zy-wcs.git - Gitblit

			@@ -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;
			@@ -47,6 +45,7 @@
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

			import java.util.*;
			import java.util.concurrent.TimeUnit;
			import java.util.stream.Collectors;

			/**
			@@ -98,6 +97,8 @@
			private WrkMastStaMapper wrkMastStaMapper;
			@Autowired
			private BasRgvMapMapper basRgvMapMapper;
			@Autowired
			private RgvOneSignMapper rgvOneSignMapper;

			@Value("${wms.url}")
			private String wmsUrl;
			@@ -135,6 +136,47 @@
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

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

			// 入出库模式判断
			@@ -385,7 +427,7 @@

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
			// WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
			WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"7");
			if (wrkMast == null) {
			// 无拣料数据
			continue;
			@@ -395,64 +437,67 @@
			continue;
			}

			// 获取目标站
			Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			.eq("type_no", wrkMast.getIoType() - 50)
			.eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
			.eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (Cools.isEmpty(staDesc)) {
			log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			continue;
			}

			// 获取库位号
			try {
			// 保存工作明细档历史档
			if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作明细档历史档失败");
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(wrkMast.getBarcode());
			param.setIoType(wrkMast.getIoType());
			param.setSourceStaNo(pickSta.getStaNo()); //作业站点
			param.setLocType1((short)1);
			String response = "";
			log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			try {
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin2/loc/v1")
			.setJson(JSON.toJSONString(param))
			.setTimeout(15, TimeUnit.SECONDS)
			.build()
			.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();
			continue;
			}
			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作主档历史档失败");
			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;
			}

			Date now = new Date();
			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			// 更新工作档数据状态
			wrkMast.setIoTime(now);
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
			wrkMast.setStaNo(staNo); // 目标站
			wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档数据状态失败");
			}
			// 更新明细档io_time (历史档关联使用）
			wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
			// 修改库位状态 Q.拣料/盘点/并板再入库
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException("修改库位状态失败");
			JSONObject jsonObject = JSON.parseObject(response);
			// 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 {
			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();
			}
			}
			} 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();
			continue;
			}

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			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());
			}

			}
			@@ -487,19 +532,6 @@
			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() + 9999L);
			// if (Cools.isEmpty(wrkMastSta)){
			// WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
			// wrkMastSta1.setType(2);
			// wrkMastSta1.setWrkType(1);
			// wrkMastStaMapper.insert(wrkMastSta1);
			// }
			// continue;
			// }
			// log.error("站点号"+staProtocol.getSiteId()+"未查询到工作档案！");
			// 无拣料数据
			continue;
			}
			if (staProtocol.isEmptyMk()){
			@@ -511,65 +543,137 @@
			continue;
			}

			// 获取目标站
			Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			.eq("type_no", wrkMast.getIoType() - 50)
			.eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
			.eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (Cools.isEmpty(staDesc)) {
			log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			String barcode = wrkMast.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取库位号
			try {
			// 保存工作明细档历史档
			if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作明细档历史档失败");
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(wrkMast.getIoType());
			param.setSourceStaNo(pickSta.getStaNo()); //作业站点
			param.setLocType1((short)1);
			String response = "";
			log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
			try {
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin2/loc/v1")
			.setJson(JSON.toJSONString(param))
			.setTimeout(15, TimeUnit.SECONDS)
			.build()
			.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();
			continue;
			}
			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作主档历史档失败");
			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;
			}

			Date now = new Date();
			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			// 更新工作档数据状态
			wrkMast.setIoTime(now);
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
			wrkMast.setStaNo(staNo); // 目标站
			wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档数据状态失败");
			}
			// 更新明细档io_time (历史档关联使用）
			wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
			// 修改库位状态 Q.拣料/盘点/并板再入库
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException("修改库位状态失败");
			JSONObject jsonObject = JSON.parseObject(response);
			// 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 {
			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();
			}
			}
			} 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();
			continue;
			}

