuto = System.currentTimeMillis()-10006010-1;
			} else {
			currentTimeMilliConnectCrnAuto = System.currentTimeMillis();
			}
			}
			}
			}
			}
			} catch (Exception e){
			log.error("堆垛机10分钟无任务则回到源点失败");
			}
			}
			}

			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			public synchronized void crnIoExecute() throws IOException {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			BasCrnp basCrnp = basCrnpService.selectById(crnSlave.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			log.error("{}号堆垛机尚未在数据库进行维护！", crnSlave.getId());
			continue;
			}

			if (!crn.getId().equals(crnProtocol.getLaneNo())) {
			CrnSlave crn = new CrnSlave(crnSlave);
			if (Cools.isEmpty(crnProtocol.getLaneNo()) \|\| crnProtocol.getLaneNo()==0){
			continue;
			}

			if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			crn.updateCrnInStn(crnOther);
			@@ -649,8 +850,12 @@
			}
			}

			// 库位移转
			this.locToLoc(crn, crnProtocol);
			try{
			// 库位移转
			this.locToLoc(crn, crnProtocol);
			} catch (Exception e) {
			log.error("库位移转失败");
			}

			// 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
			@@ -675,8 +880,19 @@
			crnProtocol.setLastIo("O");
			}
			}
			} else {
			if (crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getStatusType() == CrnStatusType.IDLE){
			if (crnProtocol.getTaskNo() != 0){
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");
			}
			if (crnProtocol.getLoaded() != 0){
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "载货台有物");
			}
			if (crnProtocol.getForkPos() != 0){
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "货叉位置不在中位");
			}
			}
			}

			}
			}

			@@ -703,7 +919,8 @@
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
			// && staProtocol.isInEnable()
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			@@ -718,12 +935,20 @@
			}

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE)) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "堆垛机非空闲");
			continue;
			}
			if (crnProtocol.getTaskNo() != 0) {
			devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机工作号不为0");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");
			continue;
			}

			// 已经存在吊车执行任务时，则过滤
			if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
			devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机存在吊车任务");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
			continue;
			}

			@@ -761,7 +986,7 @@
			// //开始运行
			// String response = CrnStartRunning(taskWrk);
			// JSONObject jsonObject = JSON.parseObject(response);
			// if (jsonObject.getInteger("code").equals(200)) {
			// if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
			//
			// }else {
			// log.error("入库开始运行通讯失败,"+jsonObject.get("msg"));
			@@ -770,24 +995,31 @@
			// }

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setCrnNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
			crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位列
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位层
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位排
			crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位列
			crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位层
			crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排
			crnCommand.setCommand((short) 1);
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) {
			log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			CrnCommand crnCommand1 = new CrnCommand();
			crnCommand1.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand1.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
			crnCommand1.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
			crnCommand1.setAckFinish((short) 0); // 任务完成确认位
			crnCommand1.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand1.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand1.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand1.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand1.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位列
			int bay1 = Utils.getBayShort(taskWrk.getTargetPoint()) + 1;
			crnCommand1.setDestinationPosY((short)bay1); // 目标库位层
			crnCommand1.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排
			// crnCommand.setCommand((short) 1);
			if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand1))) {
			log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand1));
			devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");

			throw new CoolException("堆垛机命令生成失败");
			} else {
			try {
			devpThread.setErrorDev(staProtocol.getSiteId(), "-");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");

			taskWrkService.updateById(taskWrk);
			} catch (Exception e) {
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", taskWrk.getWrkNo());
			@@ -795,10 +1027,13 @@
			}
			try {
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo", taskWrk.getTaskNo());
			headParam.put("status", taskWrk.getStatus());
			headParam.put("ioType", taskWrk.getIoType());
			headParam.put("barcode", taskWrk.getBarcode());
			headParam.put("taskNo",taskWrk.getTaskNo());
			headParam.put("taskStatus",taskWrk.getStatusWms());
			headParam.put("ioType",taskWrk.getIoTypeWms());
			headParam.put("barCode",taskWrk.getBarcode());
			headParam.put("reportTime", LocalDateTime.now());
			headParam.put("weight",taskWrk.getScWeight().doubleValue());

			String response;
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			@@ -868,17 +1103,29 @@
			}

			// 判断堆垛机出库站状态
			// if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {

			// // 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			break;
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE)) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "堆垛机非空闲");
			continue;
			}
			if (crnProtocol.getTaskNo() != 0) {
			devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机工作号不为0");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");

			continue;
			}

			// 已经存在吊车执行任务时，则过滤
			if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
			devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机存在吊车任务");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
			break;
			}

