*

L

1 天以前 e2fcff4309336fd50bcbf3e35a81b1ff08b36dec

 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;
            }
@@ -1561,7 +1565,15 @@
     */
    public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol) {
        List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
        Double pri = 0.0;
        for (WrkMast wrkMast : wrkMasts) {
            if (wrkMast.getIoType() != 110){
                if (wrkMast.getIoPri()>=pri){
                    pri = wrkMast.getIoPri();
                } else {
                    continue;
                }
            }
            if (wrkMast == null) {
                continue;
            }
@@ -1640,7 +1652,11 @@
                            log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                        } else {
                            if (waitWrkMast.getWrkSts() == 11) {
                                waitWrkMast.setIoPri(15D);
                                if (waitWrkMast.getIoPri() + 100000D < 999999999D) {
                                    waitWrkMast.setIoPri(waitWrkMast.getIoPri()+100000D);
                                } else {
                                    waitWrkMast.setIoPri(999999999D);
                                }
                                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());
@@ -1676,6 +1692,9 @@
                        if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                            continue;
                        }
                    } else if (!shallowLoc.getLocSts().equals("O") ){
                        log.error("{}任务出库失败，浅库位堵塞！浅库位号:{},浅库位状态:{}", wrkMast.getWrkNo(), shallowLocNo,shallowLoc.getLocSts());
                        continue;
                    }
                }

@@ -2341,7 +2360,10 @@
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && 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()==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
                ) {
@@ -2466,11 +2488,12 @@
                    if (Cools.isEmpty(wrkDetls)){
                        continue;
                    }
                    Integer count1 = wrkDetlService.count1();
                    Integer count11 = wrkDetlService.count11();
//                    Integer count1 = wrkDetlService.count1();
                    Integer count111 = wrkDetlService.count111();
//                    Integer count11 = wrkDetlService.count11();
                    Integer count2 = wrkDetlService.count2(wrkDetls.get(0).getOrderNo());
                    Integer count3 = wrkDetlService.count3();
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl,count1+count11,count2,count3)));
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl,count111,count2,count3)));
                }
                commands.add(ledCommand);
            }
@@ -2538,7 +2561,7 @@
                if (staProtocol == null) {
                    continue;
                }
                if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
                if (staProtocol.getWorkNo() != 0 || staProtocol.isLoading()) {
                    reset = false;
                    break;
                }
@@ -2547,21 +2570,21 @@
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
            // led显示默认内容
            if (reset && !ledThread.isLedMk()) {
                if (led.getId() == 7) {
                    ledThread.setLedMk(true);
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
                        log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    } else {

                    }
                } else {
//                if (led.getId() == 7) {
//                    ledThread.setLedMk(true);
//                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
//                        log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
//                    } else {
//
//                    }
//                } else {
                    ledThread.setLedMk(true);
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
                        log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    } else {

                    }
                }
//                }
            }
        }
    }
@@ -3145,9 +3168,9 @@
                if (Cools.isEmpty(basDevp) || basDevp.getReportSign()!=1){
                    continue;
                }
                if (basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 || basDevp.getWrkNo()>9999)){
                    continue;
                }
//                if (basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 || basDevp.getWrkNo()>9999)){
//                    continue;
//                }
                WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
                if (Cools.isEmpty(wrkMast)){
                    continue;
@@ -3166,35 +3189,36 @@
//                if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
//                    continue;
//                }

                if (staProtocol.isEmptyMk()){
                    log.info("{}站点无物，异常！",staNo);
                    continue;
                }
                if (!staProtocol.isLoading()){
                    log.info("{}站点无物，异常！",staNo);
                    continue;
                }
                // 判断是否满足入库条件
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000))
                ) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {

                if (staProtocol.isAutoing() && staProtocol.getWorkNo() == 0) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
//                        && staProtocol.isInEnable()
                    //任务完成
                    boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
                    Thread.sleep(100);

                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                    staProtocol.setStaNo(144);
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
//                    boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
//                    Thread.sleep(100);
                    StaProtocol staProtocolnew = new StaProtocol();
                    staProtocolnew.setSiteId(staProtocol.getSiteId());
                    staProtocolnew.setWorkNo(wrkMast.getWrkNo());
                    staProtocolnew.setStaNo(144);
                    devpThread.setPakMk(staProtocolnew.getSiteId(), false);
                    devpThread.setReportSign(staProtocolnew.getSiteId(), true);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocolnew));
                    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.setWrkSts(52L);
                    wrkMastMapper.updateById(wrkMast);
                    Thread.sleep(100);
//                    Thread.sleep(100);