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			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());
			}
			// // 获取目标站
			// Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			// .eq("type_no", wrkMast.getIoType() - 50)
			// .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
			// .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
			// StaDesc staDesc = staDescService.selectOne(wrapper);
			// if (Cools.isEmpty(staDesc)) {
			// log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			// continue;
			// }
			//
			// try {
			// // 保存工作明细档历史档
			// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			// throw new CoolException("保存工作明细档历史档失败");
			// }
			// // 保存工作主档历史档
			// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			// throw new CoolException("保存工作主档历史档失败");
			// }
			//
			// Date now = new Date();
			// // 堆垛机站点(目标站)
			// Integer staNo = staDesc.getCrnStn();
			// // 更新工作档数据状态
			// wrkMast.setIoTime(now);
			// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			// wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
			// wrkMast.setStaNo(staNo); // 目标站
			// wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			// wrkMast.setSourceLocNo(""); // 源库位清空
			// wrkMast.setModiTime(now);
			// if (wrkMastMapper.updateById(wrkMast) == 0) {
			// throw new CoolException("更新工作档数据状态失败");
			// }
			// // 更新明细档io_time (历史档关联使用）
			// wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
			// // 修改库位状态 Q.拣料/盘点/并板再入库
			// LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			// locMast.setLocSts("Q");
			// locMast.setModiTime(new Date());
			// if (!locMastService.updateById(locMast)) {
			// throw new CoolException("修改库位状态失败");
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// continue;
			// }
			//
			// // 更新站点信息且下发plc命令
			// staProtocol.setWorkNo(wrkMast.getWrkNo());
			// staProtocol.setStaNo(wrkMast.getStaNo());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// 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());
			// }

			}

			@@ -602,6 +706,11 @@
			case 5://放//拆盘
			stnToCrnStnPick4();
			return;
			default:
			return;
			}
			} else if (staProtocol.isAutoing() && staProtocol.isLoading()){
			switch (sign){
			case 3://满放
			case 6://满放
			stnToCrnStnPick5();
			@@ -618,8 +727,7 @@
			* 2楼212呼叫空板
			*/
			public synchronized void stnToCrnStnPick3() {
			int workNo = 20211;
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(workNo);
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
			if (Cools.isEmpty(wrkMast) \|\| wrkMast.getWrkSts()!=61){//61、等待空板
			return;
			}
			@@ -640,7 +748,7 @@
			\|\| (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000)) ){
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));

			staProtocol.setWorkNo(workNo-1);
			staProtocol.setWorkNo(wrkMast.getWrkNo()-1);
			staProtocol.setStaNo(driveSta.getStaNo()==215? 217:221);
			boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result2) {
			@@ -660,8 +768,7 @@
			* 2楼212呼叫空板
			*/
			public synchronized void stnToCrnStnPick4() {
			int workNo = 20211;
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(workNo);
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
			if (Cools.isEmpty(wrkMast) \|\| wrkMast.getWrkSts()!=62){//62、等待小车搬运
			return;
			}
			@@ -686,10 +793,10 @@
			}
			if (staProtocol212.isAutoing() && !staProtocol212.isLoading() && staProtocol212.getWorkNo()==0){
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo()==0
			\|\| (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) \|\| staProtocol.getWorkNo()==20210) ){
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
			\|\| (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) \|\| staProtocol.getWorkNo()==wrkMast.getWrkNo()-1) ){
			// boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));

			staProtocol.setWorkNo(workNo-1);
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(212);
			boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result2) {
			@@ -698,7 +805,7 @@
			wrkMast.setWrkSts(63L);
			wrkMastMapper.updateById(wrkMast);

			boolean result3 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
			// boolean result3 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
			return;
			}
			}
			@@ -710,8 +817,7 @@
			* 2楼212呼叫空板
			*/
			public synchronized void stnToCrnStnPick5() {
			int workNo = 20211;
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(workNo);
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
			if (Cools.isEmpty(wrkMast) \|\| wrkMast.getWrkSts()!=63){//63、等待完成
			return;
			}
			@@ -724,13 +830,13 @@
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo()==workNo ){
			boolean result1 = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, staProtocol));
			if (staProtocol.isAutoing() && staProtocol.isLoading()){
			// boolean result1 = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, staProtocol));

			wrkMast.setWrkSts(64L);
			wrkMastMapper.updateById(wrkMast);

			boolean result3 = MessageQueue.offer(SlaveType.Devp, 2, new Task(4, staProtocol));
			// boolean result3 = MessageQueue.offer(SlaveType.Devp, 2, new Task(4, staProtocol));
			return;
			}
			}
			@@ -768,6 +874,48 @@
			wrkMastStaMapper.insert(wrkMastSta1);
			}
			}
			}
			}
			}
			}
			}
			/**
			* 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());
			}
			}
			}
			@@ -1167,28 +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());
			@@ -1249,18 +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 {
			@@ -1422,6 +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;
			}
			@@ -1449,20 +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());
			@@ -1472,8 +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
			@@ -1532,7 +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
			@@ -1541,9 +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 {
			@@ -1560,6 +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;
			}