			@@ -889,23 +1136,29 @@
			command.setAckFinish((short) 0); // 任务完成确认位
			command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
			command.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排
			command.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列
			int bayS = Utils.getBayShort(taskWrk.getStartPoint()) + 1;
			command.setSourcePosY((short)bayS); // 源库位列
			command.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层
			command.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			command.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			command.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			command.setCommand((short) 1);
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command), false)) {
			// command.setCommand((short) 1);
			if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command))) {
			log.error("堆垛机命令生成失败，堆垛机号={}，巷道={}，任务数据={}", slave.getId(), taskWrk.getCrnNo(), JSON.toJSON(command));
			devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");
			throw new CoolException("堆垛机命令生成失败");
			} else {
			try {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			taskWrk.setWrkSts(12);
			taskWrk.setStatus(2);
			taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);
			taskWrk.setModiTime(now);
			taskWrk.setExecuteTime(now);
			devpThread.setErrorDev(staProtocol.getSiteId(), "-");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");

			if (taskWrkMapper.updateById(taskWrk) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			}
			@@ -915,10 +1168,13 @@
			}
			try {
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo", taskWrk.getTaskNo());
			headParam.put("status", taskWrk.getStatus());
			headParam.put("ioType", taskWrk.getIoType());
			headParam.put("barcode", taskWrk.getBarcode());
			headParam.put("taskNo",taskWrk.getTaskNo());
			headParam.put("taskStatus",taskWrk.getStatusWms());
			headParam.put("ioType",taskWrk.getIoTypeWms());
			headParam.put("barCode",taskWrk.getBarcode());
			headParam.put("reportTime", LocalDateTime.now());
			headParam.put("weight",taskWrk.getScWeight().doubleValue());

			String response;
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			@@ -940,6 +1196,24 @@
			log.error("wcs派发出库任务上报wms失败", JSON.toJSONString(taskWrk));
			// throw new CoolException("wcs派发入库任务上报wms失败");
			}
			}
			} else {
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");
			if (staProtocol.isAutoing()){
			if (staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "能出：未打开");
			}
			if (staProtocol.getWorkNo() == 0){
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "工作号不为0");
			}
			if (staProtocol.isOutEnable()){
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "没有可出");
			}
			if (staProtocol.isLoading()){
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "出库站有物");
			}
			} else {
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "出库站点：非自动");
			}
			}
			}
			@@ -976,6 +1250,7 @@

			// 已经存在吊车执行任务时，则过滤
			if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
			continue;
			}

			@@ -999,19 +1274,21 @@
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排
			crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列
			int bayS = Utils.getBayShort(taskWrk.getStartPoint()) + 1;
			crnCommand.setSourcePosY((short)bayS); // 源库位列
			crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层
			crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排
			crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列
			int bayE = Utils.getBayShort(taskWrk.getTargetPoint()) + 1;
			crnCommand.setDestinationPosY((short)bayE); // 目标库位列
			crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层
			crnCommand.setCommand((short) 1);
			if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) {
			// crnCommand.setCommand((short) 1);
			if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			taskWrk.setWrkSts(12);
			taskWrk.setStatus(2);
			taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);
			taskWrk.setModiTime(now);
			taskWrk.setExecuteTime(now);
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			@@ -1019,10 +1296,13 @@
			}
			try {
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo", taskWrk.getTaskNo());
			headParam.put("status", taskWrk.getStatus());
			headParam.put("ioType", taskWrk.getIoType());
			headParam.put("barcode", taskWrk.getBarcode());
			headParam.put("taskNo",taskWrk.getTaskNo());
			headParam.put("taskStatus",taskWrk.getStatusWms());
			headParam.put("ioType",taskWrk.getIoTypeWms());
			headParam.put("barCode",taskWrk.getBarcode());
			headParam.put("reportTime", LocalDateTime.now());
			headParam.put("weight",taskWrk.getScWeight().doubleValue());

			String response;
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			@@ -1056,117 +1336,132 @@
			* 执行对工作档的完成操作
			*/
			public void storeFinished() throws InterruptedException {
			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;
			}

			if (!crn.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			crn.updateCrnInStn(crnOther);
			}
			}
			}

			// 状态：等待确认并且任务完成位 = 1
			if (!Cools.isEmpty(crnProtocol.getTaskFinish()) && crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			//获取入库待确认工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crnProtocol.getLaneNo(), crnProtocol.getTaskNo().intValue());
			if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，巷道号={}，工作号={}", crn.getId(), crnProtocol.getLaneNo(), crnProtocol.getTaskNo());
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			Thread.sleep(300);
			//确认完成信号
			CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
			crnOperatorParam.setCrnNo(crn.getId());
			Date now = new Date();

			crnController.crnTaskComplete(crnOperatorParam);
			if (!Cools.isEmpty(taskWrk)) {
			if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(5);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			locMast.setLocSts("F");//F.在库
			locMast.setBarcode(taskWrk.getBarcode());//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(13);//出库完成
			taskWrk.setStatus(5);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
			locMast.setLocSts("O");//O.空库位
			locMast.setBarcode("");//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(5);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			locMast.setLocSts("F");//F.在库
			locMast.setBarcode(taskWrk.getBarcode());//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			CrnSlave crn = new CrnSlave(crnSlave);
			if (Cools.isEmpty(crnProtocol.getLaneNo()) \|\| crnProtocol.getLaneNo()==0){
			continue;
			}

			LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
			locMast1.setLocSts("O");//O.空库位
			locMast1.setBarcode("");//托盘码
			locMast1.setModiTime(now);
			locMast1.setModiUser(9999L);
			locMastService.updateById(locMast1);
			}
			taskWrk.setModiTime(now);
			taskWrk.setCompleteTime(now);
			taskWrkService.updateById(taskWrk);


			try {
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo", taskWrk.getTaskNo());
			headParam.put("status", taskWrk.getStatus());
			headParam.put("ioType", taskWrk.getIoType());
			headParam.put("barcode", taskWrk.getBarcode());
			String response;
			log.error("wcs完结任务上报wms==》", headParam);

			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			.setUri(wmsUrl)
			.setPath(taskStatusFeedbackPath)
			.setJson(JSON.toJSONString(headParam))
			.build()
			.doPost();
			log.error("wcs完结任务上报wms==》", response);

			// JSONObject jsonObject = JSON.parseObject(response);
			// log.error("wcs完结任务上报wms==》", jsonObject);

			apiLogService.save("wcs派发入库任务上报wms"
			, wmsUrl + taskStatusFeedbackPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(headParam)
			, response
			, true
			);
			} catch (Exception e) {
			log.error("wcs完结任务上报wms失败", taskWrk);
			log.error("wcs完结任务上报wms失败,报错信息：", e);
			// throw new CoolException("wcs派发入库任务上报wms失败");
			if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			crn.updateCrnInStn(crnOther);
			}
			}
			}

			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			//获取入库待确认工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crnProtocol.getLaneNo(), crnProtocol.getTaskNo().intValue());
			if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，巷道号={}，工作号={}", crn.getId(), crnProtocol.getLaneNo(), crnProtocol.getTaskNo());
			continue;
			}
			// Thread.sleep(300);
			//确认完成信号
			// CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
			// crnOperatorParam.setCrnNo(crn.getId());
			Date now = new Date();

			// crnController.crnTaskComplete(crnOperatorParam);
			// MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))
			crnThread.setResetFlag(true);

			if (!Cools.isEmpty(taskWrk)) {
			if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(TaskStatusType.OVER.id);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			locMast.setLocSts("F");//F.在库
			locMast.setBarcode(taskWrk.getBarcode());//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(13);//出库完成
			taskWrk.setStatus(TaskStatusType.OVER.id);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
			locMast.setLocSts("O");//O.空库位
			locMast.setBarcode("");//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);
			} else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
			taskWrk.setWrkSts(4);//入库完成
			taskWrk.setStatus(TaskStatusType.OVER.id);//完结
			//更新库位状态
			LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			locMast.setLocSts("F");//F.在库
			locMast.setBarcode(taskWrk.getBarcode());//托盘码
			locMast.setModiTime(now);
			locMast.setModiUser(9999L);
			locMastService.updateById(locMast);

			LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
			locMast1.setLocSts("O");//O.空库位
			locMast1.setBarcode("");//托盘码
			locMast1.setModiTime(now);
			locMast1.setModiUser(9999L);
			locMastService.updateById(locMast1);
			}
			taskWrk.setModiTime(now);
			taskWrk.setCompleteTime(now);
			taskWrkService.updateById(taskWrk);


			// try {
			// HashMap<String, Object> headParam = new HashMap<>();
			// headParam.put("taskNo",taskWrk.getTaskNo());
			// headParam.put("taskStatus",taskWrk.getStatusWms());
			// headParam.put("ioType",taskWrk.getIoTypeWms());
			// headParam.put("barCode",taskWrk.getBarcode());
			// headParam.put("reportTime", LocalDateTime.now());
			// headParam.put("weight",taskWrk.getScWeight().doubleValue());
			//
			// String response;
			// log.error("wcs完结任务上报wms==》", headParam);
			//
			// response = new HttpHandler.Builder()
			// // .setHeaders(headParam)
			// .setUri(wmsUrl)
			// .setPath(taskStatusFeedbackPath)
			// .setJson(JSON.toJSONString(headParam))
			// .build()
			// .doPost();
			// log.error("wcs完结任务上报wms==》", response);
			//
			//// JSONObject jsonObject = JSON.parseObject(response);
			//// log.error("wcs完结任务上报wms==》", jsonObject);
			//
			// apiLogService.save("wcs派发入库任务上报wms"
			// , wmsUrl + taskStatusFeedbackPath
			// , null
			// , "127.0.0.1"
			// , JSON.toJSONString(headParam)
			// , response
			// , true
			// );
			// } catch (Exception e) {
			// log.error("wcs完结任务上报wms失败", taskWrk);
			// log.error("wcs完结任务上报wms失败,报错信息：", e);
			//// throw new CoolException("wcs派发入库任务上报wms失败");
			// }
			}

