*

L

2025-07-17 de364ecdcbee20a85e1e80025f8f686e359e88ef

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

@@ -93,9 +93,9 @@
    @Autowired
    private WrkMastStaMapper wrkMastStaMapper;
    @Autowired
    private BasRgvMapMapper basRgvMapMapper;
    @Autowired
    private RgvOneSignMapper rgvOneSignMapper;
    @Autowired
    private BasRgvMapService basRgvMapService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -1310,7 +1310,11 @@
                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") && staDetl.getWrkNo().equals(wrkMast.getWrkNo())) {
//                flag = true;
//            }
            if (staProtocol.isAutoing() && staProtocol.getWorkNo() > 0
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y") && staDetl.getWrkNo().equals(wrkMast.getWrkNo())) {
                flag = true;
            }
@@ -3552,7 +3556,13 @@
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            }
                            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

                            RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
                            int rgvSignTwoType = 0;
                            if (!Cools.isEmpty(rgvSignTwo)){
                                rgvSignTwoType = rgvSignTwo.getRgvOneSign();
                            }
                            BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
                            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                            break;
@@ -3569,7 +3579,7 @@
//                                    log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
//                                    break;
//                                }
                                rgvAvoidanceXYWrkMast(rgvProtocol.getRgvNo());
                                rgvAvoidanceXYWrkMast(rgvProtocol.getRgvNo(),wrkMastSta.getWrkNo().shortValue());
                                continue;
                            }
                            if (wrkMastSta.getWrkType()==6){
@@ -3630,7 +3640,13 @@
                        }
                        wrkMastSta.setWrkSts(3);
                        wrkMastStaMapper.updateById(wrkMastSta);
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

                        RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
                        int rgvSignTwoType = 0;
                        if (!Cools.isEmpty(rgvSignTwo)){
                            rgvSignTwoType = rgvSignTwo.getRgvOneSign();
                        }
                        BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                    }else if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){
@@ -3639,7 +3655,13 @@
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            }
                            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

                            RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
                            int rgvSignTwoType = 0;
                            if (!Cools.isEmpty(rgvSignTwo)){
                                rgvSignTwoType = rgvSignTwo.getRgvOneSign();
                            }
                            BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
                            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                            break;
@@ -3688,7 +3710,13 @@
                        }
                        wrkMastSta.setWrkSts(3);
                        wrkMastStaMapper.updateById(wrkMastSta);
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

                        RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
                        int rgvSignTwoType = 0;
                        if (!Cools.isEmpty(rgvSignTwo)){
                            rgvSignTwoType = rgvSignTwo.getRgvOneSign();
                        }
                        BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                    }else {
@@ -3840,7 +3868,13 @@
                        && rgvProtocol.getLoaded1()==0
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());

                    RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
                    int rgvSignTwoType = 0;
                    if (!Cools.isEmpty(rgvSignTwo)){
                        rgvSignTwoType = rgvSignTwo.getRgvOneSign();
                    }
                    BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(basRgv.getRgvNo(),rgvSignTwoType);
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        return false;
@@ -3955,7 +3989,13 @@
                    && rgvProtocol.getLoaded1()==0
                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
            ) {
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());

                RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
                int rgvSignTwoType = 0;
                if (!Cools.isEmpty(rgvSignTwo)){
                    rgvSignTwoType = rgvSignTwo.getRgvOneSign();
                }
                BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(basRgv.getRgvNo(),rgvSignTwoType);
                if (basRgvMap == null) {
                    log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                    return false;
@@ -4037,7 +4077,13 @@
                        && rgvProtocol.getLoaded1()==1
                        && rgvProtocol.getTaskNo1()!=0 && rgvProtocol.getTaskNo2()==0
            ) {// 只有当RGV空闲、自动,工位一有物  有工作号//rgv可用
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());

                RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
                int rgvSignTwoType = 0;
                if (!Cools.isEmpty(rgvSignTwo)){
                    rgvSignTwoType = rgvSignTwo.getRgvOneSign();
                }
                BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(basRgv.getRgvNo(),rgvSignTwoType);
                if (basRgvMap == null) {
                    log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                    return false;
@@ -4124,7 +4170,13 @@
                        && rgvProtocol.getTaskNo2()==0
                        && (rgvProtocol.getLoaded2()==3  || rgvProtocol.getLoaded2()==1 || rgvProtocol.getLoaded2()==4)////0 无物；1 一层无物二层有物 （只能拆叠） ；2一层有物二层无物() ；3  1、2层都有物  4：（）只允许拆盘
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

