zy-wcs.git - Gitblit

			@@ -10,6 +10,7 @@
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.CodeDetectionUtil;
			import com.zy.asrs.utils.RouteUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.VersionUtils;
			@@ -101,9 +102,14 @@
			private BasRgvMapMapper basRgvMapMapper;
			@Autowired
			private RgvOneSignMapper rgvOneSignMapper;
			@Autowired
			private WrkMastCrnMapper wrkMastCrnMapper;
			@Autowired
			private WrkMastSplitTwinMapper wrkMastSplitTwinMapper;

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

			/**
			* 组托
			@@ -123,7 +129,7 @@

			if (!Cools.isEmpty(barcode)) {
			// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| !CodeDetectionUtil.barcodeDetection(barcode)) {
			continue;
			}
			} else {
			@@ -138,6 +144,47 @@
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

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

			// 入出库模式判断
			@@ -231,6 +278,343 @@
			}
			}

			}

			/**
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			*/
			public synchronized void generateStoreWrkFileSingle() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSingleSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();

			if (!Cools.isEmpty(barcode)) {
			// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| !CodeDetectionUtil.barcodeDetection(barcode)) {
			continue;
			}
			} else {
			continue;
			}

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

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

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

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

			if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| !CodeDetectionUtil.barcodeDetection(barcode)) {
			log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			// //条码为空或者不符合，退库到172站点
			// staProtocol.setWorkNo((short)32222);
			// staProtocol.setStaNo((short)172);
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }
			continue;
			}

			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			log.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			continue;
			}
			// // 获取入库通知档
			// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
			// if (waitPakins.isEmpty()) {
			// log.error("无此入库条码数据。条码号={}", barcode);
			// continue;
			// }

			try {

			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/pair/station/single/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

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


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

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

			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/pair/station/single/loc/v1", JSON.toJSONString(param), response);
			}

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

			}


			}
			}

			}

			/**
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			*/
			public synchronized void generateStoreWrkFileLarge() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInLargeSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();

			if (!Cools.isEmpty(barcode)) {
			// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| !CodeDetectionUtil.barcodeDetection(barcode)) {
			continue;
			}
			} else {
			continue;
			}

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

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

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

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

			if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| !CodeDetectionUtil.barcodeDetection(barcode)) {
			log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			// //条码为空或者不符合，退库到172站点
			// staProtocol.setWorkNo((short)32222);
			// staProtocol.setStaNo((short)172);
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }
			continue;
			}

			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			log.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			continue;
			}
			// // 获取入库通知档
			// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
			// if (waitPakins.isEmpty()) {
			// log.error("无此入库条码数据。条码号={}", barcode);
			// continue;
			// }

			try {

			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

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

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

			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);

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

			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, "入库失败！"));
			}
			}

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

			/**
			@@ -848,57 +1232,339 @@
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			switch (crnSlave.getId()){
			case 1:
			case 2:
			crnStnToOutStnOne(crnStn);
			continue;
			case 3:
			case 4:
			case 5:
			crnStnToOutStnTwo(crnStn,1);
			continue;
			case 6:
			case 7:
			crnStnToOutStnThree(crnStn);
			continue;
			default:
			break;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
			if (wrkMast == null) {
			continue;
			}
			}
			}
			/**
			* 堆垛机站出库到出库站
			*/
			public synchronized boolean crnStnToOutStnOne(CrnSlave.CrnStn crnStn ) {
			try{
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			return false;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
			if (wrkMast == null) {
			return false;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			return false;
			}
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			return false;
			}

			WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(crnProtocol.getTaskNo().intValue());
			if (!Cools.isEmpty(wrkMastCrn) && wrkMastCrn.getWrkSts().equals(12L)){
			wrkMast = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNo().intValue());
			} else {
			return false;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {

			// 命令下发区 --------------------------------------------------------------------------
			StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
			if (staProtocolOther == null) {
			return false;
			} else {
			staProtocolOther = staProtocolOther.clone();
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			continue;
			if (staProtocolOther.isAutoing() && staProtocolOther.isLoading() && (staProtocolOther.getWorkNo() == 0 \|\| staProtocolOther.getStaNo() == null)) {
			// WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(wrkMast.getWrkNo());


			WrkMast wrkMastOne = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoOne().intValue());
			WrkMast wrkMastTwo = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());
			WrkMast wrkMast1 = null;
			WrkMast wrkMast2 = null;
			if (Utils.getRow(wrkMastOne.getSourceLocNo()) == wrkMast.getCrnNo()*4){
			wrkMast1 = wrkMastTwo;
			wrkMast2 = wrkMastOne;
			}else {
			wrkMast2 = wrkMastTwo;
			wrkMast1 = wrkMastOne;
			}

			// 下发站点信息
			staProtocolOther.setWorkNo(Cools.isEmpty(wrkMast1.getWorkNoOther())? wrkMast1.getWrkNo():wrkMast1.getWorkNoOther());
			staProtocolOther.setStaNo(wrkMast1.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocolOther))) {
			return false;
			}

