zy-wcs.git - Gitblit

			@@ -1,48 +1,52 @@
			package com.zy.asrs.service.impl;

			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;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.BasCrnErrorMapper;
			import com.zy.asrs.mapper.WaitPakinMapper;
			import com.zy.asrs.mapper.WrkMastMapper;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.RouteUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.VersionUtils;
			import com.zy.common.model.LocTypeDto;
			import com.zy.common.model.MatDto;
			import com.zy.common.model.SearchLocParam;
			import com.zy.common.model.StartupDto;
			import com.zy.common.service.CommonService;
			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;
			import com.zy.core.cache.SlaveConnection;
			import com.zy.core.enums.*;
			import com.zy.core.model.CrnSlave;
			import com.zy.core.model.DevpSlave;
			import com.zy.core.model.LedSlave;
			import com.zy.core.model.Task;
			import com.zy.core.model.*;
			import com.zy.core.model.command.CrnCommand;
			import com.zy.core.model.command.LedCommand;
			import com.zy.core.model.command.RgvCommand;
			import com.zy.core.model.protocol.CrnProtocol;
			import com.zy.core.model.protocol.RgvProtocol;
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.BarcodeThread;
			import com.zy.core.thread.DevpThread;
			import com.zy.core.thread.LedThread;
			import com.zy.core.thread.RgvThread;
			import com.zy.core.thread.SiemensDevpThread;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.jdbc.core.JdbcTemplate;
			import org.springframework.scheduling.annotation.Async;
			import org.springframework.beans.factory.annotation.Value;
			import org.springframework.stereotype.Service;
			import org.springframework.transaction.annotation.Transactional;
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

			import java.util.ArrayList;
			import java.util.Date;
			import java.util.List;
			import java.util.Set;
			import java.util.*;
			import java.util.stream.Collectors;

			/**
			@@ -54,26 +58,7 @@
			@Transactional
			public class MainServiceImpl {

			@Autowired
			private RowLastnoService rowLastnoService;

			public void test(){
			try {
			// 工作号
			int workNo = commonService.getWorkNo(0);
			System.out.println(workNo);
			if (workNo > 0) {
			throw new CoolException("21321");
			}
			RowLastno rowLastno = rowLastnoService.selectById(1);
			rowLastno.setCurrentRow(rowLastno.getCurrentRow() + 1);
			rowLastnoService.updateById(rowLastno);
			System.out.println(rowLastno.getCurrentRow());
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			public static final long COMMAND_TIMEOUT = 5 * 1000;

			@Autowired
			private CommonService commonService;
			@@ -92,6 +77,8 @@
			@Autowired
			private BasCrnpService basCrnpService;
			@Autowired
			private BasRgvService basRgvService;
			@Autowired
			private BasDevpService basDevpService;
			@Autowired
			private LocDetlService locDetlService;
			@@ -100,112 +87,135 @@
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			@Autowired
			private JdbcTemplate jdbcTemplate;
			private BasRgvErrMapper basRgvErrMapper;
			@Autowired
			private BasRgvErrLogService basRgvErrLogService;
			@Autowired
			private BasRgvPathService basRgvPathService;
			@Autowired
			private RedisUtil redisUtil;
			@Autowired
			private WrkMastStaMapper wrkMastStaMapper;
			@Autowired
			private BasRgvMapMapper basRgvMapMapper;

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

			/**
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			*/
			@Async
			public void generateStoreWrkFile() {
			public synchronized void generateStoreWrkFile() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			System.err.println(barcode);
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();

			if (!Cools.isEmpty(barcode)) {
			log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 入出库模式判断
			// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
			// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
			// continue;
			// }

			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			// && staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
			&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990)
			&& staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {

			// if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			// //条码为空或者不符合，退库到172站点
			// staProtocol.setWorkNo((short)9999);
			// staProtocol.setStaNo((short)172);
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }
			// continue;
			// }

			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			log.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			continue;
			}
			// 获取入库通知档
			List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
			if (waitPakins.isEmpty()) {
			log.error("无此入库条码数据。条码号={}", barcode);
			continue;
			}
			// // 获取入库通知档
			// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
			// if (waitPakins.isEmpty()) {
			// log.error("无此入库条码数据。条码号={}", barcode);
			// continue;
			// }

			try {
			// 工作号
			int workNo = commonService.getWorkNo(0);
			// 检索库位
			List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
			StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos);
			// 插入工作明细档
			wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);

			// 插入工作主档
			wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			wrkMast.setIoType(1); // 入出库状态：1.入库
			wrkMast.setIoPri(10D); // 优先级：10
			wrkMast.setCrnNo(startupDto.getCrnNo());
			wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
			wrkMast.setStaNo(startupDto.getStaNo());
			wrkMast.setLocNo(startupDto.getLocNo());
			wrkMast.setBarcode(barcode); // 托盘码
			wrkMast.setFullPlt("Y"); // 满板：Y
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk("N"); // 空板
			wrkMast.setLinkMis("N");
			// wrkMast.setCtnType(sourceStaNo.getCtnType()); // 容器类型
			// 操作人员数据
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			Integer insert = wrkMastMapper.insert(wrkMast);
			if (insert == 0) {
			throw new CoolException("保存工作档失败");
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(dto.getWorkNo());

			if(Cools.isEmpty(dto.getRgvNo()) \|\| dto.getRgvNo() <= 0) {
			staProtocol.setStaNo(dto.getStaNo());
			} else {//如果存在RGV编号，说明需要RGV接驳，先下发任务到RGV源站
			staProtocol.setStaNo(dto.getRgvSstaNo());
			}

			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}
			// 更新目标库位状态
			LocMast locMast = locMastService.selectById(startupDto.getLocNo());
			locMast.setLocSts("S"); // S.入库预约
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)){
			throw new CoolException("改变库位状态失败");
			}
			// 将入库通知档修改为已启动
			if (wrkMastMapper.updateWaitPakInStep1(barcode) == 0) {
			throw new CoolException("修改入库通知档状态为已启动失败");
			}

			// 命令下发区 --------------------------------------------------------------------------


			// 更新站点信息且下发plc命令
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo((short) workNo);
			staProtocol.setStaNo(startupDto.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}



			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			@@ -221,33 +231,40 @@
			* wms入库
			* 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
			*/
			@Async
			public void generateStoreWrkFile0() {
			public synchronized void generateStoreWrkFile0() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// // 入出库模式判断
			if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) {
			continue;
			}

			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() == 9999)
			&& staProtocol.isPakMk()) {
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			if (wrkMast == null) { continue; }
			if (wrkMast == null) {
			continue;
			}

			// 命令下发区 --------------------------------------------------------------------------

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			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) {
			@@ -272,38 +289,66 @@
			/**
			* 拣料、并板、盘点再入库
			*/
			@Async
			public void stnToCrnStnPick(){
			public synchronized void stnToCrnStnPick() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta()) {
			// // 获取条码扫描仪信息
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			// if (barcodeThread == null) {
			// continue;
			// }
			// String barcode = barcodeThread.getBarcode();
			// if(!Cools.isEmpty(barcode)) {
			// log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			// if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			// continue;
			// }
			// } else {
			// continue;
			// }

			// 获取拣料入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.getWorkNo() > 0 && staProtocol.isPakMk()){
			WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo().intValue());

			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
			// WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
			if (wrkMast == null) {
			// 无拣料数据
			continue;
			}
			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			continue;
			}

			// 拣、盘、并作业站转换
			// int stnNo = 0;
			// if (wrkMast.getStaNo() == 109) {
			// stnNo = 127;
			// } else if (wrkMast.getStaNo() == 113) {
			// stnNo = 128;
			// } else {
			// log.error("{}号任务数据异常！", wrkMast.getWrkNo());
			// }
			// 获取目标站
			Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			.eq("type_no", wrkMast.getIoType() - 50)
			.eq("stn_no", wrkMast.getStaNo()) // 作业站点 = 拣料出库的目标站
			.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");
			log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			continue;
			}

			@@ -317,19 +362,23 @@
			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(new Date());
			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");
			@@ -344,8 +393,8 @@
			}

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			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) {
			@@ -362,8 +411,7 @@
			/**
			* 堆垛机站出库到出库站
			*/
			@Async
			public void crnStnToOutStn() {
			public synchronized void crnStnToOutStn() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			@@ -400,8 +448,8 @@
			// 命令下发区 --------------------------------------------------------------------------

			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			@@ -426,51 +474,784 @@
			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			@Async
			public void crnIoExecute(){
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			public synchronized void crnIoExecute() {
			try{
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}

			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE
			&& crnProtocol.getTaskNo() == 0
			&& crnProtocol.getModeType() == CrnModeType.AUTO
			&& crnProtocol.getLoaded() == 0
			&& crnProtocol.getForkPos() == 0) {
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc1(crn, crnProtocol); // 入库
			crnProtocol.setLastIo("O");
			} else if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn1(crn, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn1(crn, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc1(crn, crnProtocol); // 入库
			crnProtocol.setLastIo("O");
			}
			}
			}
			// 库位移转
			this.locToLoc(crn, crnProtocol);
			// this.crnRebackHp(crnProtocol, crnThread);