                    RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
                    int rgvSignTwoType = 0;
                    if (!Cools.isEmpty(rgvSignTwo)){
                        rgvSignTwoType = rgvSignTwo.getRgvOneSign();
                    }
                    BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(basRgv.getRgvNo(),rgvSignTwoType);
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        return false;
@@ -4232,7 +4284,13 @@
                    && rgvProtocol.getLoaded1()==1
                    && rgvProtocol.getTaskNo1()!=0 && rgvProtocol.getTaskNo2()==0
            ) {
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

                RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
                int rgvSignTwoType = 0;
                if (!Cools.isEmpty(rgvSignTwo)){
                    rgvSignTwoType = rgvSignTwo.getRgvOneSign();
                }
                BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
                if (basRgvMap == null) {
                    log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                    return false;
@@ -4345,7 +4403,13 @@
                        && rgvProtocol.getTaskNo2()==0
                        &&  (rgvProtocol.getLoaded2()==2  || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物  ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

                    RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
                    int rgvSignTwoType = 0;
                    if (!Cools.isEmpty(rgvSignTwo)){
                        rgvSignTwoType = rgvSignTwo.getRgvOneSign();
                    }
                    BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        return false;
@@ -4453,7 +4517,13 @@
                        && rgvProtocol.getTaskNo2()==0
                        &&  (rgvProtocol.getLoaded2()==0  || rgvProtocol.getLoaded2()==1 ) //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）   ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

                    RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
                    int rgvSignTwoType = 0;
                    if (!Cools.isEmpty(rgvSignTwo)){
                        rgvSignTwoType = rgvSignTwo.getRgvOneSign();
                    }
                    BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        return false;
@@ -4549,7 +4619,13 @@
                    && rgvProtocol.getLoaded1() == 0
                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
            ) {
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

                RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
                int rgvSignTwoType = 0;
                if (!Cools.isEmpty(rgvSignTwo)){
                    rgvSignTwoType = rgvSignTwo.getRgvOneSign();
                }
                BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
                if (basRgvMap == null) {
                    log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                    return false;
@@ -4638,7 +4714,13 @@
                        && rgvProtocol.getTaskNo2()==0
                        &&  rgvProtocol.getLoaded2()==0  //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）   ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

                    RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
                    int rgvSignTwoType = 0;
                    if (!Cools.isEmpty(rgvSignTwo)){
                        rgvSignTwoType = rgvSignTwo.getRgvOneSign();
                    }
                    BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        return false;
@@ -4732,7 +4814,13 @@
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && rgvProtocol.getTaskNo2()==0
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

                    RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
                    int rgvSignTwoType = 0;
                    if (!Cools.isEmpty(rgvSignTwo)){
                        rgvSignTwoType = rgvSignTwo.getRgvOneSign();
                    }
                    BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        return false;
@@ -4925,7 +5013,13 @@
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && rgvProtocol.getTaskNo2()==0
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvSlave.getId());