			}
			} catch (Exception e){
			log.error("堆垛机执行对工作档的完成操作失败 ===>> [id:{}] [error:{}]", crnSlave.getId(), e.getMessage());
			}
			}
			}
			@@ -1177,115 +1472,243 @@
			public void recCrnErr() {
			Date now = new Date();
			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;
			}
			if (false) {
			// if (crnProtocol.getModeType() != CrnModeType.STOP) {
			// 有任务
			if (crnProtocol.getTaskNo() != 0) {
			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			if (crnProtocol.getModeType() != CrnModeType.STOP) {
			// 有任务
			if (crnProtocol.getTaskNo() != 0) {
			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(crnProtocol.getTaskNo()));
			if (taskWrk == null) {
			continue;
			}
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm().intValue());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			taskWrk.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			taskWrk.getWrkSts().longValue(), // 工作状态
			taskWrk.getIoType(), // 入出库类型
			taskWrk.getCrnNo(), // 巷道号
			crn.getId(), // 堆垛机号
			taskWrk.getTargetPoint(), // 目标库位
			0, // 目标站
			0, // 源站
			taskWrk.getStartPoint(), // 源库位
			taskWrk.getBarcode(), // 条码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			taskWrk.getCreateTime(), // 任务时间(接收时间)
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (crnProtocol.getAlarm() == null \|\| crnProtocol.getAlarm() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			// 无任务
			} else {
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			null, // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			crnProtocol.getLaneNo(), // 堆垛机
			crn.getId(), // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			crn.getId(), // 堆垛机
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (crnProtocol.getAlarm() == null \|\| crnProtocol.getAlarm() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			// 无任务
			} else {
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			null, // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			crn.getId(), // 堆垛机
			null, // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			}
			}
			} catch (Exception e){
			log.error("堆垛机异常信息记录失败 ===>> [id:{}] [error:{}]", crn.getId(), e.getMessage());
			}
			}
			}

			/**
			* 堆垛机异常信息记录
			*/
			public void recDevErr() {
			Date now = new Date();
			for (DevpSlave devpSlave : slaveProperties.getDevp()) {
			try{
			// 获取堆垛机信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
			Map<Integer, StaProtocol> station = devpThread.getStation();
			for (StaProtocol staProtocol : station.values()){
			try{
			if (staProtocol == null) {
			continue;
			}
			// if (staProtocol.isAutoing()) {
			// // 有任务
			// if (staProtocol.getWorkNo() != 0) {
			//// BasErrLog latest = basPlcerrorLogService.se(crn.getId(), crnProtocol.getTaskNo().intValue());
			// // 有异常
			// if (latest == null) {
			// if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(crnProtocol.getTaskNo()));
			// if (taskWrk == null) {
			// continue;
			// }
			// BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm().intValue());
			// String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			// BasErrLog basErrLog = new BasErrLog(
			// null, // 编号
			// taskWrk.getWrkNo(), // 工作号
			// now, // 发生时间
			// null, // 结束时间
			// taskWrk.getWrkSts().longValue(), // 工作状态
			// taskWrk.getIoType(), // 入出库类型
			// crn.getId(), // 堆垛机
			// null, // plc
			// taskWrk.getTargetPoint(), // 目标库位
			// 0, // 目标站
			// 0, // 源站
			// taskWrk.getStartPoint(), // 源库位
			// taskWrk.getBarcode(), // 条码
			// (int) crnProtocol.getAlarm(), // 异常码
			// errName, // 异常
			// 1, // 异常情况
			// taskWrk.getCreateTime(), // 任务时间(接收时间)
			// null, // 添加人员
			// now, // 修改时间
			// null, // 修改人员
			// "任务中异常" // 备注
			// );
			// if (!basErrLogService.insert(basErrLog)) {
			// log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			// }
			// }
			// } else {
			// // 异常修复
			// if (crnProtocol.getAlarm() == null \|\| crnProtocol.getAlarm() == 0) {
			// latest.setEndTime(now);
			// latest.setUpdateTime(now);
			// latest.setStatus(2);
			// if (!basErrLogService.updateById(latest)) {
			// log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			// }
			// }
			// }
			// // 无任务
			// } else {
			// BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// // 有异常
			// if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			// // 记录新异常
			// if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			// BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			// String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			// BasErrLog basErrLog = new BasErrLog(
			// null, // 编号
			// null, // 工作号
			// now, // 发生时间
			// null, // 结束时间
			// null, // 工作状态
			// null, // 入出库类型
			// crn.getId(), // 堆垛机
			// null, // plc
			// null, // 目标库位
			// null, // 目标站
			// null, // 源站
			// null, // 源库位
			// null, // 条码
			// (int) crnProtocol.getAlarm(), // 异常码
			// errName, // 异常
			// 1, // 异常情况
			// now, // 添加时间
			// null, // 添加人员
			// now, // 修改时间
			// null, // 修改人员
			// "无任务异常" // 备注
			// );
			// if (!basErrLogService.insert(basErrLog)) {
			// log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			// }
			// }
			// // 无异常
			// } else {
			// // 异常修复
			// if (latest != null && latest.getStatus() == 1) {
			// latest.setEndTime(now);
			// latest.setUpdateTime(now);
			// latest.setStatus(2);
			// if (!basErrLogService.updateById(latest)) {
			// log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			// }
			// }
			// }
			// }
			// }
			} catch (Exception devErr){
			log.error("输送线站点异常信息记录失败 ===>> [id:{}] [error:{}]", staProtocol.getStaNo(), devErr.getMessage());
			}
			}
			} catch (Exception e){
			log.error("输送线异常信息记录失败 ===>> [id:{}] [error:{}]", devpSlave.getId(), e.getMessage());
			}
			}
			}