			}
			}catch (Exception e){
			log.error("堆垛机出入库下发报错"+e);
			}
			}

			/**
			* 搜索RGV车。通过目标站搜索哪台车可用
			*/
			public synchronized Integer searchRgvNo(Integer staNo) {
			try{
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			return null;//目标站不存在
			}
			//路径值
			int path = basDevp.getLocType3().intValue();

			ArrayList<RgvThread> list = new ArrayList<>();
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {

			continue;
			}
			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgv.getId());
			continue;
			}

			list.add(rgvThread);
			}

			if (list.size() > 1) {
			//超过两台车，按照配置的规则进行分配
			for (RgvThread rgvThread : list) {
			//获取车辆配置的路径规则
			BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(rgvThread.getSlave().getId());
			if (basRgvPath == null) {
			continue;
			}
			//目标站是否包含当前路径中
			List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
			if (rgvPath.contains(path)) {
			//当前路径中包含目标站，则选定这台车
			return rgvThread.getSlave().getId();
			}
			}
			}else {
			//小于或等于1台车，分配全路径
			BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//获取默认路径
			if (basRgvPath == null) {
			return null;
			}
			List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
			if (rgvPath.contains(path)) {
			//当前路径中包含目标站，则选定这台车
			return list.get(0).getSlave().getId();
			}
			}

			return null;
			}catch (Exception e){
			log.error("搜索RGV车。通过目标站搜索哪台车可用"+e);
			return null;
			}
			}

			// /**
			// * 绑定小车方法
			// */
			// public synchronized void rgvBindSte() {
			// //获取等待绑定RGV的任务
			// List<WrkMast> wrkMasts = wrkMastMapper.selectWaitBindRGV();
			// for (WrkMast wrkMast : wrkMasts) {
			// //目标站
			// Integer staNo = wrkMast.getStaNo();
			// //源站
			// Integer sourceStaNo = wrkMast.getSourceStaNo();
			// //通过目标站搜索rgv号
			// Integer rgvNo=0;
			// if (wrkMast.getCrnNo()==1){
			// rgvNo=1;
			// }else if (wrkMast.getCrnNo()==6){
			// rgvNo=2;
			// }else {
			// rgvNo = this.searchRgvNo(staNo);
			// }
			// if (rgvNo == null \|\| rgvNo==0) {//未找到可用的rgv
			// continue;
			// }
			//
			// wrkMast.setRgvNo(rgvNo);//绑定rgv号
			// wrkMast.setRgvDstaNo(wrkMast.getSourceStaNo());//设置RGV前往工作档源站取货
			// if (wrkMastMapper.updateById(wrkMast)==0){
			// log.error("绑定小车更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			// }
			// }
			// }

			/**
			* 绑定小车方法
			*/
			public synchronized void rgvBindSte() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			if (devp.getId()==2){
			continue;
			}
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			//入库绑小车
			for (DevpSlave.Sta Sta : devp.getInRgvSta()) {
			StaProtocol staProtocol = devpThread.getStation().get(Sta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() < 9990){
			List<WrkMast> wrkMasts = wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getWorkNo()).eq("wrk_sts", 2L));
			if (Cools.isEmpty(wrkMasts) \|\| wrkMasts.size()!=1){
			continue;
			}
			WrkMast wrkMast = wrkMasts.get(0);
			//目标站
			Integer staNo = wrkMast.getStaNo();
			//通过目标站搜索rgv号
			Integer rgvNo=0;
			if (wrkMast.getCrnNo()==1){
			rgvNo=1;
			}else if (wrkMast.getCrnNo()==6){
			rgvNo=2;
			}else {
			rgvNo = this.searchRgvNo(staNo);
			}
			if (rgvNo == null \|\| rgvNo==0) {//未找到可用的rgv
			continue;
			}
			wrkMast.setRgvNo(rgvNo);//绑定rgv号
			if (wrkMastMapper.updateById(wrkMast)==0){
			log.error("绑定小车更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			}
			}
			}
			//出库绑小车
			for (DevpSlave.Sta Sta : devp.getOutRgvSta()) {
			StaProtocol staProtocol = devpThread.getStation().get(Sta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() < 9990){
			List<WrkMast> wrkMasts = wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getWorkNo()).eq("wrk_sts", 14L));
			if (Cools.isEmpty(wrkMasts) \|\| wrkMasts.size()!=1){
			continue;
			}
			WrkMast wrkMast = wrkMasts.get(0);
			//目标站
			Integer staNo = wrkMast.getStaNo();
			//通过目标站搜索rgv号
			Integer rgvNo=0;
			if (wrkMast.getCrnNo()==1){
			rgvNo=1;
			}else if (wrkMast.getCrnNo()==6){
			rgvNo=2;
			}else {
			rgvNo = this.searchRgvNo(staNo);
			}
			if (rgvNo == null \|\| rgvNo==0) {//未找到可用的rgv
			continue;
			}
			wrkMast.setRgvNo(rgvNo);//绑定rgv号
			if (wrkMastMapper.updateById(wrkMast)==0){
			log.error("绑定小车更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			}
			}
			}
			}
			}catch (Exception e){
			log.error("绑定小车异常：{}", e.getMessage());
			}
			}

			/**
			* 绑定小车方法
			*/
			public synchronized void rgvBindSte2() {
			try{
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectWaitBindRGVRgvNo(rgv.getId());
			if (!Cools.isEmpty(wrkMasts) && wrkMasts.size()!=0){
			continue;
			}
			List<WrkMast> wrkMasts2 = wrkMastMapper.selectWaitBindRgvNo2(rgv.getId());
			for (WrkMast wrkMast : wrkMasts2) {
			if (wrkMastMapper.selectWaitBindRgvNoOneWrkNo(wrkMast.getWrkNo())!=null){
			continue;
			}
			//目标站
			BasDevp basDevp = basDevpService.selectById(wrkMast.getRgvDstaNo());
			if (Cools.isEmpty(basDevp) \|\| !basDevp.getAutoing().equals("Y") \|\| !basDevp.getLoading().equals("N") \|\| basDevp.getWrkNo()!=0){
			continue;
			}
			wrkMastMapper.insertRgvMast(wrkMast.getWrkNo());
			wrkMastMapper.updateRgvMast(wrkMast.getWrkNo());
			break;
			}
			}
			}catch (Exception e){
			log.error("小车搬运任务异常：{}", e.getMessage());
			}
			}

			/**
			* 入出库 ===>> RGV入出库作业下发
			*/
			public synchronized void rgvIoExecuteOld() {
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc(crn, crnProtocol); // 入库
			crnProtocol.setLastIo("O");
			} else if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn(crn, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgv.getId());
			continue;
			}

			// 只有当RGV空闲、自动,
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			// && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
			// && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getLoaded2() == 0
			) {

			//查找是否存在入出库工作中等待RGV搬运的任务
			List<WrkMast> wrkMasts = wrkMastMapper.selectIoRgvNo(rgv.getId());
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast.getWrkSts() == 2) {//2.设备上走1 => 3.RGV取货中
			if (rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
			continue;
			}

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getSourceStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			// boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			if (pathUsed) {
			//行走路径被占用，禁止下发命令
			continue;
			}
			//行走路径空闲，锁定路径
			RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 2.设备上走1 => 3.RGV取货中
			Date now = new Date();
			wrkMast.setWrkSts(3L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 2.设备上走1 => 3.RGV取货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			} else if (wrkMast.getWrkSts() == 14) {//4.RGV取货完成 => 5.RGV放货中 14出库完成
			if (rgvProtocol.getTaskNo1() == 0 \|\| !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致
			continue;
			}
			if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物
			continue;
			}

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			if (pathUsed) {
			//行走路径被占用，禁止下发命令
			continue;
			}
			//行走路径空闲，锁定路径
			RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 4.RGV取货完成 => 5.RGV放货中
			Date now = new Date();
			wrkMast.setWrkSts(5L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 4.RGV取货完成 => 5.RGV放货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			} else if (wrkMast.getWrkSts() == 23) {//23.设备上走1 => 24.RGV取货中
			if (rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
			continue;
			}

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getSourceStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			if (pathUsed) {
			//行走路径被占用，禁止下发命令
			continue;
			}
			//行走路径空闲，锁定路径
			RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 23.设备上走1 => 24.RGV取货中
			Date now = new Date();
			wrkMast.setWrkSts(24L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 23.设备上走1 => 24.RGV取货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			} else if (wrkMast.getWrkSts() == 25) {//25.RGV取货完成 => 26.RGV放货中
			if (rgvProtocol.getTaskNo1() == 0 \|\| !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致
			continue;
			}
			if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物
			continue;
			}

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			if (pathUsed) {
			//行走路径被占用，禁止下发命令
			continue;
			}
			//行走路径空闲，锁定路径
			RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 25.RGV取货完成 => 26.RGV放货中
			Date now = new Date();
			wrkMast.setWrkSts(26L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 25.RGV取货完成 => 26.RGV放货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn(crn, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc(crn, crnProtocol); // 入库
			crnProtocol.setLastIo("O");
			}

			}
			}
			}

			/**
			* 入出库 ===>> RGV入出库作业下发
			*/
			public synchronized void rgvIoExecute() {
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			RgvSlave rgvSlave=null;
			if (rgv.getId()==1){
			rgvSlave = slaveProperties.getRgv().get(1);
			}else {
			rgvSlave = slaveProperties.getRgv().get(0);
			}