			// 下发站点信息
			staProtocol.setWorkNo(Cools.isEmpty(wrkMast2.getWorkNoOther())? wrkMast2.getWrkNo():wrkMast2.getWorkNoOther());
			// staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
			staProtocol.setStaNo(wrkMast2.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			return false;
			}
			boolean sign = true;

			// 更新工作档状态为14失败
			wrkMastCrn.setWrkSts(14L);
			if (wrkMastCrnMapper.updateById(wrkMastCrn) != 0) {
			} else {
			sign = false;
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}

			// 更新工作档状态为14失败
			wrkMastOne.setWrkSts(14L);
			wrkMastOne.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMastOne) != 0) {
			} else {
			sign = false;
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}

			// 更新工作档状态为14失败
			wrkMastTwo.setWrkSts(14L);
			wrkMastTwo.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMastTwo) != 0) {
			} else {
			sign = false;
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}

			if (sign){
			// 复位堆垛机
			crnThread.setResetFlag(true);
			return true;
			}
			}
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			}
			}
			}catch (Exception e){
			log.error("更新工作档的工作状态为14失败！！！ [出库站:{}]", crnStn.getStaNo());
			}
			return false;
			}
			public synchronized boolean crnStnToOutStnTwo(CrnSlave.CrnStn crnStn ,Integer conStation) {
			try{
			Date now = new Date();
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			return false;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
			if (wrkMast == null) {
			return false;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			return false;
			}
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (conStation==1){
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			continue;
			return false;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {

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

			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			&& crnProtocol.forkPosType == CrnForkPosType.HOME
			&& crnProtocol.getLoaded()==0) {
			List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(wrkMast.getCrnNo(), conStation, null, 2, 3);
			if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"存在多笔可执行作业，请删除无效作业！！！",conStation,2,3);
			}

			// 更新工作档状态为14失败
			wrkMast.setWrkSts(14L);
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位堆垛机
			crnThread.setResetFlag(true);
			} else {
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
			if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",wrkMast.getCrnNo(),"工作任务与执行任务不匹配",conStation,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo());
			return false;
			}
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			return false;
			}
			// 更新工作档状态为14失败
			wrkMast.setWrkSts(14L);
			wrkMast.setCrnEndTime(now);
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
			wrkMastSplitTwin.setUpdateTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			return true;
			}else {
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"修改执行档案失败",conStation,2,3);
			}
			} else {
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			}

			}
			}else if (conStation==2){
			if (crnProtocol.statusTypeTwo == CrnStatusType.FETCHING \|\| crnProtocol.statusTypeTwo == CrnStatusType.PUTTING) {
			// 移动中
			return false;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNoTwo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusTypeTwo == CrnStatusType.WAITING
			&& crnProtocol.forkPosTypeTwo == CrnForkPosType.HOME
			&& crnProtocol.getLoadedTwo()==0) {
			List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(wrkMast.getCrnNo(), conStation, null, 2, 3);
			if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"存在多笔可执行作业，请删除无效作业！！！",conStation,2,3);
			}
			for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
			if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",wrkMast.getCrnNo(),"工作任务与执行任务不匹配",conStation,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo());
			return false;
			}
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			return false;
			}
			// 更新工作档状态为14失败
			wrkMast.setWrkSts(14L);
			wrkMast.setCrnEndTime(now);
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
			wrkMastSplitTwin.setUpdateTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
			// 堆垛机复位
			crnThread.setResetFlagTwo(true);
			return true;
			}else {
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"修改执行档案失败",conStation,2,3);
			}
			} else {
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			}
			}
			}
			}
			}catch (Exception e){
			log.error("更新工作档的工作状态为14失败！！！ [出库站:{}]", crnStn.getStaNo());
			}
			return false;
			}
			public synchronized boolean crnStnToOutStnThree(CrnSlave.CrnStn crnStn ) {
			try{
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			return false;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
			if (wrkMast == null) {
			return false;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			return false;
			}
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			return false;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			return false;
			}

			// 更新工作档状态为14失败
			wrkMast.setWrkSts(14L);
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位堆垛机
			crnThread.setResetFlag(true);
			return true;
			} else {
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			}
			}
			}catch (Exception e){
			log.error("更新工作档的工作状态为14失败！！！ [出库站:{}]", crnStn.getStaNo());
			}
			return false;
			}