			@@ -1343,8 +1766,11 @@
			if (rgvProtocol == null \|\| rgvTaskProtocol == null) {
			return false;
			}
			if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocol.getRgvPos().equals(0L) \|\| rgvTaskProtocol.getAvoid() == -1 \|\| rgvProtocol.getRgvPosDestination() == 0L
			\|\| (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
			if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocol.getRgvPos().equals(0L) \|\| rgvTaskProtocol.getAvoid() == -1
			\|\| ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) \|\| (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
			return false;
			}
			if (rgvProtocol.getLoaded()==1){
			return false;
			}
			RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
			@@ -1360,6 +1786,105 @@
			}
			return true;
			}
			public boolean rgvOtherIDLEOther(RgvSlave slave) {
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
			RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());

			if (rgvProtocol == null \|\| rgvTaskProtocol == null) {
			return false;
			}
			if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocol.getRgvPos().equals(0L) \|\| rgvTaskProtocol.getAvoid() == -1
			\|\| ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) \|\| (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
			return false;
			}

			if (rgvProtocol.getLoaded()!=0) {
			return false;
			}
			return true;
			}
			public boolean rgvOtherIDLEOther2(RgvSlave slave) {
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
			RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());

			if (rgvProtocol == null \|\| rgvTaskProtocol == null) {
			return false;
			}
			if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO)
			\|\| rgvProtocol.getRgvPos().equals(0L)
			\|\| rgvTaskProtocol.getAvoid() == -1) {
			return false;
			}

			if (rgvProtocol.getLoaded()!=0) {
			return false;
			}
			return true;
			}
			public boolean rgvOtherIDLE(RgvSlave slave,Integer staNo) {
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
			RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

			if (rgvProtocol == null \|\| rgvTaskProtocol == null) {
			return false;
			}
			if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocol.getRgvPos().equals(0L) \|\| rgvTaskProtocol.getAvoid() == -1
			\|\| ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) \|\| (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
			return false;
			}
			RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());

			if (rgvProtocolOther == null) {
			return true;
			}
			if (rgvProtocolOther.statusEnable) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
			long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
			-
			Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos()));
			if (abs<100){
			return true;
			}
			if (Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
			>=
			Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos())){
			return false;
			}
			}
			return true;
			}
			public boolean rgvOtherIDLE2(RgvSlave slave,Integer staNo) {
			RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
			RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

			if (rgvProtocol == null \|\| rgvTaskProtocol == null) {
			return false;
			}
			if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) \|\| rgvProtocol.getRgvPos().equals(0L) \|\| rgvTaskProtocol.getAvoid() == -1
			\|\| ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) \|\| (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
			return false;
			}
			RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());

			if (rgvProtocolOther == null) {
			return true;
			}
			if (rgvProtocolOther.statusEnable) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
			long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
			-
			Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos()));
			if (abs<100){
			return true;
			}
			if (Math.abs(basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos())
			>=
			Math.abs(basDevpPosition.getPlcPosition()-rgvProtocolOther.getRgvPos())){
			return false;
			}
			}
			return true;
			}

