空托回流

pang.jiabao

2024-08-18 e31d11ff9f7ca2fd32e06494ad1c325a46624983

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

@@ -3,7 +3,6 @@
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.exception.CoolException;
@@ -21,7 +20,6 @@
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;
@@ -881,6 +879,48 @@
            }
        }
    }
    /**
     * 堆垛机站出库到出库站
     */
    public synchronized void crnStnToOutStn1() {
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            // 遍历堆垛机出库站
            for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
                // 查询工作档
                WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(crnStn.getStaNo());
                if (wrkMast == null) {
                    continue;
                }
                // 判断工作档条件
                if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
                    continue;
                }
                // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
                    // 移动中
                    continue;
                }
                //  判断堆垛机状态等待确认
                if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
                        && crnProtocol.statusType == CrnStatusType.WAITING
                        && crnProtocol.forkPosType == CrnForkPosType.HOME) {

                    // 命令下发区 --------------------------------------------------------------------------
                    // 更新工作档状态为14
                    wrkMast.setWrkSts(13L);
                    wrkMast.setCrnEndTime(new Date());
                    if (wrkMastMapper.updateById(wrkMast) != 0) {
                        // 复位堆垛机
                        crnThread.setResetFlag(true);
                    } else {
                        log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                    }
                }
            }
        }
    }

    /**
     * 堆垛机站出库到出库站
@@ -1275,28 +1315,28 @@
                continue;
            }

            boolean flag = false;
            boolean flag = true;
            // 获取堆垛机入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                flag = true;
            }
            if (!flag) {
                continue;
            }
//            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
//            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
//            if (staProtocol == null) {
//                continue;
//            } else {
//                staProtocol = staProtocol.clone();
//            }
//            // 查询站点详细信息
//            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
//            if (staDetl == null) {
//                log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
//                continue;
//            }
//            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
//                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
//                flag = true;
//            }
//            if (!flag) {
//                continue;
//            }

            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
@@ -1357,18 +1397,19 @@
                }
            }

            // 命令下发区 --------------------------------------------------------------------------
            // 入库命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
            //crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
            //crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
            //crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
            crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
            crnCommand.setSourceStaNo(crnStn.getPlatNo().shortValue());     // 源库位排
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            } else {
@@ -1530,6 +1571,11 @@
    public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol) {
        List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
        for (WrkMast wrkMast : wrkMasts) {
            // 判断堆垛机站点是否可用
            if (!crnEnabled(wrkMast)){
                continue;
            }

            if (wrkMast == null) {
                continue;
            }
@@ -1550,13 +1596,6 @@
                log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                continue;
            }
            //退库模式跳过118、119出库任务
            if (wrkMast.getStaNo()==118 || wrkMast.getStaNo()==119){
                RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
                if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
                    continue;
                }
            }
            // 获取源库位信息
            LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
            if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
@@ -1564,20 +1603,20 @@
                continue;
            }
            // 获取堆垛机出库站信息
            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                break;
//                    continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            //SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            //StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
//            if (staProtocol == null) {
//                break;
////                    continue;
//            } else {
//                staProtocol = staProtocol.clone();
//            }

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

            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
@@ -1587,8 +1626,9 @@
//                    continue;
            }
            // 判断堆垛机出库站状态
            if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                    && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
            //if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
            //        && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
            if (staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
                // 命令下发区 --------------------------------------------------------------------------

                // 堆垛机控制过滤
@@ -1647,7 +1687,7 @@
//                        return;
                }

                // 1.堆垛机开始移动
                // 1.堆垛机开始移动   出库命令
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
@@ -1656,9 +1696,10 @@
                crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
//                crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
//                crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
//                crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                crnCommand.setDestinationStaNo(crnStn.getPlatNo().shortValue());
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
@@ -1675,6 +1716,72 @@
            }
        }

    }

    /**
     * 确认出库码头是否可用
     * @param wrkMast 工作档
     * @return 是否可用
     */
    private boolean crnEnabled(WrkMast wrkMast) {

        String url = "http://192.168.14.249:8008";
        String path = "/api/Task/DockStatus";

        // 获取请求头
        Map<String,Object> headers = new HashMap<>();
        headers.put("digi-type","sync ");
        headers.put("digi-protocol","raw");
        headers.put("digi-datakey"," XCommon.ImportData");

        // 构造请求体
        JSONObject jsonObject = new JSONObject();
        jsonObject.put("staNo", wrkMast.getSourceStaNo());
        jsonObject.put("workNo", wrkMast.getWrkNo());
        String body = jsonObject.toJSONString();

        boolean success;
        String response;
        try {
            response = new HttpHandler.Builder()
                    .setUri(url)
                    .setPath(path)
                    .setHeaders(headers)
                    .setJson(body)
                    .build()
                    .doPost();
            if (!Cools.isEmpty(response)) {
                JSONObject jsonObject1 = JSONObject.parseObject(response);
                if ((Integer) jsonObject1.get("code") == 200 && (Integer) jsonObject1.get("data") == 1){
                    success = true;
                }else {
                    success = false;
                }
            } else {
                log.error("请求接口失败！！！url：{}；request：{}；response：{}", url + path, body, response);
                throw new CoolException("下发出库任务给GWCS(从出库码头到出库口)失败");
            }
        } catch (Exception e) {
            success = false;
            log.error("确认出库码头是否可用异常，工作号：{}，{}", wrkMast.getWrkNo(),e.getMessage());
        } finally {

