zy-wcs.git - Gitblit

			@@ -3,9 +3,9 @@
			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.baomidou.mybatisplus.mapper.Wrapper;
			import com.core.common.Cools;
			import com.core.common.DateUtils;
			import com.core.common.SpringUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.*;
			@@ -21,7 +21,6 @@
			import com.zy.common.utils.CollectionUtils;
			import com.zy.common.utils.HttpHandler;
			import com.zy.common.utils.RedisUtil;
			import com.zy.common.utils.RgvUtils;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			import com.zy.core.cache.MessageQueue;
			@@ -74,8 +73,6 @@
			@Autowired
			private LocMastService locMastService;
			@Autowired
			private StaDescService staDescService;
			@Autowired
			private BasCrnpService basCrnpService;
			@Autowired
			private BasRgvService basRgvService;
			@@ -94,16 +91,17 @@
			@Autowired
			private BasRgvPathService basRgvPathService;
			@Autowired
			private RedisUtil redisUtil;
			@Autowired
			private WrkMastStaMapper wrkMastStaMapper;
			@Autowired
			private BasRgvMapMapper basRgvMapMapper;
			@Autowired
			private RgvOneSignMapper rgvOneSignMapper;
			@Autowired
			private BasRgvMapService basRgvMapService;

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

			@Value("${wms.rgvOpen}")
			private boolean rgvOpen;

			/**
			* 组托
			@@ -531,14 +529,14 @@
			continue;
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
			WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");

			if (wrkMast == null) {
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()!=0) {//&& staProtocol.isInEnable()
			if (staProtocol.isEmptyMk()){
			log.error("站点号"+staProtocol.getSiteId()+"空板信号异常！");
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());

			if (wrkMast == null \|\| !wrkMast.getSheetNo().equals("3")) {
			continue;
			}
			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			@@ -574,12 +572,12 @@
			.doPost();
			} catch(Exception e){
			log.error("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
			e.printStackTrace();
			// log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
			// e.printStackTrace();
			continue;
			}
			log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response);
			// log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			// log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response);
			if(response.equals("")) {
			continue;
			}
			@@ -587,35 +585,35 @@
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			Integer code = jsonObject.getInteger("code");
			if (code == 200) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			if (Cools.isEmpty(dto) \|\| Cools.isEmpty(dto.getStaNo())) {
			log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
			} else {
			// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			// if (Cools.isEmpty(dto) \|\| Cools.isEmpty(dto.getStaNo())) {
			// log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
			// } else {
			log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位成功===>>" + jsonObject.toJSONString());
			try {
			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(dto.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			// ledThread.errorReset();
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			log.info("任务号"+wrkMast.getWrkNo()+"盘点/拣料再入库任务下发成功===>>" + staProtocol);
			} catch (Exception e) {
			log.error("盘点再入库失败===>>" + e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			// try {
			// // 更新站点信息且下发plc命令
			// staProtocol.setWorkNo(wrkMast.getWrkNo());
			// staProtocol.setStaNo(dto.getStaNo());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			//// ledThread.errorReset();
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			// }
			// log.info("任务号"+wrkMast.getWrkNo()+"盘点/拣料再入库任务下发成功===>>" + staProtocol);
			// } catch (Exception e) {
			// log.error("盘点再入库失败===>>" + e);
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			// }
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			log.error("stnToCrnStnPick2===>>fail", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			// // 获取目标站
			@@ -864,9 +862,25 @@
			continue;
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
			WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
			if (wrkMast == null) {
			// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0) {
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
			// if (wrkMast == null) {
			// WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
			// if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
			// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
			// if (Cools.isEmpty(wrkMastSta)){
			// WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
			// wrkMastSta1.setType(2);
			// wrkMastSta1.setWrkType(1);
			// wrkMastStaMapper.insert(wrkMastSta1);
			// }
			// }
			// }
			// } else
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isEmptyMk() && staProtocol.isPakMk() && staProtocol.getWorkNo()>0) {
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
			if (wrkMast == null \|\| (wrkMast.getSheetNo().equals("3") && wrkMast.getIoType()==101)) {
			WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
			if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
			@@ -1197,11 +1211,16 @@
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			// wrkMast.setUpdMk("Y");
			// wrkMast.setIoPri(14D);
			// wrkMastMapper.updateById(wrkMast);
			// // 生成工作档,将浅库位移转到新的库位中
			// moveLocForDeepLoc(slave, shallowLoc);
			if (moveLocForDeepLoc(slave, shallowLoc)){
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			}
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			}
			@@ -1291,7 +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;
			}
			@@ -1341,11 +1364,17 @@
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			// wrkMast.setUpdMk("Y");
			// wrkMast.setIoPri(14D);
			// wrkMastMapper.updateById(wrkMast);
			// // 生成工作档,将浅库位移转到新的库位中
			// moveLocForDeepLoc(slave, shallowLoc);