			public TaskWrk deviceDetection(RgvSlave.RgvStn inSta) {

			@@ -1369,15 +1894,186 @@
			return null;
			}
			// 判断是否满足取货条件
			if (!staProtocol.isPakMkTask()) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "任务已下发等待小车取");
			return null;
			}
			// 判断是否满足取货条件
			if (staProtocol.isAutoing()
			// && staProtocol.isLoading()
			// && staProtocol.isStaOk()
			&& staProtocol.getWorkNo() != 0) {
			TaskWrk taskWrk = taskWrkService.selectByTaskNo(staProtocol.getWorkNo().toString());
			TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo());
			if (taskWrk != null) {
			Integer stano = staProtocol.getStaNo();
			if (staProtocol.getSiteId() == 1004 \|\| staProtocol.getSiteId()==1020){
			if (!staProtocol.isPakMkRun()) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "异常回退标记，需要回退");
			return null;
			}
			if (!staProtocol.isLoading()) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "无物");
			return null;
			}
			if (!staProtocol.isInEnable()) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "等待可入信号");
			return null;
			}
			if (!staProtocol.isStaOk()) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "等待链条就绪");
			return null;
			}
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "-";
			if (staProtocol.getGrossWt()>=600){
			errMsg = "超重："+staProtocol.getGrossWt()+"kg";
			back = true;
			}
			if (staProtocol.isFrontErr()) {
			if (!back){
			errMsg = "前超限";
			} else {
			errMsg = errMsg+"---"+"前超限";
			}
			back = true;
			}
			if (staProtocol.isBackErr()) {
			if (!back){
			errMsg = "后超限";
			} else {
			errMsg = errMsg+"---"+"后超限";
			}
			back = true;
			}
			if (staProtocol.isHighErr()) {
			if (!back){
			errMsg = "高超限";
			} else {
			errMsg = errMsg+"---"+"高超限";
			}
			back = true;
			}
			if (staProtocol.isLeftErr()) {
			if (!back){
			errMsg = "左超限";
			} else {
			errMsg = errMsg+"---"+"左超限";
			}
			back = true;
			}
			if (staProtocol.isRightErr()) {
			if (!back){
			errMsg = "右超限";
			} else {
			errMsg = errMsg+"---"+"右超限";
			}
			back = true;
			}
			// if (!back && staProtocol.isWeightErr()) {
			// errMsg = "超重";
			// back = true;
			// }
			if (staProtocol.isBarcodeErr()) {
			if (!back){
			errMsg = "扫码失败";
			} else {
			errMsg = errMsg+"---"+"扫码失败";
			}
			back = true;
			}
			// 退回
			if (back) {
			if (stano.equals(staProtocol.getStaNo() + 1)) {
			return null;
			}
			if (!staProtocol.isPakMk()) {
			return null;
			}
			System.out.println("扫码入库失败，{"+inSta.getStaNo()+"}入库站因{"+errMsg+"}异常，托盘已被退回");
			// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(staProtocol.getStaNo()+1);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			devpThread.setPakMkRun(staProtocol.getSiteId(), false);
			devpThread.setPakMkTask(staProtocol.getSiteId(), false);
			devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
			MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			try{
			taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
			taskWrk.setModiTime(new Date());
			taskWrkMapper.updateById(taskWrk);
			} catch (Exception e){
			devpThread.setErrorDev(staProtocol.getSiteId(), errMsg+"异常信息保存工作档案失败！");
			}
			return null;
			}
			}
			return taskWrk;
			}
			} else if (staProtocol.isAutoing() && staProtocol.getWorkNo() == 0 && !staProtocol.isLoading()){
			if (inSta.isDirectionOther()){
			StaProtocol staProtocolOther = devpThread.getStation().get(inSta.getStaNoOther());
			if (staProtocolOther == null) {
			return null;
			}
			// 判断是否满足取货条件
			if (staProtocolOther.isAutoing()
			&& staProtocolOther.getWorkNo() != 0) {
			TaskWrk taskWrkOther = taskWrkService.selectByWrkNo(staProtocolOther.getWorkNo());
			if (taskWrkOther != null) {
			return taskWrkOther;
			}
			}
			}
			}
			return null;
			}
			public boolean deviceDetection(RgvSlave.RgvStn inSta,Integer rgvNo) {
			ArrayList<Integer> arrayList = new ArrayList<Integer>() {{
			add(1009);
			add(1011);
			add(1012);
			add(1014);
			add(1016);
			}};
			try{

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
			ArrayList<Integer> listW = new ArrayList<Integer>();
			ArrayList<Integer> listL = new ArrayList<Integer>();
			for (Integer staNo : arrayList){
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			RgvErrCache.updateRgvErr(rgvNo,staNo+"站点数据丢失");
			return false;
			}
			// 判断是否满足取货条件
			if (staProtocol.getWorkNo() != 0) {
			if (!listW.contains(staProtocol.getWorkNo())) {
			listW.add(staProtocol.getWorkNo());
			}
			}
			// 判断是否满足取货条件
			if (staProtocol.isLoading()) {
			if (!listL.contains(staProtocol.getStaNo())) {
			listL.add(staProtocol.getStaNo());
			}
			}
			}
			if (listW.size()>=3){
			RgvErrCache.updateRgvErr(rgvNo,"等待1012拣选，防止堵塞");
			return false;
			}
			if (listL.size()>=3){
			RgvErrCache.updateRgvErr(rgvNo,"等待1012拣选，防止堵塞");
			return false;
			}
			} catch (Exception e){
			RgvErrCache.updateRgvErr(rgvNo,"1012检测异常："+e.getMessage());
			return false;
			}
			return true;
			}