			/**
			* 堆垛机站出库到出库站
			*/
			public synchronized void crnStnToOutStnTwo() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			switch (crnSlave.getId()){
			case 3:
			case 4:
			case 5:
			crnStnToOutStnTwo(crnStn,2);
			continue;
			default:
			break;
			}
			}
			}
			@@ -931,24 +1597,181 @@
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc1(crn, crnProtocol); // 入库
			switch (crn.getId()){
			case 1:
			case 2:
			this.crnStnToLoc1Single(crn, crnProtocol); // 入库
			break;
			case 3:
			case 4:
			case 5:
			continue;
			default:
			this.crnStnToLoc1(crn, crnProtocol,1); // 入库
			}
			crnProtocol.setLastIo("O");
			} else if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn1(crn, crnProtocol); // 出库
			switch (crn.getId()){
			case 1:
			case 2:
			this.locToCrnStn1Single(crn, crnProtocol); // 出库
			break;
			case 3:
			case 4:
			case 5:
			continue;
			default:
			this.locToCrnStn1(crn, crnProtocol,1); // 出库
			}
			crnProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn1(crn, crnProtocol); // 出库
			switch (crn.getId()){
			case 1:
			case 2:
			this.locToCrnStn1Single(crn, crnProtocol); // 出库
			break;
			case 3:
			case 4:
			case 5:
			continue;
			default:
			this.locToCrnStn1(crn, crnProtocol,1); // 出库
			}
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc1(crn, crnProtocol); // 入库
			switch (crn.getId()){
			case 1:
			case 2:
			this.crnStnToLoc1Single(crn, crnProtocol); // 入库
			break;
			case 3:
			case 4:
			case 5:
			continue;
			default:
			this.crnStnToLoc1(crn, crnProtocol,1); // 入库
			}
			crnProtocol.setLastIo("O");
			}
			}
			}
			// 库位移转
			this.locToLoc(crn, crnProtocol);
			// this.crnRebackHp(crnProtocol, crnThread);

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

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


			int[] sign = new int[]{0,0};
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 只有当堆垛机工位空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE
			&& crnProtocol.getTaskNo() == 0
			&& crnProtocol.getLoaded() == 0
			&& crnProtocol.getForkPos() == 0) {
			// sign[0] = 1;
			// sign[1] = 1;
			/*
			* 任务拆分特殊处理
			* */
			if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
			&& crnProtocol.getTaskNoTwo() == 0
			&& crnProtocol.getLoadedTwo() == 0
			&& crnProtocol.getForkPosTwo() == 0){
			sign[0] = 1;
			sign[1] = 1;
			}
			}else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
			&& crnProtocol.getTaskNoTwo() == 0
			&& crnProtocol.getLoadedTwo() == 0
			&& crnProtocol.getForkPosTwo() == 0){
			sign[0] = 1;
			sign[1] = 2;
			}
			}

			if (sign[0]==1 && sign[1] == 1){
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			switch (crn.getId()){
			case 3:
			case 4:
			case 5:
			this.crnStnToLoc1Big(crn, crnProtocol, sign[1]); // 入库
			break;
			default:
			continue;
			}
			crnProtocol.setLastIo("O");
			} else if (basCrnp.getOutEnable().equals("Y")) {
			switch (crn.getId()){
			case 3:
			case 4:
			case 5:
			this.locToCrnStn1Big(crn, crnProtocol, sign[1]); // 出库
			break;
			default:
			continue;
			}
			crnProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			switch (crn.getId()){
			case 3:
			case 4:
			case 5:
			this.locToCrnStn1Big(crn, crnProtocol, sign[1]); // 出库
			break;
			default:
			continue;
			}
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {
			switch (crn.getId()){
			case 3:
			case 4:
			case 5:
			this.crnStnToLoc1Big(crn, crnProtocol, sign[1]); // 入库
			break;
			default:
			continue;
			}
			crnProtocol.setLastIo("O");
			}
			}
			}

			// 库位移转
			this.locToLoc(crn, crnProtocol);
			// this.crnRebackHp(crnProtocol, crnThread);
			@@ -1214,9 +2037,9 @@

			/**
			* 入库 ===>> 堆垛机站到库位
			* 2022-12-03 TQS修改，先遍历查询同台堆垛机工作档所有站点入库任务LIST，根据工作档任务排序优先级高于根据堆垛机入库站点排序
			* 2024-06-05
			*/
			public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol) {
			public synchronized void crnStnToLoc1Big(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
			for(WrkMast wrkMast : wrkMasts){
			if (wrkMast == null) {
			@@ -1249,8 +2072,8 @@
			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()
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo().equals(wrkMast.getWrkNo())
			&& staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			@@ -1268,10 +2091,329 @@
			continue;
			}

			//工位
			if (crnStation == 1){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			break;
			}
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNoTwo() != 0) {
			break;
			}
			}else if(crnStation == 2){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNoTwo() != 0) {
			break;
			}
			}else {
			break;
			}


			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			continue;
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastSplitTwinMapper.selectCount(new EntityWrapper<WrkMastSplitTwin>().eq("wrk_no", wrkMast.getWrkNo().longValue())) != 0) {
			break;
			// return;
			}

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

			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			}
			continue;
			} else if (shallowLoc.getLocSts().equals("Q")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			}
			}

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX((short)0); // 目标库位排
			crnCommand.setDestinationPosY((short)0); // 目标库位列
			crnCommand.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
			wrkMastSplitTwin.setWrkSts(1);
			wrkMastSplitTwin.setWrkStart(wrkMast.getStaNo().toString());
			wrkMastSplitTwin.setWrkEnd(wrkMast.getLocNo());
			wrkMastSplitTwin.setStartRow(crnStn.getRow());
			wrkMastSplitTwin.setStartBay(crnStn.getBay());
			wrkMastSplitTwin.setStartLev(crnStn.getLev());
			wrkMastSplitTwin.setEndRow(locMast.getRow1());
			wrkMastSplitTwin.setEndBay(locMast.getBay1());
			wrkMastSplitTwin.setEndLev(locMast.getLev1());
			wrkMastSplitTwin.setWrkType(1);
			wrkMastSplitTwin.setIoType(1);