			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}

			RgvThread rgvThreadSlave = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocolSlave = rgvThreadSlave.getRgvProtocol();
			BasRgv basRgvSlave = null;
			if (rgvProtocolSlave == null) {
			rgvSlave=null;
			}else {
			basRgvSlave = basRgvService.selectById(rgv.getId());
			if (basRgvSlave == null) {
			rgvSlave=null;
			}
			}
			// 库位移转
			this.locToLoc(crn, crnProtocol);

			BasRgv basRgv = basRgvService.selectById(rgv.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgv.getId());
			continue;
			}

			boolean signSlave=false;//此处判断RgvSlave是否已经规避
			boolean signSlaveState=false;//此处判断RgvSlave是否空闲
			Integer staSlave = 0;//此处记录RgvSlave当前位置

			// 只有当RGV空闲、自动,
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			// && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
			// && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getLoaded2() == 0
			) {

			//查找是否存在入出库工作中等待RGV搬运的任务
			List<WrkMast> wrkMasts = wrkMastMapper.selectIoRgvNo(rgv.getId());
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast.getWrkSts() == 2) {//2.设备上走1 => 3.RGV取货中
			if (rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
			continue;
			}

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getSourceStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			// boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			if (pathUsed) {
			//行走路径被占用，禁止下发命令
			continue;
			}
			//行走路径空闲，锁定路径
			RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 2.设备上走1 => 3.RGV取货中
			Date now = new Date();
			wrkMast.setWrkSts(3L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 2.设备上走1 => 3.RGV取货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			} else if (wrkMast.getWrkSts() == 14) {//4.RGV取货完成 => 5.RGV放货中 14出库完成
			if (rgvProtocol.getTaskNo1() == 0 \|\| !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致
			continue;
			}
			if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物
			continue;
			}

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			if (pathUsed) {
			//行走路径被占用，禁止下发命令
			continue;
			}
			//行走路径空闲，锁定路径
			RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 4.RGV取货完成 => 5.RGV放货中
			Date now = new Date();
			wrkMast.setWrkSts(5L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 4.RGV取货完成 => 5.RGV放货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			} else if (wrkMast.getWrkSts() == 23) {//23.设备上走1 => 24.RGV取货中
			if (rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
			continue;
			}

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getSourceStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			if (pathUsed) {
			//行走路径被占用，禁止下发命令
			continue;
			}
			//行走路径空闲，锁定路径
			RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 23.设备上走1 => 24.RGV取货中
			Date now = new Date();
			wrkMast.setWrkSts(24L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 23.设备上走1 => 24.RGV取货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			} else if (wrkMast.getWrkSts() == 25) {//25.RGV取货完成 => 26.RGV放货中
			if (rgvProtocol.getTaskNo1() == 0 \|\| !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致
			continue;
			}
			if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物
			continue;
			}

			//判断行走路径是否被占用
			Integer staNo = wrkMast.getStaNo();
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//目标站不存在
			}
			//起始路径
			int startPath = rgvProtocol.getRgvPos().intValue();
			//目标路径值
			int endPath = basDevp.getLocType3().intValue();
			boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
			if (pathUsed) {
			//行走路径被占用，禁止下发命令
			continue;
			}
			//行走路径空闲，锁定路径
			RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 25.RGV取货完成 => 26.RGV放货中
			Date now = new Date();
			wrkMast.setWrkSts(26L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 25.RGV取货完成 => 26.RGV放货中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			}

			}
			}
			}

			private boolean rgvIoExecuteWrk2To3() {
			return false;
			}

			/**
			* 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
			*/
			public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) {
			// for (CrnSlave crn : slaveProperties.getCrn()) {
			// // 获取堆垛机信息
			// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			// if (crnProtocol == null) {
			// continue;
			// }
			// BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			// if (basCrnp == null) {
			// log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			// continue;
			// }
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
			return;
			}

			// 已经存在吊车执行任务时，则过滤3,12
			if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
			return;
			}

			//堆垛机有执行中任务，过滤3,4,11,12
			if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) {
			return;
			}

			//输送线没有入库任务，过滤2
			if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
			return;
			}
			log.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo((short) 9999); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 回原点
			crnCommand.setSourcePosX((short) 0); // 源库位排
			crnCommand.setSourcePosY((short) 0); // 源库位列
			crnCommand.setSourcePosZ((short) 0); // 源库位层
			crnCommand.setDestinationPosX((short) 0); // 目标库位排
			crnCommand.setDestinationPosY((short) 0); // 目标库位列
			crnCommand.setDestinationPosZ((short) 0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
			}
			crnThread.setBackHpFlag(true);
			}
			// }
			}

			/**
			* 入库 ===>> 堆垛机站到库位
			*/
			@Async
			public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
			public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			boolean flag = false;
			// 获取堆垛机入库站信息
			@@ -488,16 +1269,16 @@
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			&& staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
			&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			continue;
			}
			// 获取工作状态为2（设备上走）的入库工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue());
			if(null == wrkMast) {
			log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
			if (null == wrkMast) {
			// log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			// 获取库位信息
			@@ -516,12 +1297,201 @@
			continue;
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			continue;
			}

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			}

			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			}
			continue;
			} else if (shallowLoc.getLocSts().equals("Q")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			}
			}

			// 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.PAKIN); // 任务模式: 库位移转
			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(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
			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 {

			// long startTime = System.currentTimeMillis();
			// while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
			//
			// if (true) {
			// break;
			// }
			//
			// try{
			// Thread.sleep(500);
			// }catch(Exception ignore){}
			// }

			// 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());
			}
			}
			}
			}

			/**
			* 入库 ===>> 堆垛机站到库位
			* 2022-12-03 TQS修改，先遍历查询同台堆垛机工作档所有站点入库任务LIST，根据工作档任务排序优先级高于根据堆垛机入库站点排序
			*/
			public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
			for(WrkMast wrkMast : wrkMasts){
			if (wrkMast == null) {
			continue;
			}

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

			boolean flag = false;
			// 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;
			}

			// 获取库位信息
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			if (locMast == null) {
			log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
			continue;
			}
			if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
			log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
			continue;
			}

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			continue;
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			continue;
			}

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			}

			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			}
			continue;
			} else if (shallowLoc.getLocSts().equals("Q")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			}
			}

			// 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
			@@ -541,52 +1511,264 @@
			}
			}
			}

			}

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
			*/
			@Async
			public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
			public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId());
			// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast == null) {
			continue;
			}
			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null) {
			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;
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			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();
			}

			// // 入出库模式判断
			// if (devpThread.ioMode != 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());
			if (staDetl == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// 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()) {
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			// continue;
			break;
			}

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			if (waitWrkMast.getWrkSts() == 11) {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			} else {

			}
			}
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			//2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			// 此标记避免多次执行移库任务
			// if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())
			// \|\| Cools.isEmpty(waitWrkMast)) {
			if (Cools.isEmpty(waitWrkMast)) {
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			}
			log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			}
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}

			// 1.堆垛机开始移动
			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(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
			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 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			break;
			}
			}
			}
			}
			}

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2022-12-03 TQS修改，先遍历查询工作档所有站点出库任务LIST，根据工作档任务排序优先级高于根据堆垛机入库站点排序
			*/
			public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast == null) {
			continue;
			}

			CrnSlave.CrnStn crnStn = null;
			for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
			if(crnStn1.getStaNo() == wrkMast.getSourceStaNo()){
			crnStn = crnStn1;
			break;
			} else {
			continue;
			}
			}
			if(Cools.isEmpty(crnStn)){
			continue;
			}

			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null){
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null) {
			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;
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			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;
			}

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			break;
			// continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			continue;
			// continue;
			break;
			}

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			if (waitWrkMast.getWrkSts() == 11) {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			} else {

			}
			}
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			//2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			// 此标记避免多次执行移库任务
			// if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())
			// \|\| Cools.isEmpty(waitWrkMast)) {
			if (Cools.isEmpty(waitWrkMast)) {
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc);
			}
			log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			continue;
			}
			}
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}

			// 1.堆垛机开始移动
			@@ -594,7 +1776,7 @@
			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.PAKOUT); // 任务模式: 库位移转
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			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
			@@ -612,6 +1794,686 @@
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			break;
			}
			}
			}

			}

			/**
			* 查找工作状态为2（设备上走）,且RGV入库接驳站符合的的入库工作档，提取出最多2笔
			* @param slave
			* @return
			*/
			public synchronized List<WrkMast> getRgvInTask(RgvSlave slave){
			List<WrkMast> wrkMastTask = new ArrayList<>();
			List<Integer> staNos = new ArrayList<>();
			for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) {
			staNos.add(rgvStn.getStaNo());
			}
			if(staNos.size() < 1){
			return null;
			}
			List<WrkMast> wrkMasts = wrkMastMapper.selectRgvInStep1(slave.getId(), staNos);
			for(WrkMast wrkMast : wrkMasts){
			Integer plcId = 0;
			for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) {
			if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
			plcId = rgvStn.getDevpPlcId();
			break;
			}
			}