			if (moveLocForDeepLoc(slave, shallowLoc)){
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			}
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			}
			@@ -1473,10 +1502,16 @@
			// if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())
			// \|\| Cools.isEmpty(waitWrkMast)) {
			if (Cools.isEmpty(waitWrkMast)) {
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			// wrkMast.setUpdMk("Y");
			// wrkMastMapper.updateById(wrkMast);
			// // 生成工作档,将浅库位移转到新的库位中
			// moveLocForDeepLoc(slave, shallowLoc);

			if (moveLocForDeepLoc(slave, shallowLoc)){
			wrkMast.setUpdMk("Y");
			// wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			}
			}
			log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			@@ -1530,7 +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;
			}
			@@ -1553,7 +1596,7 @@
			}
			//退库模式跳过118、119出库任务
			if (wrkMast.getStaNo()==118 \|\| wrkMast.getStaNo()==119){
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign("oneSign");
			if (Cools.isEmpty(rgvOneSign) \|\| rgvOneSign.getRgvOneSign()==1){
			continue;
			}
			@@ -1609,7 +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());
			@@ -1627,10 +1674,16 @@
			// if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())
			// \|\| Cools.isEmpty(waitWrkMast)) {
			if (Cools.isEmpty(waitWrkMast)) {
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			// wrkMast.setUpdMk("Y");
			// wrkMastMapper.updateById(wrkMast);
			// // 生成工作档,将浅库位移转到新的库位中
			// moveLocForDeepLoc(slave, shallowLoc);

			if (moveLocForDeepLoc(slave, shallowLoc)){
			wrkMast.setUpdMk("Y");
			// wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			}
			}
			log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			@@ -1639,6 +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;
			}
			}

			@@ -2283,7 +2339,7 @@
			*/
			public synchronized void storeEmptyPlt3() {
			try{
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign("oneSign");
			if (Cools.isEmpty(rgvOneSign) \|\| rgvOneSign.getRgvOneSign()==1){
			return;
			}
			@@ -2304,7 +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
			) {
			@@ -2319,6 +2378,7 @@
			param.setIoType(10);
			param.setSourceStaNo(122);
			param.setLocType1((short)1);
			param.setRgvNo(rgvProtocol.getRgvNo());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/empty/loc/v1")
			@@ -2364,7 +2424,8 @@
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			List<LedCommand> commands = new ArrayList<>();
			// 工作档集合
			String orderNo = null;
			// 工作档集合
			List<WrkMast> wrkMasts = new ArrayList<>();
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			@@ -2424,7 +2485,15 @@
			// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
			if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl)));
			if (Cools.isEmpty(wrkDetls)){
			continue;
			}
			// 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,count111,count2,count3)));
			}
			commands.add(ledCommand);
			}
			@@ -2492,7 +2561,7 @@
			if (staProtocol == null) {
			continue;
			}
			if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
			if (staProtocol.getWorkNo() != 0 \|\| staProtocol.isLoading()) {
			reset = false;
			break;
			}
			@@ -2501,21 +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 {

			}
			}
			// }
			}
			}
			}
			@@ -2600,7 +2669,7 @@
			* 因双深库位阻塞，对浅库位进行移转（立即执行版)
			* tip：同步
			*/
			private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
			private synchronized boolean moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
			try {
			List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
			LocMast loc = null;
			@@ -2644,74 +2713,90 @@

			if (null == loc) {
			log.error("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			throw new CoolException("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			}