			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}

			if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
			log.error("创建堆垛机执行任务失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
			}
			break;
			}
			}
			}

			/**
			* 入库 ===>> 堆垛机站到库位
			* 2024-01-15 煜星小料箱
			*/
			public synchronized void crnStnToLoc1Single(CrnSlave slave, CrnProtocol crnProtocol) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
			for(WrkMast wrkMast : wrkMasts){
			if (wrkMast == null) {
			continue;
			}

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
			if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
			crnStn = crnStn1;
			break;
			}
			}
			if(Cools.isEmpty(crnStn)){
			continue;
			}

			boolean flag = false;
			boolean flagOther = false;
			// 获取堆垛机入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
			if (staProtocolOther == null) {
			continue;
			} else {
			staProtocolOther = staProtocolOther.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo().equals(wrkMast.getWrkNo())
			&& staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}

			if (staProtocol.getWorkNo().equals(staProtocolOther.getWorkNo())){
			continue;
			}

			// 查询站点详细信息
			BasDevp staDetlOther = basDevpService.selectById(crnStn.getStaNoOther());
			if (staDetlOther == null) {
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNoOther());
			continue;
			}
			if (staProtocolOther.isAutoing() && staProtocolOther.isLoading() && staProtocolOther.getWorkNo() > 0 && staProtocolOther.isInEnable()
			&& staDetlOther.getCanining() != null && staDetlOther.getCanining().equals("Y")) {
			flagOther = true;
			}
			if (!flag \|\| !flagOther) {
			continue;
			}

			//查询堆垛机任务
			WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(wrkMast.getWrkNo());
			if (Cools.isEmpty(wrkMastCrn)){
			continue;
			}

			WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());

			// 获取库位信息
			LocMast locMast = locMastService.selectById(Utils.getRow(wrkMastCrn.getLocNo())%4>2? wrkMastCrn.getLocNoTwo():wrkMastCrn.getLocNoOne());
			if (locMast == null) {
			log.error("查询库存无数据--库位号{}", wrkMastCrn.getLocNo());
			continue;
			}
			if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
			log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", locMast.getLocNo(), locMast.getLocSts());
			continue;
			}

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			continue;
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			continue;
			}

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.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()); // 源库位排
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}

			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			wrkMastOther.setWrkSts(3L);
			wrkMastOther.setCrnStrTime(now);
			wrkMastOther.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMastOther) == 0) {
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMastOther.getWrkNo());
			}

			wrkMastCrn.setWrkSts(3L);
			wrkMastCrn.setModiTime(now);
			if (wrkMastCrnMapper.updateById(wrkMastCrn) == 0) {
			log.error("修改堆垛机工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMastCrn.getWrkNo());
			}
			}
			}

			}

			/**
			* 入库 ===>> 堆垛机站到库位
			* 2024-01-15 优化双工位
			*/
			public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
			for(WrkMast wrkMast : wrkMasts){
			if (wrkMast == null) {
			continue;
			}

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
			if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
			crnStn = crnStn1;
			break;
			}
			}
			if(Cools.isEmpty(crnStn)){
			continue;
			}

			boolean flag = false;
			// 获取堆垛机入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo().equals(wrkMast.getWrkNo())
			&& staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			continue;
			}

			// 获取库位信息
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			if (locMast == null) {
			log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
			continue;
			}
			if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
			log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
			continue;
			}

			//工位
			if (crnStation == 1){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			break;
			}
			}else if(crnStation == 2){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNoTwo() != 0) {
			break;
			}
			}else {
			break;
			}


			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			@@ -1328,7 +2470,7 @@
			crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			@@ -1341,7 +2483,6 @@
			}
			}
			}

			}

			/**
			@@ -1365,7 +2506,7 @@
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getSourceLocNo(), sourceSta.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			@@ -1484,9 +2625,9 @@

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2022-12-03 TQS修改，先遍历查询工作档所有站点出库任务LIST，根据工作档任务排序优先级高于根据堆垛机入库站点排序
			* 2024-01-15 优化双工位
			*/
			public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol) {
			public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast == null) {
			@@ -1519,7 +2660,7 @@
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getSourceLocNo(), sourceSta.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			@@ -1550,9 +2691,21 @@
			&& 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) {

			//工位
			if (crnStation == 1){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}
			}else if(crnStation == 2){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNoTwo() != 0) {
			// continue;
			break;
			}
			}else {
			break;
			}

			@@ -1618,7 +2771,7 @@
			crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			@@ -1628,6 +2781,335 @@
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			break;
			}
			}
			}

			}

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2024-01-15 煜星小料箱
			*/
			public synchronized void locToCrnStn1Single(CrnSlave slave, CrnProtocol crnProtocol) {
			List<WrkMastCrn> wrkMastCrnList = wrkMastCrnMapper.selectList(new EntityWrapper<WrkMastCrn>()
			.eq("crn_no", crnProtocol.getCrnNo()).eq("wrk_sts", 11L));
			for (WrkMastCrn wrkMastCrn : wrkMastCrnList) {
			if (wrkMastCrn == null) {
			continue;
			}