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, plcId);
			//判断RGV入库源站点，自动、有物，有任务号，可出
			boolean flag1 = false;
			StaProtocol staProtocol1 = devpThread.getStation().get(wrkMast.getRgvSstaNo());
			if (staProtocol1 == null) {
			continue;
			} else {
			staProtocol1 = staProtocol1.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl1 = basDevpService.selectById(wrkMast.getRgvSstaNo());
			if (staDetl1 == null) {
			log.error("RGV入库 ===>> 输送机源站点在数据库不存在, 站点编号={}", wrkMast.getRgvSstaNo());
			continue;
			}
			if (staProtocol1.isAutoing() && staProtocol1.isLoading() && staProtocol1.getWorkNo().intValue() == wrkMast.getWrkNo()
			&& staProtocol1.isOutEnable() && staDetl1.getOutEnable() != null && staDetl1.getOutEnable().equals("Y")) {
			flag1 = true;
			}

			//判断RGV入库目标站点，自动、无物，没有任务号，可入
			boolean flag2 = false;
			StaProtocol staProtocol2 = devpThread.getStation().get(wrkMast.getRgvDstaNo());
			if (staProtocol2 == null) {
			continue;
			} else {
			staProtocol2 = staProtocol2.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl2 = basDevpService.selectById(wrkMast.getRgvSstaNo());
			if (staDetl2 == null) {
			log.error("RGV入库 ===>> 输送机源站点在数据库不存在, 站点编号={}", wrkMast.getRgvSstaNo());
			continue;
			}
			if (staProtocol2.isAutoing() && staProtocol2.isLoading() && staProtocol2.getWorkNo().intValue() == wrkMast.getWrkNo()
			&& staProtocol2.isInEnable() && staDetl2.getCanining() != null && staDetl2.getCanining().equals("Y")) {
			flag2 = true;
			}

			if(flag1 && flag2){
			wrkMastTask.add(wrkMast);
			if(wrkMastTask.size() >= 2) break;
			}
			}
			return wrkMastTask;
			}

			/**
			* 入库 ===>> RGV入库站到站
			*/
			public synchronized void rgvInStn(RgvSlave slave, RgvProtocol rgvProtocol) {
			WrkMast wrkMast = wrkMastMapper.selectRgvInSteNo(slave.getId());


			//查找工作状态为2（设备上走）,且RGV入库接驳站符合的的入库工作档，提取出最多2笔
			List<WrkMast> wrkMastTask = getRgvInTask(slave);
			if(wrkMastTask.size() <= 0){
			return;
			}

			// RGV控制过滤，必须满足自动、空闲，没有任务号
			if (!rgvProtocol.getStatusType().equals(CrnStatusType.IDLE)
			\|\| rgvProtocol.getModeType() != RgvModeType.AUTO
			\|\| rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getTaskNo2() != 0) {
			return;
			}

			// 已经存在RGV执行任务时，则过滤
			if(wrkMastMapper.selectRgvInWorking(slave.getId()).size() > 0){
			return;
			}

			if(wrkMastTask.size() == 2){
			//有2笔RGV待入库任务，2个工位，取货、放货任务同时下发
			WrkMast wrkMast1 = wrkMastTask.get(0);
			WrkMast wrkMast2 = wrkMastTask.get(1);
			if(Cools.isEmpty(wrkMast1) \|\| Cools.isEmpty(wrkMast2)){
			log.error("工作档RGV入库数据为空");
			return;
			}
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(slave.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货
			rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 工位2任务模式: 取放货
			rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点
			rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 6.RGV入库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(6L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}

			wrkMast2.setWrkSts(6L);
			wrkMast2.setCrnStrTime(now);
			wrkMast2.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast2) == 0) {
			log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中失败！！，工作号={}", wrkMast2.getWrkNo());
			}
			}
			} else if(wrkMastTask.size() == 1){
			//只有1笔RGV待入库任务，先下发取货任务，取货后再判断是否有下一笔待入库任务
			WrkMast wrkMast1 = wrkMastTask.get(0);
			if(Cools.isEmpty(wrkMast1)){
			log.error("工作档RGV入库数据为空");
			return;
			}
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(slave.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 6.RGV入库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(6L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}
			}
			}
			}

			/**
			* 出库 ===>> RGV出库站到站
			*/
			public synchronized void rgvOutStn(RgvSlave slave, RgvProtocol rgvProtocol) {
			//查找工作状态为14（出库完成）,且RGV出库接驳站符合的的出库工作档，提取出最多2笔
			List<WrkMast> wrkMastTask = getRgvOutTask(slave);
			if(wrkMastTask.size() <= 0){
			return;
			}

			// RGV控制过滤，必须满足自动、空闲，没有任务号
			if (!rgvProtocol.getStatusType().equals(CrnStatusType.IDLE)
			\|\| rgvProtocol.getModeType() != RgvModeType.AUTO
			\|\| rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getTaskNo2() != 0) {
			return;
			}

			// 已经存在RGV执行任务时，则过滤
			if(wrkMastMapper.selectRgvOutWorking(slave.getId()).size() > 0){
			return;
			}

			if(wrkMastTask.size() == 2){
			//有2笔RGV待入库任务，2个工位，取货、放货任务同时下发
			WrkMast wrkMast1 = wrkMastTask.get(0);
			WrkMast wrkMast2 = wrkMastTask.get(1);
			if(Cools.isEmpty(wrkMast1) \|\| Cools.isEmpty(wrkMast2)){
			log.error("工作档RGV入库数据为空");
			return;
			}
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(slave.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货
			rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 工位2任务模式: 取放货
			rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点
			rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 14.出库完成 => 16.RGV出库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(16L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}

			wrkMast2.setWrkSts(16L);
			wrkMast2.setCrnStrTime(now);
			wrkMast2.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast2) == 0) {
			log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中失败！！，工作号={}", wrkMast2.getWrkNo());
			}
			}
			} else if(wrkMastTask.size() == 1){
			//只有1笔RGV待入库任务，先下发取货任务，取货后再判断是否有下一笔待入库任务
			WrkMast wrkMast1 = wrkMastTask.get(0);
			if(Cools.isEmpty(wrkMast1)){
			log.error("工作档RGV入库数据为空");
			return;
			}
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(slave.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
			rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			rgvCommand.setCommand((short) 0); //工位1、2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand));
			} else {
			// 修改工作档状态 14.出库完成 => 16.RGV出库取货中
			Date now = new Date();
			wrkMast1.setWrkSts(16L);
			wrkMast1.setCrnStrTime(now);
			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中失败！！，工作号={}", wrkMast1.getWrkNo());
			}
			}
			}
			}

			/**
			* 查找工作状态为14（出库完成）,且RGV出库接驳站符合的的出库工作档，提取出最多2笔
			* @param slave
			* @return
			*/
			public synchronized List<WrkMast> getRgvOutTask(RgvSlave slave){
			List<WrkMast> wrkMastTask = new ArrayList<>();
			List<Integer> staNos = new ArrayList<>();
			for (RgvSlave.RgvStn rgvStn : slave.getRgvOutSStn()) {
			staNos.add(rgvStn.getStaNo());
			}
			if(staNos.size() < 1){
			return null;
			}
			List<WrkMast> wrkMasts = wrkMastMapper.selectRgvOutStep1(slave.getId(), staNos);
			for(WrkMast wrkMast : wrkMasts){
			Integer plcId = 0;
			for (RgvSlave.RgvStn rgvStn : slave.getRgvOutSStn()) {
			if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
			plcId = rgvStn.getDevpPlcId();
			break;
			}
			}

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, plcId);
			//判断RGV出库源站点，自动、有物，有任务号，可出
			boolean flag1 = false;
			StaProtocol staProtocol1 = devpThread.getStation().get(wrkMast.getRgvSstaNo());
			if (staProtocol1 == null) {
			continue;
			} else {
			staProtocol1 = staProtocol1.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl1 = basDevpService.selectById(wrkMast.getRgvSstaNo());
			if (staDetl1 == null) {
			log.error("RGV出库 ===>> 输送机源站点在数据库不存在, 站点编号={}", wrkMast.getRgvSstaNo());
			continue;
			}
			if (staProtocol1.isAutoing() && staProtocol1.isLoading() && staProtocol1.getWorkNo().intValue() == wrkMast.getWrkNo()
			&& staProtocol1.isOutEnable() && staDetl1.getOutEnable() != null && staDetl1.getOutEnable().equals("Y")) {
			flag1 = true;
			}

			//判断RGV出库目标站点，自动、无物，没有任务号，可入
			boolean flag2 = false;
			StaProtocol staProtocol2 = devpThread.getStation().get(wrkMast.getRgvDstaNo());
			if (staProtocol2 == null) {
			continue;
			} else {
			staProtocol2 = staProtocol2.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl2 = basDevpService.selectById(wrkMast.getRgvSstaNo());
			if (staDetl2 == null) {
			log.error("RGV出库 ===>> 输送机源站点在数据库不存在, 站点编号={}", wrkMast.getRgvSstaNo());
			continue;
			}
			if (staProtocol2.isAutoing() && staProtocol2.isLoading() && staProtocol2.getWorkNo().intValue() == wrkMast.getWrkNo()
			&& staProtocol2.isInEnable() && staDetl2.getCanining() != null && staDetl2.getCanining().equals("Y")) {
			flag2 = true;
			}

			if(flag1 && flag2){
			wrkMastTask.add(wrkMast);
			if(wrkMastTask.size() >= 2) break;
			}
			}
			return wrkMastTask;
			}