			public boolean rgvOtherStatusEnable(RgvSlave slave) {
			@@ -1402,6 +2098,11 @@
			boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
			if (basDevpPositions.isEmpty()) {
			log.error("获取所有站点信息异常");
			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成：获取所有站点信息异常");
			} catch (Exception e2){
			}
			continue;
			}
			List<TaskWrk> taskWrkList = new ArrayList<>();
			@@ -1409,7 +2110,7 @@
			for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()) {
			TaskWrk taskWrk = deviceDetection(inSta);
			if (taskWrk != null) {
			if (taskWrk.getTaskNo().equals(taskNoNow)) continue;
			if (taskWrk.getWrkNo().toString().equals(taskNoNow)) continue;
			taskWrkList.add(taskWrk);
			staList.add(inSta.getStaNo());
			}
			@@ -1437,21 +2138,58 @@
			Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
			List<Integer> belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);

			for (Integer staNoNow : belongToRange) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			}
			break;
			if (!sign && staList.size()==1){
			if (rgvOtherIDLEOther(rgvSlave)){
			if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
			System.out.println("空闲就近跳过==="+rgvSlave.getId()+"===");
			RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"空闲就近跳过");

			sign=true;
			}
			}
			if (sign) {
			break;
			if (sign){
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staList.get(0))) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
			if (rgvSuper.getStaNo().equals(outStaNo)){
			System.out.println("空闲就近跳过后因最远再次执行==="+rgvSlave.getId()+"===");

			sign=false;
			break;
			}
			}
			} else {
			return;
			}
			break;
			}
			}
			}
			}

			if(!sign){
			for (Integer staNoNow : belongToRange) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			System.out.println("全范围执行==="+rgvSlave.getId()+"==="+taskWrk);
			System.out.println("全范围执行==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));

			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			if (!sign) {
			@@ -1459,7 +2197,19 @@
			for (Integer staNoNow : belongToRange) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
			if (rgvStnOut.getStaNo().equals(outStaNo)) {
			System.out.println("筛选范围内取货任务==="+rgvSlave.getId()+"==="+taskWrk);
			System.out.println("筛选范围内取货任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));

			sign = taskGenerate(rgvSlave, rgvStn, 0);
			break;
			}
			}
			}
			break;
			}
			}
			@@ -1469,14 +2219,51 @@
			}
			}

			if (!sign) {
			if (!sign && staList.size()==1){
			if (rgvOtherIDLEOther2(rgvSlave)){
			if (!rgvOtherIDLE2(rgvSlave,staList.get(0))){
			System.out.println("运行就近跳过==="+rgvSlave.getId()+"===");
			RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"运行就近跳过");

			sign=true;
			}
			}
			if (sign){
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staList.get(0))) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
			if (rgvSuper.getStaNo().equals(outStaNo)){
			System.out.println("运行就近跳过后因最远再次执行==="+rgvSlave.getId()+"===");

			sign=false;
			break;
			}
			}
			} else {
			return;
			}
			break;
			}
			}
			}
			}



			if (!sign && staList.size()>1) {
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk);
			System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));

			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			}
			@@ -1487,13 +2274,52 @@
			break;
			}
			}
			}else if (!sign && staList.size()==1){
			BasDevpPosition basDevpPosition1 = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staList.get(0)));
			if (Math.abs(basDevpPosition1.getPlcPosition()- rgvProtocol.getRgvPos())<rgvProtocol.getCarBodyJiaoMing()+rgvProtocol.getCarBodyKunPeng() + avoidDistance*2){
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk);
			System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));

			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			}
			break;
			}
			}
			if (sign) {
			break;
			}
			}
			}
			}
			if (!sign) {



			if (!sign && staList.size()>1) {
			// 半边区域内取货任务
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
			if (rgvStnOut.getStaNo().equals(outStaNo)) {
			System.out.println("筛选半边范围取货任务==="+rgvSlave.getId()+"==="+taskWrk);
			System.out.println("筛选半边范围取货任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));

			sign = taskGenerate(rgvSlave, rgvStn, 0);
			break;
			}
			}
			}
			break;
			}
			}
			@@ -1502,18 +2328,27 @@
			}
			}
			}
			if (!sign) {
			// 半边区域内放货任务
			if (!sign && staList.size()>1) {
			for (Integer staNoNow : rangeListOther) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
			if (rgvSuper.getStaNo().equals(outStaNo)){
			System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"===");
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			break;
			}
			}
			}
			break;
			}
			if (sign) {
			break;
			}
			}
			@@ -1521,7 +2356,39 @@
			break;
			}
			}

			}else if (!sign && staList.size()==1){
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
			if (rgvSuper.getStaNo().equals(outStaNo)){
			System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"===");
			BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
			if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			}
			break;
			}
			}
			}
			break;
			}
			if (sign) {
			break;
			}
			}
			if (sign) {
			break;
			}
			}

			}
			RgvErrCache.updateRgvErr(rgvSlave.getId(),"未查询到可执行任务");