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
			if(crnStn1.getStaNo().equals(wrkMastCrn.getSourceStaNo())){
			crnStn = crnStn1;
			break;
			}
			}
			if(Cools.isEmpty(crnStn)){
			continue;
			}

			// 工作档状态判断
			if (wrkMastCrn.getIoType() < 100 \|\| wrkMastCrn.getSourceStaNo() == null) {
			log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMastCrn.getWrkNo(), wrkMastCrn.getSourceLocNo(), wrkMastCrn.getIoType());
			continue;
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMastCrn.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMastCrn.getSourceLocNo(), sourceSta.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			break;
			// continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
			if (staProtocolOther == null) {
			continue;
			} else {
			staProtocolOther = staProtocolOther.clone();
			}

			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
			// if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
			// continue;
			// }

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}

			// 查询站点详细信息
			BasDevp staDetlOther = basDevpService.selectById(crnStn.getStaNoOther());
			if (staDetlOther == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNoOther());
			break;
			// continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			if (staProtocolOther.isAutoing() && !staProtocolOther.isLoading() && staDetlOther.getCanouting() != null && staDetlOther.getCanouting().equals("Y")
			&& staProtocolOther.getWorkNo() == 0 && staProtocolOther.isOutEnable()){
			// 命令下发区 --------------------------------------------------------------------------
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}

			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMastCrn.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(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMastCrn.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastCrn.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();
			wrkMastCrn.setWrkSts(12L);
			wrkMastCrn.setModiTime(now);
			if (wrkMastCrnMapper.updateById(wrkMastCrn) == 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={}", wrkMastCrn.getWrkNo());
			}

			WrkMast wrkMastOne = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoOne().intValue());
			wrkMastOne.setWrkSts(12L);
			wrkMastOne.setCrnStrTime(now);
			wrkMastOne.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMastOne) == 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={}", wrkMastOne.getWrkNo());
			}

			WrkMast wrkMastTwo = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());
			wrkMastTwo.setWrkSts(12L);
			wrkMastTwo.setCrnStrTime(now);
			wrkMastTwo.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMastTwo) == 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={}", wrkMastTwo.getWrkNo());
			}
			break;
			}
			}
			}
			}

			}

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2024-06-05 煜星大料箱
			*/
			public synchronized void locToCrnStn1Big(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast == null) {
			continue;
			}

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
			if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){
			crnStn = crnStn1;
			break;
			}
			}
			if(Cools.isEmpty(crnStn)){
			continue;
			}

			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null) {
			log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
			continue;
			}
			//退库模式跳过118、119出库任务
			if (wrkMast.getStaNo()==118 \|\| wrkMast.getStaNo()==119){
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
			if (Cools.isEmpty(rgvOneSign) \|\| rgvOneSign.getRgvOneSign()==1){
			continue;
			}
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getSourceLocNo(), sourceSta.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			break;
			// continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
			if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
			continue;
			}

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


			//工位
			if (crnStation == 1){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNoTwo() != 0) {
			// continue;
			break;
			}
			}else if(crnStation == 2){
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNoTwo() != 0) {
			// continue;
			break;
			}
			}else {
			break;
			}

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

			}
			}
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			//2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			// 此标记避免多次执行移库任务
			// if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())
			// \|\| Cools.isEmpty(waitWrkMast)) {
			if (Cools.isEmpty(waitWrkMast)) {
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			}
			log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			}
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastSplitTwinMapper.selectCount(new EntityWrapper<WrkMastSplitTwin>().eq("wrk_no", wrkMast.getWrkNo().longValue())) != 0) {
			break;
			// return;
			}

			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX((short)0); // 目标库位排
			crnCommand.setDestinationPosY((short)0); // 目标库位列
			crnCommand.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
			wrkMastSplitTwin.setWrkSts(1);
			wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo());
			wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString());
			wrkMastSplitTwin.setStartRow(sourceSta.getRow1());
			wrkMastSplitTwin.setStartBay(sourceSta.getBay1());
			wrkMastSplitTwin.setStartLev(sourceSta.getLev1());
			wrkMastSplitTwin.setEndRow(crnStn.getRow());
			wrkMastSplitTwin.setEndBay(crnStn.getBay());
			wrkMastSplitTwin.setEndLev(crnStn.getLev());
			wrkMastSplitTwin.setWrkType(1);
			wrkMastSplitTwin.setIoType(2);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}

			if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
			log.error("创建堆垛机执行任务失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
			}
			break;
			}
			@@ -1849,13 +3331,194 @@
			/**
			* 执行对工作档的完成操作
			*/

			public synchronized void storeFinished() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			switch (crn.getId()){
			case 1:
			case 2:
			storeFinishedExecuteOne(crn);
			continue;
			case 3:
			case 4:
			case 5:
			storeFinishedExecuteTwo(crn);
			continue;
			case 6:
			case 7:
			storeFinishedExecuteThree(crn);
			continue;
			default:
			continue;
			}
			}
			}
			public synchronized boolean storeFinishedExecuteOne(CrnSlave crn) {
			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;
			return false;
			}
			if (crnProtocol.modeType != CrnModeType.AUTO){
			return false;
			}
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			if (crnProtocol.getTaskNo() == 32222) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			// 获取入库待确认工作档
			WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(crnProtocol.getTaskNo().intValue());
			if (wrkMastCrn == null) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			return false;
			}
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			return false;
			}