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			throw new CoolException("保存工作档明细失败");
			return false;
			// throw new CoolException("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			} else {
			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			log.error("双深库位 --- 浅库位阻塞异常！ ====>保存工作档失败");
			return true;
			// throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			log.error("双深库位 --- 浅库位阻塞异常！ ====>保存工作档明细失败");
			return true;
			// throw new CoolException("保存工作档明细失败");
			}
			}
			}
			}
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)) {
			throw new CoolException("更新源库位状态失败");
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)) {
			log.error("双深库位 --- 浅库位阻塞异常！ ====>更新源库位状态失败");
			return true;
			// throw new CoolException("更新源库位状态失败");
			}
			} else {
			log.error("双深库位 --- 浅库位阻塞异常！ ====>源库位出库失败");
			return true;
			// throw new CoolException("源库位出库失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			log.error("双深库位 --- 浅库位阻塞异常！ ====>更新目标库位状态失败");
			return true;
			// throw new CoolException("更新目标库位状态失败");
			}
			} else {
			log.error("双深库位 --- 浅库位阻塞异常！ ====>移转失败");
			return true;
			// throw new CoolException("移转失败");
			}
			} else {
			throw new CoolException("移转失败");
			}

			} catch (Exception e) {
			log.error("双深库位阻塞，对浅库位进行移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			return true;
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			return true;
			}

			// /**
			@@ -3083,9 +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;
			@@ -3104,35 +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));

			}
			}
			@@ -3144,7 +3230,7 @@
			}

			/**
			* 其他 ===>> 码垛完成驱动托盘进入下一步
			* 其他 ===>> 码垛完成驱动托盘进入下一步 2===》3
			*/
			public synchronized void stackingCompletionDriveTrayOk2() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			@@ -3160,7 +3246,7 @@
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()!=0 && staProtocol.isOutEnable()) {//
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()!=0) {//
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());

			if (wrkMast == null) {
			@@ -3173,7 +3259,7 @@
			}
			if (wrkMast.getIoType()==101){
			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			// boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			wrkMast.setSheetNo("3");
			wrkMastMapper.updateById(wrkMast);
			}else {
			@@ -3182,17 +3268,17 @@
			continue;
			}
			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			// boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			wrkMast.setSheetNo("3");
			wrkMastMapper.updateById(wrkMast);

			try{
			Thread.sleep(100);
			}catch (Exception e){
			// try{
			// Thread.sleep(100);
			// }catch (Exception e){
			//
			// }

			}

			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));

			}
			}
			@@ -3339,7 +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){
			@@ -3365,8 +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);
			@@ -3377,6 +3463,26 @@
			}

			if (!staProtocol.isLoading()){
			continue;
			}
			StaProtocol staProtocol120 = devpThread.getStation().get(120);
			if (staProtocol120 == null) {
			continue;
			} else {
			staProtocol120 = staProtocol120.clone();
			}

			if (staProtocol120.isLoading()){
			continue;
			}
			StaProtocol staProtocol121 = devpThread.getStation().get(121);
			if (staProtocol121 == null) {
			continue;
			} else {
			staProtocol121 = staProtocol121.clone();
			}

			if (staProtocol121.isLoading()){
			continue;
			}
			// if (!staProtocol.getWorkNo().equals(wrkMast131.getWrkNo())){
			@@ -3392,21 +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));

			}
			}
			@@ -3447,17 +3557,47 @@
			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;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			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());
			if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
			Thread.sleep(200);
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			@@ -3493,7 +3633,7 @@
			// }catch (Exception e){
			//
			// }
			}
			}*/
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			@@ -3501,16 +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;
			@@ -3520,7 +3672,7 @@
			log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			/*WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
			Thread.sleep(200);
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			@@ -3551,15 +3703,21 @@
			// }catch (Exception e){
			//
			// }
			}
			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 {
			@@ -3594,22 +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);
			@@ -3619,6 +3788,7 @@
			break;
			case 6:////提升
			// signWork = qwe();
			signWork = rgvRunWrkMastMove(rgvSlave);
			break;
			default:
			break;
			@@ -3627,12 +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);
			@@ -3684,12 +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;
			@@ -3737,7 +3923,7 @@
			}
			}
			BasDevp basDevpS = basDevpService.selectById(wrkMastSta.getStaStart());
			if (!basDevpS.getAutoing().equals("Y") \|\| basDevpS.getLoading().equals("Y") \|\| basDevpS.getWrkNo()!=wrkMastSta.getWrkNo().intValue()){
			if (!basDevpS.getAutoing().equals("Y") \|\| !basDevpS.getLoading().equals("Y") \|\| basDevpS.getWrkNo()!=wrkMastSta.getWrkNo().intValue()){
			continue;
			}
			StaProtocol staProtocols = devpThread.getStation().get(basDevpS.getDevNo());
			@@ -3745,7 +3931,7 @@
			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()){
			if (!staProtocols.isAutoing() \|\| !staProtocols.isLoading() \|\| staProtocols.getWorkNo() != wrkMastSta.getWrkNo().intValue()){
			continue;
			}