			} else {
			//可用区域就近取货
			//就近排序
			@@ -1531,7 +2398,16 @@
			for (Integer staNoNow : rangeList) {
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
			if (rgvStn.getStaNo().equals(staNoNow)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			TaskWrk taskWrk = deviceDetection(rgvStn);
			if (taskWrk != null) {
			Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
			if (rgvStnOut.getStaNo().equals(outStaNo)) {
			sign = taskGenerate(rgvSlave, rgvStn, 0);
			break;
			}
			}
			}
			break;
			}
			}
			@@ -1543,6 +2419,11 @@
			}
			} catch (Exception e) {
			log.error("任务生成失败===》异常信息：{}", e.getMessage());
			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成失败");
			} catch (Exception e2){
			}
			}
			}
			}
			@@ -1582,6 +2463,7 @@
			try {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());

			TaskProtocol issuedTake = new TaskProtocol();
			TaskProtocol issuedPut = new TaskProtocol();
			@@ -1594,34 +2476,65 @@
			if (taskWrk == null) {
			return false;
			}
			Integer targetPointConvert = taskWrk.getTargetPointConvert();
			// Integer targetPointConvert = taskWrk.getTargetPointConvert();
			Integer targetPointConvert = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
			if (targetPointConvert == null) {
			return false;
			}
			RgvSlave.RgvStn rgvStnEnd = getRgvStnNow(rgvSlave, targetPointConvert);
			if (rgvStnEnd == null) {
			return false;
			if (targetPointConvert == 1009){
			if (!deviceDetection(rgvStn, rgvSlave.getId())){
			return false;
			}
			}
			try{
			devpThread.setPakMkTask(rgvStn.getStaNo(), false);
			} catch (Exception e2){
			RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"小车任务下发标记更新失败");
			}


			BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
			BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
			//执行
			issuedTake.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
			issuedTake.setTaskStatus(1);
			issuedTake.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
			issuedTake.setTaskStatus(2);
			issuedTake.setTargetPositionStaNo(basDevpPositionSou.getDevNo());
			issuedTake.setTargetPositionStaNoPlcId(basDevpPositionSou.getPlcId());
			issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
			issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
			issuedTake.setIsRunning(1);
			issuedTake.setDirection(rgvStn.isDirection());
			issuedTake.setDirection(basDevpPositionSou.getRgvSign()==1);


			issuedPut.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
			issuedPut.setTaskStatus(2);
			issuedPut.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
			issuedPut.setTaskStatus(3);
			issuedPut.setTargetPositionStaNo(basDevpPositionEnd.getDevNo());
			issuedPut.setTargetPositionStaNoPlcId(basDevpPositionEnd.getPlcId());
			issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
			issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
			issuedPut.setIsRunning(1);
			issuedPut.setDirection(rgvStnEnd.isDirection());
			issuedPut.setDirection(basDevpPositionEnd.getRgvSign()==1);

			try{
			if (taskWrk.getIoType()==2 && basDevpPositionEnd.getRgvSign()==1){
			Date now = new Date();
			taskWrk.setStatus(TaskStatusType.OVER.id);
			taskWrk.setModiTime(now);//更新时间
			taskWrk.setCompleteTime(now);//完结时间
			taskWrkService.updateById(taskWrk);
			}
			} catch (Exception e){

			}
			} catch (Exception e) {
			log.error("任务生成失败issued1===》异常信息：{}", e.getMessage());
			RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued1");

			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "任务生成失败issued1");
			} catch (Exception e2){
			}
			return false;
			}

			@@ -1639,6 +2552,13 @@
			}
			} catch (Exception e) {
			log.error("任务生成失败issued2===》异常信息：{}", e.getMessage());
			RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued2");

			try{
			DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
			deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "站点任务生成失败issued2");
			} catch (Exception e2){
			}
			}
			return true;
			}
			@@ -1654,7 +2574,7 @@
			// 命令集合
			List<LedCommand> commands = new ArrayList<>();
			// 工作档集合
			List<WrkMast> wrkMasts = new ArrayList<>();
			List<TaskWrk> taskWrks = new ArrayList<>();
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			@@ -1678,7 +2598,7 @@
			ledCommand.getMatDtos().add(matDto);
			commands.add(ledCommand);
			}
			Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
			Set<Integer> workNos = taskWrks.stream().map(TaskWrk::getWrkNo).collect(Collectors.toSet());
			// 获取LED线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// 相同工作号集合则过滤
			@@ -1697,10 +2617,10 @@

			try {
			// 修改主档led标记
			for (WrkMast wrkMast : wrkMasts) {
			wrkMast.setOveMk("Y");
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			for (TaskWrk taskWrk : taskWrks) {
			// taskWrk.setOveMk("Y");
			taskWrk.setModiTime(new Date());
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			// News.errorNoLog(""+mark+" - 4"+" - 更新工作档失败");
			throw new CoolException("更新工作档失败");
			}