			/**
			* 根据RGV完成信号，执行对工作档的完成操作，和RGV的任务下发
			*/
			public synchronized void rgvFinished() {
			Date now = new Date();
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			//判断RGV是否空闲，工位1是否空闲，工位1是否有物，是否为电脑模式，工位1是否有工作号
			if (rgvProtocol.statusType1 == RgvStatusType.FETCHWAITING
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1() != 0
			&& rgvProtocol.getStatus() != 0
			&& rgvProtocol.getStatus1() != 0
			) {
			WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
			if (wrkMast1 == null) {
			log.error("RGV工位1处于等待确认且取货任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgv.getId(), rgvProtocol.getTaskNo1());
			continue;
			}

			if (wrkMast1.getWrkSts() == 3) {//3.RGV取货中 => 4.RGV取货完成
			wrkMast1.setWrkSts(4L);
			}else if(wrkMast1.getWrkSts() == 5){//5.RGV放货中 => 6.RGV放货完成
			rgvProtocol.setTaskNo1((short) 0);//入库任务完成，清空任务号
			wrkMast1.setWrkSts(6L);
			} else if (wrkMast1.getWrkSts() == 24) {//24.RGV取货中 => 25.RGV取货完成
			wrkMast1.setWrkSts(25L);//
			} else if (wrkMast1.getWrkSts() == 26) {//26.RGV放货中 => 27.RGV放货完成
			rgvProtocol.setTaskNo1((short) 0);//出库任务完成，清空任务号
			wrkMast1.setWrkSts(27L);//27.RGV放货完成
			}

			//解锁路径
			RgvUtils.unLockPath(wrkMast1.getRgvNo());

			wrkMast1.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast1) == 0) {
			log.error("工位1修改工作档状态失败！！，工作号={}", wrkMast1.getWrkNo());
			}

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgv.getId()); // RGV编号
			rgvCommand.setAckFinish1((short) 1); // 工位1任务完成确认位
			rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.NONE); // 工位1任务模式: 无
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
			//step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
			}

			// //工位1取货完成后，工位2是无货空闲状态时，准备给工位2发任务，确认是否有待执行RGV任务
			// if (rgvProtocol.getModeType() == RgvModeType.AUTO
			// && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() == 0
			// && rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() == 0
			// && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			// ) {
			// WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
			// if (wrkMast1 == null) {
			// log.error("RGV工位1处于等待确认且取货任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgv.getId(), rgvProtocol.getTaskNo1());
			// continue;
			// }
			// List<WrkMast> wrkMastTask = new ArrayList<>();
			// List<WrkMast> list = new ArrayList<>();
			// Integer type = 0;//1入库，2出库
			// if(wrkMast1.getWrkSts()==6L){
			// wrkMastTask = getRgvInTask(rgv);
			// list = wrkMastMapper.selectRgvInWorking(rgv.getId());
			// type = 1;
			// } else if(wrkMast1.getWrkSts()==16L){
			// wrkMastTask = getRgvOutTask(rgv);
			// list = wrkMastMapper.selectRgvOutWorking(rgv.getId());
			// type = 2;
			// }
			// if(wrkMastTask.size() > 0){//有继续执行任务，下发取货任务给工位2
			// // 已经存在RGV执行任务时，则过滤
			// if (list.size() > 1) {
			// continue;
			// }
			// WrkMast wrkMast2 = wrkMastTask.get(0);
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgv.getId()); // RGV编号
			// rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			// rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
			// rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式: 取货
			// rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点
			// rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点
			// rgvCommand.setCommand((short) 0); //工位1、2任务确认
			// if (!MessageQueue.offer(SlaveType.Crn, wrkMast2.getRgvNo(), 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
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
			// } else {
			// // 修改工作档状态 2.设备上走 => 6.RGV入库取货中
			// Date now = new Date();
			// wrkMast2.setWrkSts(type==1 ? 6L : 16L);
			// wrkMast2.setCrnStrTime(now);
			// wrkMast2.setModiTime(now);
			// if (wrkMastMapper.updateById(wrkMast2) == 0) {
			// log.error("工位2修改工作档状态 2/14.设备上走 => 6/16.RGV入库取货中失败！！，工作号={}", wrkMast2.getWrkNo());
			// }
			// }
			// } else {//没有继续执行任务，下发放货任务给工位1
			// if(type == 1 && wrkMast1.getWrkSts() != 6L){//RGV入库取货中
			// continue;
			// }
			// if(type == 2 && wrkMast1.getWrkSts() != 16L){//RGV出库取货中
			// continue;
			// }
			//
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgv.getId()); // RGV编号
			// rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			// rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			// rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			// rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			// rgvCommand.setCommand((short) 0); //工位1、2任务确认
			// if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
			// //step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
			// } else {
			// // 修改工作档状态 6.RGV入库取货中 => 7.RGV入库放货中
			// Date now = new Date();
			// wrkMast1.setWrkSts(type==1 ? 7L : 17L);
			// wrkMast1.setCrnEndTime(now);
			// wrkMast1.setModiTime(now);
			// if (wrkMastMapper.updateById(wrkMast1) == 0) {
			// log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中失败！！，工作号={}", wrkMast1.getWrkNo());
			// }
			// log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
			// }
			// }
			// } else if (rgvProtocol.getModeType() == RgvModeType.AUTO
			// && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() > 0
			// && rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() > 0
			// && rgvProtocol.statusType2 == RgvStatusType.FETCHWAITING){
			// // 工位2状态：也是取货完成等待确认91 并且任务完成位 = 1, 工位1、2同时下发放货任务
			// WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
			// WrkMast wrkMast2 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo2().intValue());
			// // 命令下发区 --------------------------------------------------------------------------
			// RgvCommand rgvCommand = new RgvCommand();
			// rgvCommand.setRgvNo(rgv.getId()); // RGV编号
			// rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			// rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
			// rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
			// rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点
			// rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点
			// rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			// rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号
			// rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式: 放货
			// rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点
			// rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点
			// rgvCommand.setCommand((short) 0); //工位1、2任务确认
			// if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) {
			// //step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认
			// log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
			// } else {
			// // 修改工作档状态 2.设备上走 => 6.RGV入库取货中
			// Date now = new Date();
			// wrkMast1.setWrkSts(wrkMast1.getWrkSts()==6L ? 7L : 17L);
			// wrkMast1.setCrnStrTime(now);
			// wrkMast1.setModiTime(now);
			// if (wrkMastMapper.updateById(wrkMast1) == 0) {
			// log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中失败！！，工作号={}", wrkMast1.getWrkNo());
			// }
			//
			// wrkMast2.setWrkSts(wrkMast2.getWrkSts()==6L ? 7L : 17L);
			// wrkMast2.setCrnStrTime(now);
			// wrkMast2.setModiTime(now);
			// if (wrkMastMapper.updateById(wrkMast2) == 0) {
			// log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中失败！！，工作号={}", wrkMast2.getWrkNo());
			// }
			// }
			// }
			}

			}
			}

			/**
			* 入出库 ===>> RGV出库站到堆垛机入库站/系统入库站
			* rgvInDStnToCrnStn
			*/
			public synchronized void rgvDestStnToCrnStn() {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			// 遍历入库任务的RGV出库站
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvDestStn()) {
			// 获取RGV出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档List
			// List<WrkMast> wrkMasts = wrkMastMapper.selectRgvInStep2(staProtocol.getSiteId());
			List<WrkMast> wrkMasts = wrkMastMapper.selectRgvDestStep2(staProtocol.getSiteId());
			for(WrkMast wrkMast : wrkMasts){
			// 判断工作档条件
			if (wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null
			\|\| wrkMast.getRgvSstaNo() == null \|\| wrkMast.getRgvDstaNo() == null) {
			continue;
			}

			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, wrkMast.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// 判断RGV状态等待确认,工位1
			if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())
			&& rgvProtocol.statusType1 == RgvStatusType.WAITING) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			// 更新工作档状态为2,14
			wrkMast.setWrkSts(wrkMast.getWrkSts()==7L ? 2L : 14L);
			wrkMast.setOnlineYn("Y");
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位RGV工位1
			rgvThread.setResetFlag1(true);
			} else {
			log.error("RGV工位1接驳，更新工作档的工作状态为{}失败！！！ [工作号:{}]", wrkMast.getWrkSts()==7L ? 2L : 14L, wrkMast.getWrkNo());
			}
			}
			// 判断RGV状态等待确认,工位2
			if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo2().equals(wrkMast.getWrkNo().shortValue())
			&& rgvProtocol.statusType2 == RgvStatusType.WAITING) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			// 更新工作档状态为2,14
			wrkMast.setWrkSts(wrkMast.getWrkSts()==7L ? 2L : 14L);
			wrkMast.setOnlineYn("Y");
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位RGV工位2
			rgvThread.setResetFlag2(true);
			} else {
			log.error("RGV工位2接驳，更新工作档的工作状态为{}失败！！！ [工作号:{}]", wrkMast.getWrkSts()==7L ? 2L : 14L, wrkMast.getWrkNo());
			}
			}
			}