			@@ -3780,6 +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
			@@ -3801,10 +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;
			@@ -3886,6 +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
			@@ -3909,10 +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;
			@@ -4014,10 +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;
			@@ -4090,6 +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()) {
			@@ -4109,10 +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;
			@@ -4145,7 +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;
			}

			@@ -4167,6 +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());
			@@ -4213,71 +4897,92 @@
			// 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
			) {

			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMap.getRgvNo(), basRgvMap.getEndRoute()); //获取合并干涉项
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(),fallMerge);
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route ,route);
			if (!wrkMastStaList.isEmpty()){
			log.info("小车存在可执行任务，跳过避让！！4214");
			return;
			}
			if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
			// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
			if (rgvProtocol.getRgvNo()==1){
			signRgv1 = false;
			}else {
			signRgv2 = false;
			if (rgvProtocol.getRgvNo()!=1){
			if (!rgvProtocol.getRgvPosI().equals(120) && !rgvProtocol.getRgvPosI().equals(110)){
			continue;
			}
			}
			if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) \|\| rgvProtocol.getRgvPosI().equals(102) )){
			signRgv1 = false;
			continue;
			} else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) \|\| rgvProtocol.getRgvPosI().equals(117) ) ){
			signRgv2 = false;
			rgvAvoidanceXY(rgvProtocol.getRgvNo());
			// return;
			continue;
			}
			if (!rgvProtocol.getRgvPosI().equals(110) && !rgvProtocol.getRgvPosI().equals(108) && !rgvProtocol.getRgvPosI().equals(119)){
			continue;
			}
			Integer count108Y = wrkMastStaMapper.selectAllWrkCount108Y();
			if (count108Y!=0){
			continue;
			}
			// Integer count108 = wrkMastStaMapper.selectAllWrkCount108();
			// if (count108!=0){
			// continue;
			// }
			rgvAvoidanceXY(rgvProtocol.getRgvNo());
			continue;
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMap.getRgvNo(), basRgvMap.getEndRoute()); //获取合并干涉项
			// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(),fallMerge);
			// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route ,route);
			// if (!wrkMastStaList.isEmpty()){
			// log.info("小车存在可执行任务，跳过避让！！4214");
			// return;
			// }
			// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			//// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
			//// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
			// if (rgvProtocol.getRgvNo()==1){
			// signRgv1 = false;
			// }else {
			// signRgv2 = false;
			// }
			// }
			// if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) \|\| rgvProtocol.getRgvPosI().equals(102) )){
			// signRgv1 = false;
			// continue;
			// } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) \|\| rgvProtocol.getRgvPosI().equals(117) ) ){
			// signRgv2 = false;
			// continue;
			// }
			}else {
			signRgv = false;
			break;
			}
			}
			if (signRgv && (signRgv1 \|\| signRgv2)){
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			&& rgvProtocol.getTaskNo1()==0
			&& rgvProtocol.getTaskNo2()==0
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			) {
			if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) \|\| rgvProtocol.getRgvPosI().equals(102) )){
			continue;
			} else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) \|\| rgvProtocol.getRgvPosI().equals(117) ) ){
			continue;
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			rgvAvoidanceXY(rgvProtocol.getRgvNo());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());