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

                }
            }
@@ -3401,7 +3425,7 @@
            for (int staNo : staNos){
                BasDevp basDevp = basDevpService.selectById(staNo);
                BasDevp basDevp135 = basDevpService.selectById(135);
                if (basDevp.getWrkNo()==0 || (basDevp.getWrkNo()<10000 && basDevp.getWrkNo()>9899) ){
                if (basDevp.getWrkNo()==0){
                    continue;
                }
                if (basDevp135.getReportSign()!=0){
@@ -3427,8 +3451,8 @@
                } else {
                    staProtocol135 = staProtocol135.clone();
                }
                if (staProtocol135.getWorkNo()<9900 || staProtocol135.getWorkNo()>9999 || staProtocol135.getWorkNo()==0
                        || !staProtocol135.isLoading() || !staProtocol135.isAutoing()){
                if ( staProtocol135.getWorkNo()!=0
                        || !staProtocol135.isLoading() || !staProtocol135.isAutoing() || !staProtocol135.isEmptyMk()){
                    continue;
                }
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -3474,21 +3498,25 @@
//                    }

                    //任务完成
                    boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol135));
                    try{
                        Thread.sleep(100);
                    }catch (Exception e){ }
//                    boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol135));
//                    try{
//                        Thread.sleep(100);
//                    }catch (Exception e){ }
                    basDevp135.setReportSign(2);
                    basDevpService.updateById(basDevp135);
                    int workNo = commonService.getWorkNo(5);
                    staProtocol135.setWorkNo(workNo);
                    staProtocol135.setStaNo(144);
                    devpThread.setPakMk(staProtocol135.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol135));

                    StaProtocol staProtocolnew = new StaProtocol();
                    staProtocolnew.setSiteId(staProtocol135.getSiteId());
                    staProtocolnew.setWorkNo(workNo);
                    staProtocolnew.setStaNo(144);

                    devpThread.setPakMk(staProtocolnew.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocolnew));
                    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！");
                    }
                    boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol135));
//                    boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol135));

                }
            }
@@ -3529,14 +3557,44 @@
                            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;
                        }
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue());
                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=1 || wrkMastSta.getWrkSts()!=1){
                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=1){
                            log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
                            continue;
                        }
                        if (wrkMastSta.getWrkSts()!=1){
                            if (wrkMastSta.getWrkType()==3 && wrkMastSta.getWrkSts()==2 && rgvProtocol.getLoaded1()==1){
//                                boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
//                                if (!rgvComplete){
//                                    log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
//                                    break;
//                                }
                                rgvAvoidanceXYWrkMast(rgvProtocol.getRgvNo(),wrkMastSta.getWrkNo().shortValue());
                                continue;
                            }
                            if (wrkMastSta.getWrkType()==6){
                                boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                                wrkMastSta.setWrkSts(3);
                                wrkMastStaMapper.updateById(wrkMastSta);
                                continue;
                            }
                            continue;
                        }
                        if (wrkMastSta.getWrkType()==5){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                            wrkMastSta.setWrkSts(3);
                            wrkMastStaMapper.updateById(wrkMastSta);
                            continue;
                        }
                       /* WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
@@ -3583,16 +3641,28 @@
                        }
                        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)){
                        if (rgvProtocol.getTaskNo2()==(short)32222){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                            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;
@@ -3634,14 +3704,20 @@
//
//                            }
                        }*/
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }
                        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 {
@@ -3676,22 +3752,33 @@
                // 只有当RGV空闲、自动,工位一无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && (rgvProtocol.getStatusType2() == RgvStatusType.IDLE || (rgvProtocol.getStatusType2() == RgvStatusType.SOS100 && rgvProtocol.getTaskNo2()==0))
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==0
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && rgvProtocol.getTaskNo2()==0
                ) {
                    switch (sign){
                        //执行小车货物搬运任务
                        case 1:
                            signWork = rgvRunWrkMastFullSta(rgvSlave);
                            if (!signWork){
                                signWork = rgvRunWrkMastFullStaPutOrTake(rgvSlave);
                            }
                            break;
                        //执行小车空板搬运任务
                        case 2://放//拆盘
                            signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
                            if (!signWork){
                                signWork = rgvRunWrkMastFullStaPut(rgvSlave);
                            }
                            break;
                        case 3://满放
                            signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
                            if (!signWork){
                                signWork = rgvRunWrkMastFullStaTake(rgvSlave);
                            }
                            break;
                        case 4://取叠盘
                            signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
@@ -3701,6 +3788,7 @@
                            break;
                        case 6:////提升
//                            signWork = qwe();
                            signWork = rgvRunWrkMastMove(rgvSlave);
                            break;
                        default:
                            break;
@@ -3709,12 +3797,21 @@
                        switch (signCount){
                            case 1://执行小车货物搬运任务
                                signWork = rgvRunWrkMastFullSta(rgvSlave);
                                if (!signWork){
                                    signWork = rgvRunWrkMastFullStaPutOrTake(rgvSlave);
                                }
                                break;
                            case 2://放//拆盘
                                signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
                                if (!signWork){
                                    signWork = rgvRunWrkMastFullStaPut(rgvSlave);
                                }
                                break;
                            case 3://满放
                                signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
                                if (!signWork){
                                    signWork = rgvRunWrkMastFullStaTake(rgvSlave);
                                }
                                break;
                            case 4://取叠盘
                                signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
@@ -3766,12 +3863,19 @@
                // 只有当RGV空闲、自动,工位一无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && (rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        || (rgvProtocol.getStatusType2() == RgvStatusType.SOS100 && rgvProtocol.getTaskNo2()==0))
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && 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;
@@ -3862,6 +3966,184 @@
        return false;
    }
    /**
     * 执行小车搬运任务
     */
    public synchronized boolean rgvRunWrkMastFullStaPutOrTake(RgvSlave rgvSlave) {
        try{
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                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());
                return false;
            }