                    RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
                    int rgvSignTwoType = 0;
                    if (!Cools.isEmpty(rgvSignTwo)){
                        rgvSignTwoType = rgvSignTwo.getRgvOneSign();
                    }
                    BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvSlave.getId(),rgvSignTwoType);
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                }
@@ -4940,9 +5034,11 @@
     * 小车XY移动  避让
     * */
    public synchronized boolean rgvAvoidanceXY(Integer rgvId){
        if (rgvId>20){
            rgvId = rgvId-20;
        }
        if (rgvId==1){
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
@@ -4965,7 +5061,6 @@
            }
        }else {
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
@@ -4991,14 +5086,16 @@
    /*
     * 小车XY移动  避让
     * */
    public synchronized boolean rgvAvoidanceXYWrkMast(Integer rgvId){
    public synchronized boolean rgvAvoidanceXYWrkMast(Integer rgvId,short wrkNo1){
        if (rgvId>20){
            rgvId = rgvId-20;
        }
        if (rgvId==2){
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                rgvCommand.setTaskNo1((short) 0); // 工作号
                rgvCommand.setTaskNo1(wrkNo1); // 工作号
                rgvCommand.setAckFinish1((short) 1);  // 任务完成确认位
                rgvCommand.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                rgvCommand.setSourceStaNo1((short)0);     // 源站
@@ -5008,7 +5105,7 @@
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点
                rgvCommand.setSourceStaNo2((short)121);
                rgvCommand.setCommand((short) 2);   //工位2任务确认
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(10, rgvCommand))) {
                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务   step=9，回原点 9999任务号
                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                    return false;
@@ -5021,11 +5118,10 @@
            }
        }else {
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                rgvCommand.setTaskNo1((short) 0); // 工作号
                rgvCommand.setTaskNo1(wrkNo1); // 工作号
                rgvCommand.setAckFinish1((short) 1);  // 任务完成确认位
                rgvCommand.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                rgvCommand.setSourceStaNo1((short)0);     // 源站
@@ -5035,7 +5131,7 @@
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点
                rgvCommand.setSourceStaNo2((short)118);
                rgvCommand.setCommand((short) 2);   //工位2任务确认
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(10, rgvCommand))) {
                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务   step=9，回原点 9999任务号
                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                    return false;
@@ -5053,9 +5149,11 @@
     * 小车XY移动  避让
     * */
    public synchronized boolean rgvAvoidanceXY(Integer rgvId,WrkMastSta wrkMastSta){
        if (rgvId>20){
            rgvId = rgvId-20;
        }
        if (rgvId==1){
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
@@ -5078,7 +5176,6 @@
            }
        }else {
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
@@ -5106,6 +5203,9 @@
    * 小车取货至工位任务
    * */
    public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
        if (rgvId>20){
            rgvId = rgvId-20;
        }
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
@@ -5128,64 +5228,13 @@
        }
    }


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


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

    /*
     * 小车取货至工位任务
     * */
    public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
        if (rgvId>20){
            rgvId = rgvId-20;
        }
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
@@ -5211,6 +5260,9 @@
    * 小车放货至输送线任务
    * */
    public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
        if (rgvId>20){
            rgvId = rgvId-20;
        }
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
@@ -5236,6 +5288,9 @@
     * 小车取空板至工位任务  叠盘
     * */
    public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
        if (rgvId>20){
            rgvId = rgvId-20;
        }
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
@@ -5261,6 +5316,9 @@
     * 小车放空板至输送线任务   //拆盘
     * */
    public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
        if (rgvId>20){
            rgvId = rgvId-20;
        }
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
@@ -5286,6 +5344,9 @@
     * 小车取空板至工位任务  满取
     * */
    public synchronized boolean rgvTakeEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
        if (rgvId>20){
            rgvId = rgvId-20;
        }
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
@@ -5311,6 +5372,9 @@
     * 小车放空板至输送线任务   //满放
     * */
    public synchronized boolean rgvPutEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
        if (rgvId>20){
            rgvId = rgvId-20;
        }
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
@@ -5336,6 +5400,9 @@
     * 小车复位
     * */
    public synchronized boolean rgvComplete(Integer rgvId){
        if (rgvId>20){
            rgvId = rgvId-20;
        }
        try{
            //  命令下发区 --------------------------------------------------------------------------
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
@@ -5356,6 +5423,9 @@
     * 小车复位
     * */
    public synchronized boolean rgvComplete(Integer rgvId,Short taskNo1){
        if (rgvId>20){
            rgvId = rgvId-20;
        }
        try{
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setTaskNo1(taskNo1);
@@ -5381,7 +5451,9 @@
        if (rgvOpen){
            return true;
        }

        if (basRgvMapCurrent.getRgvNo()>2){
            return true;
        }
//        List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
        //更新当前小车锁
        try{
@@ -5389,16 +5461,17 @@
//            Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(staEnd, staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
            Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
            basRgvMapCurrent.setLockEndRoute(fallMerge);
            basRgvMapMapper.updateById(basRgvMapCurrent);

            basRgvMapService.updateById(basRgvMapCurrent);

            //更新另一台小车地图
            Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther();
            BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
            BasRgvMap basRgvMapOther = basRgvMapService.selectById(rgvNoOther);
            List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
            Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//另一台小车可活动最远位置
            Integer lockEndRouteL = RouteUtils.RouteIndexFarMasL(rgvNoOther, lockEndRoute);//另一台小车可活动最远位置
            basRgvMapOther.setEndRoute(lockEndRouteL);
            basRgvMapMapper.updateById(basRgvMapOther);
            basRgvMapService.updateById(basRgvMapOther);
            return true;
        }catch (Exception e){
            log.error("小车地图更新出错！");