			/**
			@@ -2167,6 +2389,10 @@
			*/
			public synchronized void storeEmptyPlt3() {
			try{
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
			if (Cools.isEmpty(rgvOneSign) \|\| rgvOneSign.getRgvOneSign()==1){
			return;
			}
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			@@ -2185,7 +2411,8 @@
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			// && (rgvProtocol.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			&& rgvProtocol.getLoaded2()==3 ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			try {
			WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122);
			@@ -2198,6 +2425,7 @@
			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")
			@@ -2286,6 +2514,10 @@
			ledCommand.setTitle("盘点出库");
			break;
			case 110:
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			case 212:
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			@@ -2894,10 +3126,10 @@
			*/
			public synchronized void stackingCompletionDriveTray() {
			try {
			int[] staNos=new int[]{216,220,123};//(3个入库站点，1楼1个退货码垛站，2楼两个入库码垛站)
			int[] staNos=new int[]{215,219};//(2楼两个入库码垛站)
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp.getWrkNo()!=9992 \|\| Cools.isEmpty(basDevp.getBarcode())){
			if ((basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 \|\| basDevp.getWrkNo()>9999)) \|\| Cools.isEmpty(basDevp.getBarcode())){
			continue;
			}
			Integer zpallet = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet", basDevp.getBarcode()).eq("status","N"));
			@@ -2928,11 +3160,11 @@
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& staProtocol.getWorkNo() == 9992
			&& (basDevp.getWrkNo()==0 \|\| (basDevp.getWrkNo()>=9900 && basDevp.getWrkNo()<=9999))
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {

			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(staNo + 1);
			int workNo = commonService.getWorkNo(5);
			staProtocol.setWorkNo(workNo);
			staProtocol.setStaNo(staNo + 2);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			if (!result) {
			@@ -3043,7 +3275,7 @@
			// 无拣料数据
			continue;
			}
			if (!wrkMast.getSheetNo().equals("2") \|\| wrkMast.getIoType()<100 \|\| wrkMast.getWrkSts()!=14){
			if (Cools.isEmpty(wrkMast.getSheetNo()) \|\| !wrkMast.getSheetNo().equals("2") \|\| wrkMast.getIoType()<100 \|\| wrkMast.getWrkSts()!=14){
			continue;
			}
			if (wrkMast.getIoType()==101){
			@@ -3159,8 +3391,20 @@
			staProtocol = staProtocol.clone();
			}

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

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

			if (staProtocol147.isLoading()){
			log.info("{}站点有物！",staProtocol147.getSiteId());
			continue;
			}
			// 判断是否满足入库条件
			@@ -3168,6 +3412,9 @@
			&& staProtocol.isLoading()
			&& !staProtocol.isEmptyMk()
			) {

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

			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			@@ -3175,8 +3422,12 @@
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}

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

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

			}
			}
			}catch (Exception e){
			@@ -3235,9 +3486,9 @@
			&& staProtocol.isLoading()
			&& basDevp.getReportSign()==0
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
			if (true){
			return;
			}
			// if (true){
			// return;
			// }

			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol135));
			@@ -3246,7 +3497,8 @@
			}catch (Exception e){ }
			basDevp135.setReportSign(2);
			basDevpService.updateById(basDevp135);
			staProtocol135.setWorkNo(32222);
			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));
			@@ -3305,10 +3557,15 @@
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast)){
			if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
			Thread.sleep(200);
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			continue;
			}
			@@ -3363,7 +3620,7 @@
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast)){
			if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
			Thread.sleep(200);
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			@@ -3416,7 +3673,8 @@
			/**
			* 入出库 ===>> 小车作业下发
			*/
			public synchronized void rgvIoExecute(Integer sign) {
			public synchronized boolean rgvIoExecute(Integer sign) {
			boolean rgvIoExecuteSign = false;
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// 获取小车信息
			@@ -3443,20 +3701,20 @@
			switch (sign){
			//执行小车货物搬运任务
			case 1:
			signWork = rgvRunWrkMastFullSta();
			signWork = rgvRunWrkMastFullSta(rgvSlave);
			break;
			//执行小车空板搬运任务
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut();
			signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull();
			signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake();
			signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull();
			signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
			break;
			case 6:////提升
			// signWork = qwe();
			@@ -3464,56 +3722,62 @@
			default:
			break;
			}
			}
			for (int signCount = 1;!signWork && signCount<8;signCount++){
			switch (signCount){
			case 1://执行小车货物搬运任务
			signWork = rgvRunWrkMastFullSta();
			break;
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut();
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull();
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake();
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull();
			break;
			case 6:////提升
			for (int signCount = 1;!signWork && signCount<7;signCount++){
			switch (signCount){
			case 1://执行小车货物搬运任务
			signWork = rgvRunWrkMastFullSta(rgvSlave);
			break;
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
			break;
			case 6:////提升
			// signWork = rgvRunWrkMastEmptyStaPut();
			break;
			default:
			if (sign>6){
			rgvRunWrkMastEmptyStaAvoidance();//避让
			signWork = true;
			}
			break;
			break;
			default:
			break;
			}
			}
			}else {
			continue;
			}