			}
			}
			}
			}

			/**
			* 出库 ===>> RGV出库站到系统出库站
			*/
			public synchronized void rgvOutDStnToOutStn() {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			// 遍历出库任务的RGV出库站
			for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvDestStn()) {
			// 获取RGV出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档List
			List<WrkMast> wrkMasts = wrkMastMapper.selectRgvOutStep2(staProtocol.getSiteId());
			for(WrkMast wrkMast : wrkMasts){
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null
			\|\| wrkMast.getRgvSstaNo() == null \|\| wrkMast.getRgvDstaNo() == null) {
			continue;
			}

			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, wrkMast.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			// 判断RGV状态等待确认,工位1
			if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())
			&& rgvProtocol.statusType1 == RgvStatusType.WAITING) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			// 更新工作档状态为14
			wrkMast.setWrkSts(14L);
			wrkMast.setOnlineYn("Y"); //控制WMS将工作状态14转15的时机，只有RGV运搬完成后才可以转
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位RGV工位1
			rgvThread.setResetFlag1(true);
			} else {
			log.error("RGV工位1接驳，更新工作档的工作状态为2失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			}
			// 判断RGV状态等待确认,工位2
			if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo2().equals(wrkMast.getWrkNo().shortValue())
			&& rgvProtocol.statusType2 == RgvStatusType.WAITING) {
			// 命令下发区 --------------------------------------------------------------------------
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			// 更新工作档状态为14
			wrkMast.setWrkSts(14L);
			wrkMast.setOnlineYn("Y"); //控制WMS将工作状态14转15的时机，只有RGV运搬完成后才可以转
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位RGV工位2
			rgvThread.setResetFlag2(true);
			} else {
			log.error("RGV工位2接驳，更新工作档的工作状态为2失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			}
			}

			}
			}
			}
			@@ -620,8 +2482,7 @@
			/**
			* 库位移转
			*/
			@Async
			public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
			public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
			// 获取工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
			if (null == wrkMast) {
			@@ -651,6 +2512,11 @@

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			return;
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			return;
			}

			@@ -684,50 +2550,182 @@
			/**
			* 执行对工作档的完成操作
			*/
			@Async
			public void storeFinished() {
			public synchronized void storeFinished() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			if (crnProtocol == null) {
			continue;
			}
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			continue;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)){
			wrkMast.setWrkSts(4L);
			} else {
			continue;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			if (crnProtocol.getTaskNo() == 9999) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			continue;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			wrkMast.setWrkSts(4L);
			} else {
			continue;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			}
			}

			// 完成通知档
			// if (wrkMastMapper.updateWaitPakInStep2(wrkMast.getBarcode()) == 0) {
			// log.error("入库通知档修改结束状态失败，workNo=[{}]", wrkMast.getWrkNo());
			// }

			}
			}
			}

			/**
			* 异常信息记录
			*/
			public synchronized void recErr() {
			try {
			this.recCrnErr();
			this.recRgvErr();
			} catch (Exception e) {
			log.error("recErr fail", e);
			}
			}

			/**
			* RGV异常信息记录
			*/
			public synchronized void recRgvErr() {
			Date now = new Date();
			for (RgvSlave rgv : slaveProperties.getRgv()) {
			// 获取RGV信息
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			if (true) {
			// 有任务
			if (rgvProtocol.getTaskNo1() != 0 \|\| rgvProtocol.getTaskNo2() != 0) {
			Integer taskNo = rgvProtocol.getTaskNo1() > 0 ? rgvProtocol.getTaskNo1().intValue() : rgvProtocol.getTaskNo2().intValue();
			BasRgvErrLog latest = basRgvErrLogService.findLatestByTaskNo(rgv.getId(), taskNo);
			// 有异常
			if (latest == null) {
			if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(taskNo);
			if (wrkMast == null) {
			continue;
			}
			BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
			String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName();
			BasRgvErrLog basRgvErrLog = new BasRgvErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			rgv.getId(), // 堆垛机
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			(int) rgvProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			);

			if (!basRgvErrLogService.insert(basRgvErrLog)) {
			log.error("RGV异常记录失败 ===>> [id:{}] [error:{}]", rgv.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (rgvProtocol.getAlarm() == null \|\| rgvProtocol.getAlarm() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basRgvErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", rgv.getId(), latest.getId());
			}
			}
			}
			// 无任务
			} else {
			BasRgvErrLog latest = basRgvErrLogService.findLatest(rgv.getId());
			// 有异常
			if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != rgvProtocol.getAlarm().intValue())) {
			BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
			String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName();
			BasRgvErrLog basRgvErrLog = new BasRgvErrLog(
			null, // 编号
			null, // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			rgv.getId(), // 堆垛机
			null, // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int) rgvProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			);

			if (!basRgvErrLogService.insert(basRgvErrLog)) {
			log.error("RGV异常记录失败 ===>> [id:{}] [error:{}]", rgv.getId(), errName);
			}
			}
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basRgvErrLogService.updateById(latest)) {
			log.error("RGV异常记录修复失败 ===>> [id:{}] [errLogId:{}]", rgv.getId(), latest.getId());
			}
			}
			}
			}
			}

			}
			}

			/**
			* 堆垛机异常信息记录
			*/
			@Async
			public void recCrnErr(){
			public synchronized void recCrnErr() {
			Date now = new Date();
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			@@ -736,16 +2734,20 @@
			if (crnProtocol == null) {
			continue;
			}
			// 只在连线模式下记录
			if (crnProtocol.getModeType() == CrnModeType.AUTO) {
			if (true) {
			// if (crnProtocol.getModeType() != CrnModeType.STOP) {
			// 有任务
			if (crnProtocol.getTaskNo() != 0) {
			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
			if (wrkMast == null) {
			continue;
			}
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			@@ -760,8 +2762,8 @@
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			crnProtocol.getAlarm1().intValue(), // 异常码
			crnError.getErrName(), // 异常
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			@@ -770,12 +2772,12 @@
			"任务中异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), crnError.getErrName());
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (crnProtocol.getAlarm1() == null \|\| crnProtocol.getAlarm1() == 0) {
			if (crnProtocol.getAlarm() == null \|\| crnProtocol.getAlarm() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			@@ -784,14 +2786,15 @@
			}
			}
			}
			// 无任务
			// 无任务
			} else {
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm1().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			null, // 工作号
			@@ -806,8 +2809,8 @@
			null, // 源站
			null, // 源库位
			null, // 条码
			crnProtocol.getAlarm1().intValue(), // 异常码
			crnError.getErrName(), // 异常
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			@@ -816,10 +2819,10 @@
			"无任务异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), crnError.getErrName());
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			// 无异常
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			@@ -837,83 +2840,61 @@
			}
			}


			// -------------------------------------------------------------------------------

			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			@Async
			public void storeEmptyPlt(){
			public synchronized void storeEmptyPlt() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			// 获取空板入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 站点条件判断
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk()) {
			// 工作号
			int workNo = commonService.getWorkNo(0);
			// 检索库位
			StartupDto startupDto = commonService.getLocNo(1, 10, emptyInSta.getStaNo(), null);
			&& staProtocol.isEmptyMk() && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999) && staProtocol.isPakMk()) {

			try {
			// 插入工作主档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			wrkMast.setIoType(10); // 入出库状态：10.空板入库
			wrkMast.setIoPri(10D); // 优先级：10
			wrkMast.setCrnNo(startupDto.getCrnNo());
			wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
			wrkMast.setStaNo(startupDto.getStaNo());
			wrkMast.setLocNo(startupDto.getLocNo());
			wrkMast.setFullPlt("N"); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk("Y"); // 空板
			wrkMast.setLinkMis("N");
			// wrkMast.setCtnType(sourceStaNo.getCtnType()); // 容器类型
			// 操作人员数据
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			Integer insert = wrkMastMapper.insert(wrkMast);
			if (insert == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 更新目标库位状态
			LocMast locMast = locMastService.selectById(startupDto.getLocNo());
			locMast.setLocSts("S"); // S.入库预约
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)){
			throw new CoolException("改变库位状态失败");
			}
			// 命令下发区 --------------------------------------------------------------------------
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo((short) workNo);
			staProtocol.setStaNo(startupDto.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			param.setSourceStaNo(emptyInSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setStaNo(dto.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			}


			}
			}
			}
			@@ -921,8 +2902,7 @@
			/**
			* 出库 ===>> 工作档信息写入led显示器
			*/
			@Async
			public void ledExecute() {
			public synchronized void ledExecute() {
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			@@ -940,13 +2920,23 @@
			}
			// 获取工作档数据
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			if (null == wrkMast \|\| wrkMast.getWrkSts() < 14 \|\| wrkMast.getIoType() < 100) { continue; }
			// if (null == wrkMast \|\| wrkMast.getWrkSts() < 14 \|\| wrkMast.getIoType() < 100) { continue; }
			if (null == wrkMast) {
			continue;
			}
			wrkMasts.add(wrkMast);
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(wrkMast.getWrkNo());
			ledCommand.setIoType(wrkMast.getIoType());
			// 出库模式
			switch (wrkMast.getIoType()) {
			case 1:
			ledCommand.setTitle("全板入库");
			break;
			case 10:
			ledCommand.setTitle("空板入库");
			break;
			case 101:
			ledCommand.setTitle("全板出库");
			break;
			@@ -968,8 +2958,10 @@
			break;
			}
			ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			ledCommand.setLocNo(wrkMast.getLocNo());
			ledCommand.setStaNo(wrkMast.getStaNo());
			if (wrkMast.getIoType() != 110) {
			// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
			if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())));
			}
			@@ -984,10 +2976,22 @@
			}
			// 命令下发 -------------------------------------------------------------------------------
			if (!commands.isEmpty()) {
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			if (led.getId() == 7) {
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			} else {
			ledThread.setLedMk(false);
			}
			} else {
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			} else {
			ledThread.setLedMk(false);
			}
			}