//            try {
//                // 保存接口日志
//                apiLogService.save(
//                        "从出库码头到出库口",
//                        MesConstant.URL + MesConstant.PAKIN_URL,
//                        null,
//                        "127.0.0.1",
//                        jsonObject.toJSONString(),
//                        response,
//                        success
//                );
//            } catch (Exception e) {
//                log.error("接口日志保存异常", e);
//            }
        }
        return success;
    }

    /**
@@ -1913,6 +2020,9 @@
                    // 入库 + 库位转移  ==> 4.入库完成
                    if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                        wrkMast.setWrkSts(4L);
                        if (wrkMast.getIoType() == 3) {
                            wrkMast.setWrkSts(13L);
                        }
                    } else {
                        continue;
                    }
@@ -2318,6 +2428,7 @@
                        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")
@@ -3318,7 +3429,7 @@
                    wrkMast.setSheetNo("5");
                    wrkMastMapper.updateById(wrkMast);

                    boolean result4 = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol147));
                    boolean result4 = MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol147));

                }
            }
@@ -3451,8 +3562,13 @@
                        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);
                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
                            if (staProtocol == null) {
                                continue;
                            } else {
                                staProtocol = staProtocol.clone();
                            }
                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                                continue;
                            }
@@ -3681,19 +3797,43 @@
                        return false;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    if (rgvProtocol.getRgvNo()==1){//切换近范围
                        route = routeNear;
                    }
                    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") || basDevp.getLoading().equals("Y")){
                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                            continue;
                        }
                        List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
                            add(101);add(102);add(104);add(105);add(107);add(108);add(118);add(119);add(122);
                        }};
                        List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
                            add(110);add(111);add(113);add(114);add(116);add(117);add(120);add(121);add(122);add(123);
                        }};
                        if (basRgv.getRgvNo()==1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())){
                            continue;
                        }else if (basRgv.getRgvNo()==2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())){
                            continue;
                        }

                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                            if (!basDevp.getEmptyMk().equals("Y")){
                                continue;
                            }
                        }
                        Date date = new Date();
                        log.info(date+"取放任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"取放任务下发：目标站状态："+basDevp);
                        boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),rgvProtocol.getRgvNo()==1);
                            if (signMap){
                                wrkMastSta.setWrkSts(1);
                                try{
@@ -3750,6 +3890,10 @@
                    }
                    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<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
                    if (rgvProtocol.getRgvNo()==2){//切换近范围
                        route = routeNear;
                    }
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=2){// 2:空板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放
@@ -3758,15 +3902,23 @@
                        boolean sign = false;
                        if ( wrkMastSta.getStaEnd()!=0){//放
                            BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                                continue;
                            }
                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                                if (!basDevp.getEmptyMk().equals("Y")){
                                    continue;
                                }
                            }
                            Date date = new Date();
                            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
                        }else {
                            continue;
                        }
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd(),rgvProtocol.getRgvNo()==2);
                            if (signMap){
                                wrkMastSta.setWrkSts(2);
                                try{
@@ -3824,6 +3976,10 @@
                    }
                    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<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
                    if (rgvProtocol.getRgvNo()==2){//切换近范围
                        route = routeNear;
                    }
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=6){// 2:空板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放  7:提升
@@ -3832,15 +3988,23 @@
                        boolean sign = false;
                        if ( wrkMastSta.getStaEnd()!=0){//满放
                            BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                                continue;
                            }
                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                                if (!basDevp.getEmptyMk().equals("Y")){
                                    continue;
                                }
                            }
                            Date date = new Date();
                            log.info(date+"满放任务下发：小车工作档："+wrkMastSta);
                            log.info(date+"满放任务下发：目标站状态："+basDevp);
                            sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
                        }else {
                            continue;
                        }
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd(),rgvProtocol.getRgvNo()==2);
                            if (signMap){
                                wrkMastSta.setWrkSts(2);
                                try{
@@ -3894,6 +4058,10 @@
                        return false;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
                    if (rgvProtocol.getRgvNo()==2){//切换近范围
                        route = routeNear;
                    }
                    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){
@@ -3906,12 +4074,31 @@
                            if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
                                continue;
                            }
                            List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
                                add(101);add(102);add(104);add(105);add(107);add(108);add(118);add(119);add(122);
                            }};
                            List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
                                add(110);add(111);add(113);add(114);add(116);add(117);add(120);add(121);add(122);add(123);
                            }};
                            if (basRgv.getRgvNo()==1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())){
                                continue;
                            }else if (basRgv.getRgvNo()==2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())){
                                continue;
                            }
                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                                if (!basDevp.getEmptyMk().equals("Y")){
                                    continue;
                                }
                            }
                            Date date = new Date();
                            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
                        }else {
                            continue;
                        }
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute(),rgvProtocol.getRgvNo()==2);
                            if (signMap){
                                wrkMastSta.setWrkSts(1);
                                try{
@@ -3966,7 +4153,18 @@
                    }
                    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<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
                    if (rgvProtocol.getRgvNo()==2){//切换近范围
                        route = routeNear;
                    }
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                    WrkMast wrkMast = wrkMastMapper.selectBy122ManQu(122,110,15L);
                    if (!Cools.isEmpty(wrkMast)){
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
                        if (!Cools.isEmpty(wrkMastSta) && wrkMastSta.getType()==2 && wrkMastSta.getWrkType()==5 ){
                            wrkMastStaList.add(wrkMastSta);
                        }
                    }
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=5){// 2:空板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放
                            continue;
@@ -3977,12 +4175,15 @@
                            if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
                                continue;
                            }
                            Date date = new Date();
                            log.info(date+"满取任务下发：小车工作档："+wrkMastSta);
                            log.info(date+"满取任务下发：目标站状态："+basDevp);
                            sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
                        }else {
                            continue;
                        }
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute(),rgvProtocol.getRgvNo()==2);
                            if (signMap){
                                wrkMastSta.setWrkSts(1);
                                try{
@@ -4013,10 +4214,18 @@
    * */
    public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
        try{
            Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
            if (integer==0){
//            Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
//            if (integer==0){
//                return;
//            }
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0);
            if (Cools.isEmpty(wrkMastSta)){
                return;
            }
            Integer[] rgvRunSta = RouteUtils.RgvRunSta(wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
            boolean signRgv = true;
            boolean signRgv1 = true;
            boolean signRgv2 = true;
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
@@ -4038,17 +4247,48 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
                        continue;
//                    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) )){
                        continue;
                        signRgv = false;
                        break;
                    } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
                        signRgv = false;
                        break;
                    }
                }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;
                    }
                    rgvAvoidanceXY(rgvProtocol.getRgvNo());
                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());