            // 只有当RGV空闲、自动,工位一无物//rgv可用
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && (rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    || (rgvProtocol.getStatusType2() == RgvStatusType.SOS100 && rgvProtocol.getTaskNo2()==0))
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1()==0
                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
            ) {

                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;
                }
                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:满版   3：取放
                        continue;
                    }
                    BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                    if (!basDevp.getAutoing().equals("Y")){
                        continue;
                    }
                    if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                        if (basDevp.getEmptyMk().equals("Y")){
                            continue;
                        }
                        if (basDevp.getLoading().equals("Y") && basDevp.getWrkNo()!=0){
                            Date date = new Date();
                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                            StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                            if (staProtocol == null) {
                                log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
                                continue;
                            }
                            if (!staProtocol.isAutoing()){
                                continue;
                            }
                            if (staProtocol.isLoading() && staProtocol.getWorkNo() != 0){
                                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
                                if (Cools.isEmpty(wrkMast) || wrkMast.getIoType()!=101 || Cools.isEmpty(wrkMast.getSheetNo()) || wrkMast.getSheetNo().equals("0")){
                                    continue;
                                }
                                BasDevp basDevpS = basDevpService.selectById(wrkMastSta.getStaStart());
                                if (!basDevpS.getAutoing().equals("Y") || !basDevpS.getLoading().equals("Y") || basDevpS.getWrkNo()!=wrkMastSta.getWrkNo().intValue()){
                                    continue;
                                }
                                StaProtocol staProtocols = devpThread.getStation().get(basDevpS.getDevNo());
                                if (staProtocols == null) {
                                    log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
                                    continue;
                                }
                                if (!staProtocols.isAutoing() || !staProtocols.isLoading() || staProtocols.getWorkNo() != wrkMastSta.getWrkNo().intValue()){
                                    continue;
                                }


                                log.info(date+"取货任务下发：小车工作档："+wrkMastSta);
                                log.info(date+"取货任务下发：目标站状态："+basDevp);
                                boolean sign = rgvTakeFull(basRgvMap.getRgvNo(), wrkMastSta);
                                if (sign){
                                    boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
                                    if (signMap){
                                        wrkMastSta.setWrkSts(2);
                                        try{
                                            wrkMastStaMapper.updateById(wrkMastSta);
                                        }catch (Exception e){
                                            log.error("更新小车任务失败");
                                        }
                                        return true;
                                    }else {
                                        log.error("3978行，货物搬运单取任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                                    }
                                }else {
                                    log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                                }
                                break;
                            }
                        }
                    }
                }
            } else if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && (rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    || (rgvProtocol.getStatusType2() == RgvStatusType.SOS100 && rgvProtocol.getTaskNo2()==0))
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && 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