			// 获取入库待确认工作档
			WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());
			if (wrkMastOther == null) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			return false;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMastCrn.getWrkSts() == 3 \|\| (wrkMastCrn.getWrkSts() == 12 && wrkMastCrn.getIoType() == 11)) {
			wrkMastCrn.setWrkSts(4L);
			} else {
			return false;
			}
			Date now = new Date();
			wrkMastCrn.setModiTime(now);

			wrkMast.setCrnEndTime(now);
			wrkMast.setWrkSts(4L);
			wrkMast.setModiTime(now);

			wrkMastOther.setCrnEndTime(now);
			wrkMastOther.setWrkSts(4L);
			wrkMastOther.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastCrnMapper.updateById(wrkMastCrn) > 0 && wrkMastMapper.updateById(wrkMast) > 0 && wrkMastMapper.updateById(wrkMastOther) > 0 ) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			return true;
			}
			}
			}
			}catch (Exception e){
			log.error("堆垛机工位一完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),1);
			}
			return false;
			}
			public synchronized boolean storeFinishedExecuteTwo(CrnSlave crn) {
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			return false;
			}
			if (crnProtocol.modeType != CrnModeType.AUTO){
			return false;
			}
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			if (crnProtocol.getTaskNo() == 32222) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			return true;
			} else {
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			return false;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			wrkMast.setWrkSts(4L);
			} else {
			return false;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 堆垛机复位
			List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 1, null, 2, 3);
			if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",1,2,3);
			}
			for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
			if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",crn.getId(),"工作任务与执行任务不匹配",1,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo());
			return false;
			}
			wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
			wrkMastSplitTwin.setUpdateTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 修改成功后复位堆垛机
			if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			return true;
			}else {
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",1,2,3);
			}
			}else {
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改工作档案失败！",1,2,3);
			}
			}
			return false;
			}
			}else if (crnProtocol.statusType == CrnStatusType.SEPARATE_WAITING && crnProtocol.getTaskNo() != 0 && crnProtocol.getLoaded()==1){
			if (crnProtocol.getTaskNo() == 32222) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			return true;
			} else {
			List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 1, null, 1, 1);
			if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",1,1,1);
			}
			for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
			Date now = new Date();
			wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
			wrkMastSplitTwin.setUpdateTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			return true;
			}else {
			log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",1,2,3);
			}
			}
			}
			}
			}catch (Exception e){
			log.error("堆垛机工位一完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),1);
			}
			return false;
			}
			public synchronized boolean storeFinishedExecuteThree(CrnSlave crn) {
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			return false;
			}
			if (crnProtocol.modeType != CrnModeType.AUTO){
			return false;
			}
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			@@ -1867,13 +3530,13 @@
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			continue;
			return false;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			wrkMast.setWrkSts(4L);
			} else {
			continue;
			return false;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			@@ -1882,11 +3545,121 @@
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			return true;
			}
			}
			}
			}catch (Exception e){
			log.error("堆垛机工位一完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),1);
			}
			return false;
			}

			/**
			* 执行对工作档的完成操作
			*/
			public synchronized void storeFinishedTwo() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			switch (crn.getId()){
			case 3:
			case 4:
			case 5:
			storeFinishedTwoExecute(crn);
			continue;
			default:
			continue;
			}
			}
			}

			public synchronized boolean storeFinishedTwoExecute(CrnSlave crn) {
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			return false;
			}
			if (crnProtocol.modeType != CrnModeType.AUTO){
			return false;
			}
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusTypeTwo == CrnStatusType.WAITING && crnProtocol.getTaskNoTwo() != 0) {
			if (crnProtocol.getTaskNoTwo() == 32222) {
			// 堆垛机复位
			crnThread.setResetFlagTwo(true);
			} else {
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNoTwo().intValue());
			if (wrkMast == null) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNoTwo());
			return false;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			wrkMast.setWrkSts(4L);
			} else {
			return false;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 堆垛机复位
			List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 2, null, 2, 3);
			if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
			log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",2,2,3);
			}
			for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
			if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
			log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",crn.getId(),"工作任务与执行任务不匹配",1,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo());
			return false;
			}
			wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
			wrkMastSplitTwin.setUpdateTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 修改成功后复位堆垛机
			if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
			// 堆垛机复位
			crnThread.setResetFlagTwo(true);
			return true;
			}else {
			log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",2,2,3);
			}
			}else {
			log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改工作档案失败！",2,2,3);
			}
			}
			return false;
			}
			}else if (crnProtocol.statusTypeTwo == CrnStatusType.SEPARATE_WAITING && crnProtocol.getTaskNoTwo() != 0 && crnProtocol.getLoadedTwo()==1){
			if (crnProtocol.getTaskNoTwo() == 32222) {
			// 堆垛机复位
			crnThread.setResetFlagTwo(true);
			} else {
			List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 2, null, 1, 1);
			if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
			log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",2,1,1);
			}
			for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
			Date now = new Date();
			wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
			wrkMastSplitTwin.setUpdateTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
			// 堆垛机复位
			crnThread.setResetFlagTwo(true);
			return true;
			}else {
			log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",2,2,3);
			}
			}
			}
			}
			}catch (Exception e){
			log.error("堆垛机工位二完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),2);
			}
			return false;
			}