			}

			try {
			@@ -1014,8 +3018,7 @@
			/**
			* 其他 ===>> LED显示器复位，显示默认信息
			*/
			@Async
			public void ledReset() {
			public synchronized void ledReset() {
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			@@ -1026,39 +3029,161 @@
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.getWorkNo() != 0) {
			if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
			reset = false;
			break;
			}
			}
			// 获取led线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// led显示默认内容
			if (!ledThread.isResetStatus() && reset) {
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			if (reset && !ledThread.isLedMk()) {
			if (led.getId() == 7) {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			} else {

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

			}
			}
			}
			}
			}

			/**
			* 堆垛机演示 ===>> 库位移转
			* 因双深库位阻塞，对浅库位进行移转（入库版)
			* tip：同步
			*/
			@Async
			public void crnDemoOfLocMove(Integer crn){
			for (int i = 0; i < 5; i++) {
			@Transactional
			public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast) {
			LocMast loc = locMastService.selectById(pakinWrkMast.getLocNo());

			LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn);
			LocMast loc = locMastService.queryDemoLoc(crn);
			if (null == sourceLoc \|\| null == loc) {
			break;
			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			Date now = new Date();
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(now);
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(15D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setCtnNo("Y"); // 入库阻塞库位移转标记
			wrkMast.setAppeTime(now);
			wrkMast.setModiTime(now);
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(now);
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(now);
			wrkDetl.setModiTime(now);
			if (!wrkDetlService.insert(wrkDetl)) {
			throw new CoolException("保存工作档明细失败");
			}
			}
			String sourceLocNo = sourceLoc.getLocNo();
			String locNo = loc.getLocNo();
			}
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("S"); // S.入库预约，入库阻塞库位移转
			shallowLoc.setModiTime(now);
			if (!locMastService.updateById(shallowLoc)) {
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			// // 修改目标库位状态
			// if (loc.getLocSts().equals("O")) {
			// loc.setLocSts("S"); // S.入库预约
			// loc.setModiTime(new Date());
			// if (!locMastService.updateById(loc)) {
			// throw new CoolException("更新目标库位状态失败");
			// }
			// } else {
			// throw new CoolException("移转失败");
			// }
			wrkMast.setLocNo(shallowLoc.getLocNo());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("修改阻塞入库任务失败");
			}
			}

			/**
			* 因双深库位阻塞，对浅库位进行移转（立即执行版)
			* tip：同步
			*/
			private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
			try {
			List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
			LocMast loc = null;
			for (Integer row : rows) {
			if (Utils.isDeepLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

			if (loc != null) {
			if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
			LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
			if (!shallowLoc1.getLocSts().equals("O")) {
			loc = null;
			}
			}
			}
			if (null != loc) {
			break;
			}
			}
			}
			if (null == loc) {
			for (Integer row : rows) {
			if (Utils.isShallowLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

			if (null != loc) {//对应深库位非在库状态,不能移库
			String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
			LocMast deepLoc1 = locMastService.selectById(deepLoc);
			if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) {
			loc = null;
			}
			}

			if (null != loc) {
			break;
			}
			}
			}
			}

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

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			@@ -1069,14 +3194,14 @@
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn);
			wrkMast.setSourceLocNo(sourceLocNo); // 源库位
			wrkMast.setLocNo(locNo); // 目标库位
			wrkMast.setFullPlt("N"); // 满板：Y
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D")?"Y":"N"); // 空板
			wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			@@ -1085,24 +3210,26 @@
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			throw new CoolException("保存工作档明细失败");
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			throw new CoolException("保存工作档明细失败");
			}
			}
			}
			// 修改源库位状态
			if (sourceLoc.getLocSts().equals("D") \|\| sourceLoc.getLocSts().equals("F")) {
			sourceLoc.setLocSts("R"); // R.出库预约
			sourceLoc.setModiTime(new Date());
			if (!locMastService.updateById(sourceLoc)){
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)) {
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			@@ -1118,6 +3245,1126 @@
			} else {
			throw new CoolException("移转失败");
			}
			} catch (Exception e) {
			log.error("双深库位阻塞，对浅库位进行移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			/**
			* 初始化RGV地图
			*/
			public synchronized void initRgvMap() {
			Object data = redisUtil.get("rgv_map");
			if (data == null) {
			//重新获取全路径地图
			BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//获取默认路径
			if (basRgvPath != null) {
			ArrayList<RgvNode> rgvNodes = new ArrayList<>();
			List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
			for (Integer integer : rgvPath) {
			RgvNode rgvNode = new RgvNode(integer);
			rgvNodes.add(rgvNode);
			}
			//将数据库地图数据存入redis
			redisUtil.set("rgv_map", JSON.toJSONString(rgvNodes));
			}
			}
			}

			/**
			* 堆垛机演示 ===>> 库位移转
			*/
			public synchronized void crnDemoOfLocMove1() {
			try {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			if (!crn.getDemo()) {
			continue;
			} // 必须为演示状态

			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}

			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 获取移库工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
			if (null != wrkMast) {
			continue;
			}

			LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
			LocMast loc = locMastService.queryDemoLoc(crn.getId());
			if (null == sourceLoc \|\| null == loc) {
			continue;
			}

			String sourceLocNo = sourceLoc.getLocNo();
			String locNo = loc.getLocNo();

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

			}
			}
			} catch (Exception e) {
			log.error("堆垛机演示 ===>> 库位移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			/**
			* 堆垛机命令下发后，异步修改工作档状态
			*/
			public synchronized void crnIoWrkMast() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			Date now = new Date();
			// 堆垛机正在运行
			if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 获取工作档
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			// 入库
			if (wrkMast.getWrkSts() == 1 \|\| wrkMast.getWrkSts() == 2) {
			log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			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());
			}
			log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			}
			// 出库、移库
			if (wrkMast.getWrkSts() == 11) {
			log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			}


			}

			}
			}

			/**
			* 入出库模式切换函数
			*/
			public synchronized void ioConvert() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

			for (DevpSlave.Sta inSta : devp.getInSta()) {
			if (inSta.getStaNo() == 2) {
			continue;
			}
			WrkMast pakout = wrkMastMapper.selectWorkingPakout(inSta.getStaNo());
			switch (inSta.getStaNo()) {
			case 203://1F
			if (pakout != null) {
			if (devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
			WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			&& !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading()
			&& devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) {
			// 出库模式
			devpThread.ioModeOf2F = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf2F = IoModeType.PAKIN_MODE;
			}
			break;
			case 401://1F
			if (pakout != null) {
			if (devpThread.ioModeOf4F != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			devpThread.ioModeOf4F = IoModeType.PAKOUT_BOOTING;
			WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
			if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
			&& !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading()
			&& devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) {
			// 出库模式
			devpThread.ioModeOf4F = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf4F = IoModeType.PAKIN_MODE;
			}
			break;
			}
			}

			}

			} catch (Exception e) {
			e.printStackTrace();
			}


			}

			public synchronized void outOfDevp() {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
			for (WrkMast wrkMast : wrkMasts) {
			if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
			wrkMast.setCtnNo("Y");
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
			}
			}

			}
			}


			public synchronized void autoEmptyOut() {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			Integer autoOutSite = 12;
			//如果站点可出禁用，则不生成空盘出库任务
			StaProtocol staProtocol = devpThread.getStation().get(autoOutSite);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() //自动
			&& !staProtocol.isLoading() //无物
			&& staProtocol.isOutEnable() //可出信号
			&& staProtocol.getWorkNo() == 0
			) {
			WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(autoOutSite);
			if (null != pakoutEmpty) {
			return;
			}
			try {
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/emptyOut/v1")
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			JSONObject data = (JSONObject) jsonObject.get("data");
			log.info((String) data.get("msg"));
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}

			public synchronized void autoEmptyIn() {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			Integer autoInSite = 12;
			StaProtocol staProtocol = devpThread.getStation().get(autoInSite);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() //自动
			&& staProtocol.isLoading() //有物
			&& staProtocol.isInEnable() //可入信号
			&& (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() > 9990) //工作号为0或者工作号是9991~9999（输送机留用）
			) {

			try {
			LocTypeDto locTypeDto = new LocTypeDto((short) 1, (short) 1, (short) 1);


			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/auto/emptyIn/v1")
			.setJson(JSON.toJSONString(locTypeDto))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			log.info((String) jsonObject.get("msg"));
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}