                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;
                }
                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue());
                if (Cools.isEmpty(wrkMastSta)){
                    return false;
                }
                if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:满版   3：取放
                    return false;
                }
                BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                if (!basDevp.getAutoing().equals("Y")){
                    return false;
                }
                if (!basDevp.getLoading().equals("Y") && basDevp.getWrkNo()==0){
                    Date date = new Date();
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                    StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                    if (staProtocol == null) {
                        log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
                        return false;
                    }
                    if (!staProtocol.isAutoing()){
                        return false;
                    }
                    if (!staProtocol.isLoading() && staProtocol.getWorkNo() == 0){
                        log.info(date+"取货任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"取货任务下发：目标站状态："+basDevp);
                        boolean sign = rgvPutFull(basRgvMap.getRgvNo(), wrkMastSta);
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
                            if (signMap){
                                wrkMastSta.setWrkSts(1);
                                try{
                                    wrkMastStaMapper.updateById(wrkMastSta);
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return true;
                            }else {
                                log.error("3978行，货物搬运单取任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                            }
                        }else {
                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                        }
                        return true;
                    }
                }
            }
//            }
        }catch (Exception e){
            log.error("3978行执行小车搬运任务下发失败");
            log.error("3978行"+e);
        }
        return false;
    }
    /**
     * 执行小车搬运任务//拆盘
     */
    public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//拆盘
@@ -3883,10 +4165,19 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && 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;
@@ -3968,6 +4259,122 @@
        }
        return false;
    }
    /**
     * 执行小车搬运任务//拆盘
     */
    public synchronized boolean rgvRunWrkMastFullStaPut(RgvSlave rgvSlave) {//拆盘
        try{
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                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());
                return false;
            }

            // 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && (rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    || (rgvProtocol.getStatusType2() == RgvStatusType.SOS100 && rgvProtocol.getTaskNo2()==0))
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1()==1
                    && rgvProtocol.getTaskNo1()!=0 && rgvProtocol.getTaskNo2()==0
            ) {

                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;
                }
                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
                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=6){// 1:满板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放
                        continue;
                    }
                    boolean sign = false;
                    if ( wrkMastSta.getStaEnd()!=0){//放
                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                            continue;
                        }
                        if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                            if (basDevp.getLoadingSuper().equals("Y")){
                                continue;
                            }
                        }
                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                            if (!basDevp.getEmptyMk().equals("Y")){
                                continue;
                            }
                        }
                        Date date = new Date();

                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                        StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                        if (staProtocol == null) {
                            log.info(date+"拆盘任务下发：未查询到站点信息："+wrkMastSta);
                            continue;
                        }
                        if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
                            continue;
                        }
                        if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                            if (staProtocol.isLoadingSuper()){
                                continue;
                            }
                        }
                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                            if (!staProtocol.isEmptyMk()){
                                continue;
                            }
                        }

                        log.info(date+"拆盘任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"拆盘任务下发：目标站状态："+basDevp);
//                        sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
                        sign = rgvPutFull(basRgvMap.getRgvNo(), wrkMastSta);

                    }else {
                        continue;
                    }
                    if (sign){
                        boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
                        if (signMap){
                            wrkMastSta.setWrkSts(2);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            return true;
                        }else {
                            log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                        }
                    }else {
                        log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                    }
                    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);
        }
        return false;
    }

    /**
     * 执行小车搬运任务
@@ -3991,10 +4398,19 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && 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;
@@ -4096,10 +4512,19 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && 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;
@@ -4172,6 +4597,99 @@
        return false;
    }

    public synchronized boolean rgvRunWrkMastFullStaTake(RgvSlave rgvSlave) {//叠盘
        try{
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                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());
                return false;
            }

            // 只有当RGV空闲、自动,工位二无物//rgv可用
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && (rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    || (rgvProtocol.getStatusType2() == RgvStatusType.SOS100 && rgvProtocol.getTaskNo2()==0))
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1() == 0
                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
            ) {

                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;
                }
                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=5){// 1:满板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放
                        continue;
                    }
                    boolean sign = false;
                    if ( wrkMastSta.getStaStart()!=0){//取
                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
                        if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
                            continue;
                        }
                        Date date = new Date();

                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                        StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                        if (staProtocol == null) {
                            log.info(date+"叠盘任务下发：未查询到站点信息："+wrkMastSta);
                            continue;
                        }
                        if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                            continue;
                        }

                        log.info(date+"叠盘任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"叠盘任务下发：目标站状态："+basDevp);
//                        sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
                        sign = rgvTakeFull(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
                    }else {
                        continue;
                    }
                    if (sign){
                        boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
                        if (signMap){
                            wrkMastSta.setWrkSts(1);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            return true;
                        }else {
                            log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                        }
                    }else {
                        log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                    }
                    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);
        }
        return false;
    }

    public synchronized boolean rgvRunWrkMastEmptyStaTakeFull(RgvSlave rgvSlave) {//满取
        try{
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
@@ -4191,10 +4709,19 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && 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;
@@ -4227,7 +4754,7 @@
                                log.info(date+"满取任务下发：未查询到站点信息："+wrkMastSta);
                                continue;
                            }
                            if (!staProtocol.isAutoing() || staProtocol.isLoading()){
                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                                continue;
                            }