			/**
			@@ -2200,6 +3973,119 @@
			}

			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			public synchronized void storeEmptyPltSingle() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSingleSta()) {
			// 获取空板入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

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

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			param.setSourceStaNo(emptyInSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/pair/station/single/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setStaNo(dto.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/pair/station/single/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			}
			}
			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			public synchronized void storeEmptyPltLarge() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInLargeSta()) {
			// 获取空板入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

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

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			param.setSourceStaNo(emptyInSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setStaNo(dto.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			}
			}

			/**
			* 入库 ===>> 空栈板初始化入库,1楼叠盘机叠盘
			*/
			public synchronized void storeEmptyPlt2() {
			@@ -2263,7 +4149,8 @@
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			// && (rgvProtocol.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			&& rgvProtocol.getLoaded2()==3 ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			try {
			WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122);
			@@ -3241,8 +5128,20 @@
			staProtocol = staProtocol.clone();
			}

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

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

			if (staProtocol147.isLoading()){
			log.info("{}站点有物！",staProtocol147.getSiteId());
			continue;
			}
			// 判断是否满足入库条件
			@@ -3250,6 +5149,9 @@
			&& staProtocol.isLoading()
			&& !staProtocol.isEmptyMk()
			) {

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

			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			@@ -3257,8 +5159,12 @@
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}

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

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

			}
			}
			}catch (Exception e){
			@@ -3388,10 +5294,15 @@
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast)){
			if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
			Thread.sleep(200);
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			continue;
			}
			@@ -3446,7 +5357,7 @@
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast)){
			if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
			Thread.sleep(200);
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			@@ -3527,61 +5438,67 @@
			switch (sign){
			//执行小车货物搬运任务
			case 1:
			signWork = rgvRunWrkMastFullSta();
			signWork = rgvRunWrkMastFullSta(rgvSlave);
			break;
			//执行小车空板搬运任务
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut();
			signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull();
			signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake();
			signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull();
			signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
			break;
			case 6:////提升
			// signWork = qwe();
			break;
			case 7:////位移
			break;
			default:
			break;
			}
			}
			for (int signCount = 1;!signWork && signCount<7;signCount++){
			switch (signCount){
			case 1://执行小车货物搬运任务
			signWork = rgvRunWrkMastFullSta();
			break;
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut();
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull();
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake();
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull();
			break;
			case 6:////提升
			for (int signCount = 1;!signWork && signCount<7;signCount++){
			switch (signCount){
			case 1://执行小车货物搬运任务
			signWork = rgvRunWrkMastFullSta(rgvSlave);
			break;
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
			break;
			case 6:////提升
			// signWork = rgvRunWrkMastEmptyStaPut();
			break;
			default:
			break;
			break;
			case 7:////位移
			break;
			default:
			break;
			}
			}
			}else {
			continue;
			}
			if (!rgvIoExecuteSign){
			rgvIoExecuteSign = signWork;
			}
			}
			if (!rgvIoExecuteSign){
			if (sign>6){
			rgvRunWrkMastEmptyStaAvoidance();//避让
			}
			}
			// if (!rgvIoExecuteSign){
			// if (sign>6){
			//
			// }
			// }
			}catch (Exception e){
			log.error("RGV小车任务下发报错"+e);
			}
			@@ -3590,18 +5507,18 @@
			/**
			* 执行小车搬运任务
			*/
			public synchronized boolean rgvRunWrkMastFullSta() {
			public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			continue;
			return false;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			@@ -3615,7 +5532,7 @@
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			@@ -3648,7 +5565,7 @@
			break;
			}
			}
			}
			// }
			}catch (Exception e){
			log.error("3875行执行小车搬运任务下发失败");
			log.error("3875行"+e);
			@@ -3658,18 +5575,18 @@
			/**
			* 执行小车搬运任务//拆盘
			*/
			public synchronized boolean rgvRunWrkMastEmptyStaPut() {//拆盘
			public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//拆盘
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			continue;
			return false;
			}

			// 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘
			@@ -3683,7 +5600,7 @@
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			return false;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			@@ -3721,7 +5638,7 @@
			break;
			}
			}
			}
			// }
			}catch (Exception e){
			log.error("3933行执行小车放空板任务下发失败");
			log.error("3933行"+e);
			@@ -3732,18 +5649,18 @@
			/**
			* 执行小车搬运任务
			*/
			public synchronized boolean rgvRunWrkMastEmptyStaPutFull() {//满放
			public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//满放
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			continue;
			return false;
			}