                    // 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
                    ) {
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        rgvAvoidanceXY(rgvProtocol.getRgvNo(),rgvRunSta);
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                    }
                }
            }
        }catch (Exception e){
@@ -4095,10 +4335,10 @@
    /*
     * 小车XY移动  避让
     * */
    public synchronized boolean rgvAvoidanceXY(Integer rgvId){
        if (rgvId==1){
    public synchronized boolean rgvAvoidanceXY(Integer rgvId, Integer[] rgvRunSta){
        if (rgvId==2){
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
//                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
@@ -4106,7 +4346,7 @@
                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(rgvRunSta[1].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
@@ -4121,14 +4361,14 @@
            }
        }else {
            try{
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
//                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(rgvRunSta[0].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
@@ -4344,6 +4584,13 @@
    /*
     * 小车地图更新  更新锁
     * */
    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd,boolean sign){
        if (sign){
            staStart = RouteUtils.RouteIndexFarMasOtherNearUpMap(basRgvMapCurrent.getRgvNo(),staStart);
            staEnd = RouteUtils.RouteIndexFarMasOtherNearUpMap(basRgvMapCurrent.getRgvNo(),staEnd);
        }
        return rgvMapUpdate(basRgvMapCurrent,staStart,staEnd);
    }
    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){

//        List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
@@ -4360,6 +4607,7 @@
            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);
            basRgvMapOther.setEndRouteOther(RouteUtils.RouteIndexFarMasOtherNear(rgvNoOther,lockEndRoute));
            basRgvMapMapper.updateById(basRgvMapOther);
            return true;
        }catch (Exception e){
@@ -4368,4 +4616,65 @@
        }
    }

    /**
     * 二楼空托回流到一楼，3.站到站任务
     */
    public synchronized void emptyTrayReflux() {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            List<WrkMast> wrkMastList = wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 2)
                    .eq("crn_no",crn.getId()).eq("io_type", 3));
            for (WrkMast wrkMast : wrkMastList) {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    continue;
                }
                if (crnProtocol.getStatusType() == CrnStatusType.IDLE
                        && crnProtocol.getTaskNo() == 0
                        && crnProtocol.getModeType() == CrnModeType.AUTO
                        && crnProtocol.getLoaded() == 0
                        && crnProtocol.getForkPos() == 0) {

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

                    // 入库命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                    //crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                    //crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                    //crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                    crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                    crnCommand.setSourceStaNo(crnStn.getPlatNo().shortValue());     // 源库位排
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改工作档状态 2.设备上走 => 3.吊车入库中
                        Date now = new Date();
                        wrkMast.setWrkSts(3L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                    }
                    break;
                }

            }
        }
    }
}