			// /**
			// * 其他 ===>> 码垛位自动补充空板：驱动拆盘机输出托盘
			// */
			// public synchronized void dischargingMachineOutputTray() {
			// try {
			// List<WrkMast> wrkMasts = wrkMastMapper.selectDischargingMachineOutputTray();
			// if (Cools.isEmpty(wrkMasts) \|\| wrkMasts.size()>3){
			// return;
			// }
			//
			// // 获取入库站信息
			// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			// StaProtocol staProtocol = devpThread.getStation().get(213);
			// if (staProtocol == null) {
			// log.error("码垛位自动补充空板：驱动拆盘机输出托盘，任务下发失败，站点查询失败");
			// return;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			//
			// if (!staProtocol.isLoading()){
			// log.info("码垛位自动补充空板：驱动拆盘机输出托盘，任务下发失败，站点无物，正在自动调出空板！");
			// int i = wrkMastMapper.selectConfigCount10468N();
			// if (i==1){
			// wrkMastMapper.updateConfig10468Y();
			// }
			// return;
			// }else {
			// int i = wrkMastMapper.selectConfigCount10468N();
			// if (i==0){
			// return;
			// }
			// }
			// StaProtocol staProtocol214 = devpThread.getStation().get(214);
			// // 判断是否满足入库条件
			// if (staProtocol.isAutoing() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk() && staProtocol214.getWorkNo()==0) {
			// staProtocol.setWorkNo((short)9999);
			// staProtocol.setStaNo((short)214);
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败==>码垛位自动补充空板：驱动拆盘机输出托盘！");
			// }
			// log.info("码垛位自动补充空板：驱动拆盘机输出托盘，任务下发成功：工作号9999、目标站214！");
			// }else {
			// log.error("码垛位自动补充空板：驱动拆盘机输出托盘，任务下发失败，站点状态不符合！");
			// }
			// }catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			// }

			// /**
			// * 其他 ===>> 拆盘机处空板扫码，驱动托盘向码垛位，不入库
			// */
			// public synchronized void scanBarcodeEmptyBoard() {
			// try {
			//
			// }catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			// }

			/**
			* 其他 ===>> 码垛完成驱动托盘进入下一步（入库前扫码）
			*/
			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)
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp.getWrkNo()!=9992 \|\| Cools.isEmpty(basDevp.getBarcode())){
			continue;
			}
			Integer zpallet = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet", basDevp.getBarcode()).eq("status","N"));
			if (zpallet<=0){
			continue;
			}
			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 入出库模式判断
			// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
			// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
			// continue;
			// }

			if (!staProtocol.isLoading()){
			log.info("{}站点无物，正在自动调出空板！",staNo);
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& staProtocol.getWorkNo() == 9992
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {

			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(staNo + 1);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			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！");
			}

			}
			}
			}catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 码垛完成驱动托盘进入下一步（入库前扫码）"+e);
			}
			}
			/**
			* 其他 ===>> 码垛完成驱动托盘进入下一步
			*/
			public synchronized void stackingCompletionDriveTray2() {
			try {
			int[] staNos=new int[]{133,135};//(2个入库站点，1楼2个出库码垛站,根据现场修改)
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp.getWrkNo()<9990){
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
			if (Cools.isEmpty(wrkMast)){
			continue;
			}
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 入出库模式判断
			// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
			// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
			// continue;
			// }

			if (!staProtocol.isLoading()){
			log.info("{}站点无物，异常！",staNo);
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.getWorkNo() >= 9990
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {

			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}
			wrkMast.setWrkSts(52L);
			wrkMastMapper.updateById(wrkMast);

			}
			}
			}catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 码垛完成驱动托盘进入下一步"+e);
			}
			}
			/**
			* 其他 ===>> 贴标完成驱动托盘进入下一步
			*/
			public synchronized void stackingCompletionDriveTray3() {
			try {
			int[] staNos=new int[]{144};//(1楼1个贴标位,根据现场修改)
			for (int staNo : staNos){
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp.getWrkNo()<9990){
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
			if (Cools.isEmpty(wrkMast)){
			continue;
			}
			// 获取站点信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 入出库模式判断
			// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
			// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
			// continue;
			// }

			if (!staProtocol.isLoading()){
			log.info("{}站点无物，异常！",staNo);
			continue;
			}
			if (!staProtocol.getWorkNo().equals(wrkMast.getWrkNo().shortValue())){
			log.info("站点工作号={} 与贴标工作号={} 不一致，异常！",staProtocol.getWorkNo(),wrkMast.getWrkNo().shortValue());
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {

			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}
			wrkMast.setWrkSts(55L);
			wrkMastMapper.updateById(wrkMast);

			}
			}
			}catch (Exception e){
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 贴标完成驱动托盘进入下一步"+e);
			}
			}

			/**
			* 完成小车任务
			*/
			public synchronized void rgvCompleteWrkMastSta() {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			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;
			}

			// 只有当RGV等待WCS确认、自动
			if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			) {
			log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
			if (rgvProtocol.getTaskNo1()!=0){
			if (rgvProtocol.getTaskNo1()==9999){
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			break;
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
			if (Cools.isEmpty(wrkMastSta) \|\| wrkMastSta.getType()!=1 \|\| wrkMastSta.getWrkSts()!=1){
			log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
			continue;
			}
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			}else if (rgvProtocol.getTaskNo2()!=0){
			if (rgvProtocol.getTaskNo2()==9999){
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			break;
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().intValue());
			if (Cools.isEmpty(wrkMastSta) \|\| wrkMastSta.getType()!=2){
			log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
			continue;
			}
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			}else {
			log.error("小车复位失败，小车号{},等待wcs确认但是没有工作号！",rgvProtocol.getRgvNo());
			}
			}
			}
			}catch (Exception e){
			log.error("小车复位线程报错！"+e);
			}
			}
			/**
			* 执行小车搬运任务
			*/
			public synchronized void rgvRunWrkMastFullSta() {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			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;
			}

			// 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
			) {
			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;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=1 \|\| wrkMastSta.getWrkType()!=3){//1:满版 3：取放
			continue;
			}
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
			if (signMap){
			wrkMastSta.setWrkSts(1);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return;
			}else {
			log.error("3864行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			}
			}catch (Exception e){
			log.error("3875行执行小车搬运任务下发失败");
			log.error("3875行"+e);
			}
			}
			/**
			* 执行小车搬运任务
			*/
			public synchronized void rgvRunWrkMastEmptyStaPut() {//放
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			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;
			}

			// 只有当RGV空闲、自动,工位二有物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded2()==1 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			) {
			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;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=2 \|\| (wrkMastSta.getWrkType()!=2 && wrkMastSta.getWrkType()!=4)){// 2:空板 2:放 4：拆盘
			continue;
			}
			boolean sign = false;
			if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//放
			sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
			}else {
			continue;
			}
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
			if (signMap){
			wrkMastSta.setWrkSts(2);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return;
			}else {
			log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			}
			}catch (Exception e){
			log.error("3933行执行小车放空板任务下发失败");
			log.error("3933行"+e);
			}
			}

			public synchronized void rgvRunWrkMastEmptyStaTake() {//取
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			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;
			}

			// 只有当RGV空闲、自动,工位二无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded2()==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
			) {
			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;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=2 \|\| wrkMastSta.getWrkType()!=1){// 2:空板 1:取
			continue;
			}
			boolean sign = false;
			if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//取
			sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
			}else {
			continue;
			}
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
			if (signMap){
			wrkMastSta.setWrkSts(1);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return;
			}else {
			log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			}
			}catch (Exception e){
			log.error("3989行执行小车取空板任务下发失败");
			log.error("3989行"+e);
			}
			}

			/*
			* 有任务但未执行此时需要调整小车位置
			* */
			public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
			try{
			Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
			if (integer==0){
			return;
			}
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			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;
			}

			// 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
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			continue;
			}
			rgvAvoidanceXY(rgvProtocol.getRgvNo());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			}
			}
			}catch (Exception e){
			log.error("4109行执行小车初始化任务下发失败");
			log.error("4109行"+e);
			}
			}

			/*
			* 刷新地图数据
			* */
			public synchronized void refreshRgvMap() {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}
			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;
			}

			// 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.getTaskNo1()==9999)
			&& (rgvProtocol.getTaskNo2()==0 \|\| rgvProtocol.getTaskNo2()==9999)
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			}
			}
			}catch (Exception e){
			log.error("4109行执行小车初始化任务下发失败");
			log.error("4109行"+e);
			}
			}

			/*
			* 小车XY移动避让
			* */
			public synchronized boolean rgvAvoidanceXY(Integer rgvId){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1((short)9999); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 工位1任务模式: 回原点
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(9, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;

			}
			}


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

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

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

			/*
			* 小车取空板至工位任务
			* */
			public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式: 取货
			rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //工位2起点
			rgvCommand.setCommand((short) 2); //工位2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, 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
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			}

			/*
			* 小车放空板至输送线任务
			* */
			public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式: 放货
			rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //工位2目标站点
			rgvCommand.setCommand((short) 2); //工位2任务确认
			if (!MessageQueue.offer(SlaveType.Crn, 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
			log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			}

			/*
			* 小车复位
			* */
			public synchronized boolean rgvComplete(Integer rgvId){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(3, new RgvCommand()))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
			log.error("RGV命令下发失败，RGV号={}",rgvId);
			return false;
			} else {
			log.info("RGV命令下发成功，RGV号={}",rgvId);
			return true;
			}
			}catch (Exception e){
			log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
			return false;
			}
			}

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

			// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
			//更新当前小车锁
			try{
			Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
			Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
			basRgvMapCurrent.setLockEndRoute(fallMerge);
			basRgvMapMapper.updateById(basRgvMapCurrent);

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