			}
			}
			}
			// if (signRgv && (signRgv1 \|\| signRgv2)){
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// if (rgvProtocol == null) {
			// continue;
			// }
			//
			// // 只有当RGV空闲、自动,工位一无物//rgv可用
			// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			// && rgvProtocol.getModeType() == RgvModeType.AUTO
			// && rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			// && rgvProtocol.getTaskNo1()==0
			// && rgvProtocol.getTaskNo2()==0
			// && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			// && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			// ) {
			// if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) \|\| rgvProtocol.getRgvPosI().equals(102) )){
			// continue;
			// } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) \|\| rgvProtocol.getRgvPosI().equals(117) ) ){
			// continue;
			// }
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			// rgvAvoidanceXY(rgvProtocol.getRgvNo());
			// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			//
			// }
			// }
			// }
			}catch (Exception e){
			log.error("4109行执行小车初始化任务下发失败");
			log.error("4109行"+e);
			@@ -4304,11 +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());
			}
			@@ -4323,9 +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
			@@ -4333,7 +5047,7 @@
			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( (short)101);
			rgvCommand.setSourceStaNo1( (short)104);
			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
			@@ -4348,14 +5062,128 @@
			}
			}else {
			try{
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
			// 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((short)117);
			rgvCommand.setSourceStaNo2((short)114);
			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
			@@ -4376,6 +5204,9 @@
			* 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();
			@@ -4402,6 +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();
			@@ -4427,6 +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();
			@@ -4452,6 +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();
			@@ -4477,6 +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();
			@@ -4502,6 +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();
			@@ -4527,6 +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();
			@@ -4552,6 +5401,9 @@
			* 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()))) {
			@@ -4569,10 +5421,40 @@
			}

			/*
			* 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;
			} 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;
			}
			}

			/*
			* 小车地图更新更新锁
			* */
			public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){

			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{
			@@ -4580,15 +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
			basRgvMapOther.setEndRoute(lockEndRoute);
			basRgvMapMapper.updateById(basRgvMapOther);
			Integer lockEndRouteL = RouteUtils.RouteIndexFarMasL(rgvNoOther, lockEndRoute);//另一台小车可活动最远位置
			basRgvMapOther.setEndRoute(lockEndRouteL);
			basRgvMapService.updateById(basRgvMapOther);
			return true;
			}catch (Exception e){
			log.error("小车地图更新出错！");
			@@ -4596,4 +5480,87 @@
			}
			}


			/**
			* ste充电任务创建 //完成
			*/
			public synchronized void armNoStartTwoLo() {
			int[] staNos =new int[]{215,219};
			for (int staNo : staNos){
			try{
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk()){
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign("armNo"+staNo);
			if (!Cools.isEmpty(rgvOneSign) && rgvOneSign.getRgvOneSign() == 1){
			int workNo = commonService.getWorkNo(6);

			StaProtocol staProtocolnew = new StaProtocol();
			staProtocolnew.setSiteId(staNo);
			staProtocolnew.setWorkNo(workNo);
			staProtocolnew.setStaNo(staNo==215? 217:221);
			boolean result1 = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, staProtocolnew));

			devpThread.setPakMk(staProtocolnew.getSiteId(), false);

			boolean result2 = MessageQueue.offer(SlaveType.Devp, 2, new Task(2, staProtocolnew));
			if (!result2) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", 2);
			}
			if (!staProtocol.isLoading()){
			updateRgvOneSign("armNo"+staNo,0);
			}


			boolean result3 = MessageQueue.offer(SlaveType.Devp, 2, new Task(4, staProtocolnew));
			}
			}
			}catch (Exception e){
			log.error("站点"+staNo+"2楼机械臂码垛后标记清除失败，异常信息："+e);
			}
			}
			}

			public synchronized void armNoCleanUpTwoLo() {
			int[] staNos =new int[]{215,219};
			for (int staNo : staNos){
			try{
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (!staProtocol.isLoading()){
			updateRgvOneSign("armNo"+staNo,0);
			}
			}catch (Exception e){
			log.error("站点"+staNo+"2楼机械臂码垛后标记清除失败，异常信息："+e);
			}
			}
			}

			public void updateRgvOneSign(String signType,Integer oneSign){
			try{
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign(signType);
			if (!Cools.isEmpty(rgvOneSign)){
			rgvOneSign.setRgvOneSign(oneSign);
			rgvOneSignMapper.updateById(rgvOneSign);
			}
			} catch (Exception e){
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign(signType);
			if (!Cools.isEmpty(rgvOneSign)){
			rgvOneSign.setRgvOneSign(999);
			rgvOneSignMapper.updateById(rgvOneSign);
			}
			}
			}

			}