			if (!rgvIoExecuteSign){
			rgvIoExecuteSign = signWork;
			}
			}
			// if (!rgvIoExecuteSign){
			// if (sign>6){
			//
			// }
			// }
			}catch (Exception e){
			log.error("RGV小车任务下发报错"+e);
			}
			return rgvIoExecuteSign;
			}
			/**
			* 执行小车搬运任务
			*/
			public synchronized boolean rgvRunWrkMastFullSta() {
			public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			continue;
			return false;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			@@ -3527,22 +3791,46 @@
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			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{
			@@ -3560,7 +3848,7 @@
			break;
			}
			}
			}
			// }
			}catch (Exception e){
			log.error("3875行执行小车搬运任务下发失败");
			log.error("3875行"+e);
			@@ -3570,18 +3858,18 @@
			/**
			* 执行小车搬运任务//拆盘
			*/
			public synchronized boolean rgvRunWrkMastEmptyStaPut() {//拆盘
			public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//拆盘
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			continue;
			return false;
			}

			// 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘
			@@ -3595,10 +3883,14 @@
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			return false;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			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
			@@ -3607,15 +3899,23 @@
			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{
			@@ -3633,7 +3933,7 @@
			break;
			}
			}
			}
			// }
			}catch (Exception e){
			log.error("3933行执行小车放空板任务下发失败");
			log.error("3933行"+e);
			@@ -3644,18 +3944,18 @@
			/**
			* 执行小车搬运任务
			*/
			public synchronized boolean rgvRunWrkMastEmptyStaPutFull() {//满放
			public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//满放
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			continue;
			return false;
			}

			// 只有当RGV空闲、自动,工位二有物//rgv可用
			@@ -3669,10 +3969,14 @@
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			return false;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			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
			@@ -3681,15 +3985,23 @@
			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{
			@@ -3707,7 +4019,7 @@
			break;
			}
			}
			}
			// }
			}catch (Exception e){
			log.error("3933行执行小车放空板任务下发失败");
			log.error("3933行"+e);
			@@ -3715,18 +4027,18 @@
			return false;
			}

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

			// 只有当RGV空闲、自动,工位二无物//rgv可用
			@@ -3740,9 +4052,13 @@
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			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){
			@@ -3755,12 +4071,31 @@
			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{
			@@ -3778,7 +4113,7 @@
			break;
			}
			}
			}
			// }
			}catch (Exception e){
			log.error("3989行执行小车取空板任务下发失败");
			log.error("3989行"+e);
			@@ -3786,18 +4121,18 @@
			return false;
			}

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

			// 只有当RGV空闲、自动,工位二无物//rgv可用
			@@ -3811,11 +4146,22 @@
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			continue;
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			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;
			@@ -3826,12 +4172,15 @@
			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{
			@@ -3849,7 +4198,7 @@
			break;
			}
			}
			}
			// }
			}catch (Exception e){
			log.error("3989行执行小车取空板任务下发失败");
			log.error("3989行"+e);
			@@ -3862,10 +4211,18 @@
			* */
			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();
			@@ -3887,17 +4244,48 @@
			&& 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){
			@@ -3944,10 +4332,10 @@
			/*
			* 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
			@@ -3955,7 +4343,7 @@
			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
			@@ -3970,14 +4358,14 @@
			}
			}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
			@@ -4193,6 +4581,13 @@
			/*
			* 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());
			@@ -4209,6 +4604,7 @@
			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){