@@ -4249,6 +4776,81 @@
                                return true;
                            }else {
                                log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                            }
                        }else {
                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                        }
                        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);
        }
        return false;
    }
    public synchronized boolean rgvRunWrkMastMove(RgvSlave rgvSlave) {//满取
        try{
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    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());
                    return false;
                }

                // 只有当RGV空闲、自动,工位二无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && (rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        || (rgvProtocol.getStatusType2() == RgvStatusType.SOS100 && rgvProtocol.getTaskNo2()==0))
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && rgvProtocol.getTaskNo2()==0
                ) {

                    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;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getWrkType()!=4){// 2:空板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放  4 移动
                            continue;
                        }
                        boolean sign = false;
                        if ( wrkMastSta.getStaEnd()!=0){//放
                            sign = rgvAvoidanceXY(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
                        }else {
                            continue;
                        }
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
                            if (signMap){
                                wrkMastSta.setWrkSts(3);
                                try{
                                    wrkMastStaMapper.updateById(wrkMastSta);
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return true;
                            }else {
                                log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                            }
                        }else {
                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
@@ -4295,8 +4897,9 @@
                // 只有当RGV空闲、自动,工位一无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && rgvProtocol.getTaskNo1()==0
                        //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
                        && rgvProtocol.getTaskNo2()==0
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
@@ -4406,11 +5009,18 @@
                // 只有当RGV空闲、自动,工位一无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && rgvProtocol.getTaskNo1()==0
                          //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && ((rgvProtocol.getTaskNo1()==0 && rgvProtocol.getLoaded1()==0)
                        || (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());
                }
@@ -4425,9 +5035,11 @@
     * 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
@@ -4450,7 +5062,6 @@
            }
        }else {
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
@@ -4473,11 +5084,129 @@
        }
    }

    /*
     * 小车XY移动  避让
     * */
    public synchronized boolean rgvAvoidanceXYWrkMast(Integer rgvId,short wrkNo1){
        if (rgvId>20){
            rgvId = rgvId-20;
        }
        if (rgvId==2){
            try{
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                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
                rgvCommand.setDestinationStaNo1((short)0);     // 目标站
                rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                rgvCommand.setTaskNo2((short)32222); // 工位2工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点
                rgvCommand.setSourceStaNo2((short)121);
                rgvCommand.setCommand((short) 2);   //工位2任务确认
                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;
                } else {
                    return true;
                }
            }catch (Exception e){
                return false;

            }
        }else {
            try{
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                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
                rgvCommand.setDestinationStaNo1((short)0);     // 目标站
                rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                rgvCommand.setTaskNo2((short)32222); // 工位2工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点
                rgvCommand.setSourceStaNo2((short)118);
                rgvCommand.setCommand((short) 2);   //工位2任务确认
                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;
                } else {
                    return true;
                }
            }catch (Exception e){
                return false;

            }
        }
    }

    /*
     * 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{
                //  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((short)32222); // 工位1工作号
                rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  回原点
                //basRgvMap.getLockStartRoute().shortValue()
                rgvCommand.setSourceStaNo1( wrkMastSta.getStaEnd().shortValue());
                rgvCommand.setCommand((short) 1);   //工位1任务确认
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务   step=9，回原点 9999任务号
                    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;

            }
        }else {
            try{
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                rgvCommand.setTaskNo2((short)32222); // 工位2工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点
                rgvCommand.setSourceStaNo2( wrkMastSta.getStaEnd().shortValue());
                rgvCommand.setCommand((short) 2);   //工位2任务确认
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务   step=9，回原点 9999任务号
                    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 rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
        if (rgvId>20){
            rgvId = rgvId-20;
        }
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
@@ -4504,6 +5233,9 @@
     * 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();
@@ -4529,6 +5261,9 @@
    * 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();
@@ -4554,6 +5289,9 @@
     * 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();
@@ -4579,6 +5317,9 @@
     * 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();
@@ -4604,6 +5345,9 @@
     * 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();
@@ -4629,6 +5373,9 @@
     * 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();
@@ -4654,9 +5401,37 @@
     * 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()))) {
                //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={}",rgvId);
                return false;
            } else {
                log.info("RGV命令下发成功，RGV号={}",rgvId);
                return true;
            }
        }catch (Exception e){
            log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
            return false;
        }
    }

    /*
     * 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);
            //  命令下发区 --------------------------------------------------------------------------
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(8, 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={}",rgvId);
                return false;
@@ -4677,7 +5452,9 @@
        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{
@@ -4685,16 +5462,17 @@
//            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！");