			// 只有当RGV空闲、自动,工位二有物//rgv可用
			@@ -3757,7 +5674,7 @@
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			return false;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			@@ -3795,7 +5712,7 @@
			break;
			}
			}
			}
			// }
			}catch (Exception e){
			log.error("3933行执行小车放空板任务下发失败");
			log.error("3933行"+e);
			@@ -3803,18 +5720,18 @@
			return false;
			}

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

			// 只有当RGV空闲、自动,工位二无物//rgv可用
			@@ -3828,7 +5745,7 @@
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			@@ -3866,7 +5783,7 @@
			break;
			}
			}
			}
			// }
			}catch (Exception e){
			log.error("3989行执行小车取空板任务下发失败");
			log.error("3989行"+e);
			@@ -3874,18 +5791,18 @@
			return false;
			}

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

			// 只有当RGV空闲、自动,工位二无物//rgv可用
			@@ -3899,7 +5816,7 @@
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			@@ -3937,7 +5854,7 @@
			break;
			}
			}
			}
			// }
			}catch (Exception e){
			log.error("3989行执行小车取空板任务下发失败");
			log.error("3989行"+e);
			@@ -4282,6 +6199,10 @@
			* 小车地图更新更新锁
			* */
			public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
			if (true){
			basRgvMapMapper.updateById(basRgvMapCurrent);
			return true;
			}

			// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
			//更新当前小车锁
			@@ -4305,4 +6226,151 @@
			}
			}

			/**
			* 入出库 ===>> 小车作业下发
			*/
			public synchronized boolean steIoExecute(Integer sign) {
			return false;
			}
			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			public synchronized void crnIoExecuteTwoExecute() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			try{
			switch (crn.getId()){
			case 3:
			case 4:
			case 5:
			crnWrkMastSplitTwinExecute(crn);
			continue;
			default:
			continue;
			}
			}catch (Exception e){
			log.error("堆垛机出入库执行任务下发报错,堆垛机号={},异常信息={}",crn.getId(),e.getMessage());
			}
			}
			}


			public synchronized boolean crnWrkMastSplitTwinExecute(CrnSlave crn){
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			return false;
			}
			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());
			return false;
			}


			int[] sign = new int[]{0,0};
			// 只有当堆垛机自动时才继续执行
			if (crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 只有当堆垛机工位1取货或者有物并且工位2无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE
			&& crnProtocol.getTaskNo() == 0
			&& crnProtocol.getLoaded() == 0
			&& crnProtocol.getForkPos() == 0) {
			sign[0] = 1;
			sign[1] = 1;
			} else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
			&& crnProtocol.getTaskNoTwo() == 0
			&& crnProtocol.getLoadedTwo() == 0
			&& crnProtocol.getForkPosTwo() == 0){
			sign[0] = 1;
			sign[1] = 2;
			} else if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE
			&& crnProtocol.getTaskNo() == 0
			&& crnProtocol.getLoaded() == 1
			&& crnProtocol.getForkPos() == 0) {
			sign[0] = 2;
			sign[1] = 1;
			} else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE
			&& crnProtocol.getTaskNoTwo() == 0
			&& crnProtocol.getLoadedTwo() == 1
			&& crnProtocol.getForkPosTwo() == 0){
			sign[0] = 2;
			sign[1] = 2;
			}
			}

			if (sign[0]!=0){
			List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),sign[1],null,sign[0],0);
			if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
			log.error("堆垛机出入库下发异常,堆垛机号={},异常信息={},工位号={},工作类型={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",sign[1],sign[0]);
			}
			for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
			return sign[0] == 1? crnExecuteTakeFull(crn.getId(), wrkMastSplitTwin, sign[1]) : crnExecutePutFull(crn.getId(), wrkMastSplitTwin, sign[1]);
			}
			}
			}catch (Exception e){
			log.error("堆垛机出入库下发报错,堆垛机号={},异常信息={}",crn.getId(),e.getMessage());
			}
			return false;
			}

			/*
			* 堆垛机取货至工位任务
			* */
			public synchronized boolean crnExecuteTakeFull(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwin, Integer crnStation){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnNo); // 堆垛机编号
			crnCommand.setTaskNo(wrkMastSplitTwin.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommand.setSourcePosX(wrkMastSplitTwin.getStartRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(wrkMastSplitTwin.getStartBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(wrkMastSplitTwin.getStartLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX((short)0); // 目标库位排
			crnCommand.setDestinationPosY((short)0); // 目标库位列
			crnCommand.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSON(crnCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			}

			/*
			* 堆垛机放货货至出库站点任务
			* */
			public synchronized boolean crnExecutePutFull(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwin, Integer crnStation){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnNo); // 堆垛机编号
			crnCommand.setTaskNo(wrkMastSplitTwin.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_PUT); // 任务模式: 单放货
			crnCommand.setSourcePosX((short)0); // 源库位排
			crnCommand.setSourcePosY((short)0); // 源库位列
			crnCommand.setSourcePosZ((short)0); // 源库位层
			crnCommand.setDestinationPosX(wrkMastSplitTwin.getEndRow().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(wrkMastSplitTwin.getEndBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(wrkMastSplitTwin.getEndLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSON(crnCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			}

			}