#

lsh

2024-06-27 efad59da8921d93537fca47d6ec2512e312bc1c3

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

@@ -5496,7 +5496,7 @@
            if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
                if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
                    //移走  == > 2
                    if (jarRgvMoveTake(wrkMastExecute,2)){
                    if (!jarRgvMoveTake(wrkMastExecute,2)){
                        log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                    }
@@ -5509,26 +5509,26 @@
                    if (!jarProtocol.isLeftDoor() && !jarProtocol.isRightDoor()){
                        if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
                            //移走  == > 2
                            if (jarRgvMoveTake(wrkMastExecute,2)){
                            if (!jarRgvMoveTake(wrkMastExecute,2)){
                                log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                            }
                            wrkMastExecute.setWrkType(1);
                            wrkMastExecute.setWrkSts(2);
                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
                            if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                            }
                        } else {
                            //直接开门/关门
                            if (jarDoorTake(wrkMastExecute,JarTaskModeType.OPEN_THE_DOOR)){
                            if (!jarDoorTake(wrkMastExecute,JarTaskModeType.OPEN_THE_DOOR)){
                                log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                            }
                            wrkMastExecute.setWrkType(1);
                            wrkMastExecute.setWrkSts(3);

                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
                            if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                            }
@@ -5537,7 +5537,7 @@
                        //直接完成
                        wrkMastExecute.setWrkType(1);
                        wrkMastExecute.setWrkSts(4);
                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                            log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
@@ -5613,7 +5613,7 @@
            if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
                if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
                    //移走  == > 2
                    if (jarRgvMoveTake(wrkMastExecute,2)){
                    if (!jarRgvMoveTake(wrkMastExecute,2)){
                        log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                    }
@@ -5626,27 +5626,27 @@
                    if (jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()){
                        if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
                            //移走  == > 2
                            if (jarRgvMoveTake(wrkMastExecute,2)){
                            if (!jarRgvMoveTake(wrkMastExecute,2)){
                                log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                            }
                            wrkMastExecute.setWrkType(1);
                            wrkMastExecute.setWrkSts(2);

                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
                            if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                            }
                        } else {
                            //直接关门
                            if (jarDoorTake(wrkMastExecute,JarTaskModeType.CLOSE_THE_DOOR)){
                            if (!jarDoorTake(wrkMastExecute,JarTaskModeType.CLOSE_THE_DOOR)){
                                log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                            }
                            wrkMastExecute.setWrkType(1);
                            wrkMastExecute.setWrkSts(3);

                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
                            if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                            }
@@ -5655,7 +5655,7 @@
                        //直接完成
                        wrkMastExecute.setWrkType(1);
                        wrkMastExecute.setWrkSts(4);
                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                            log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
@@ -5726,11 +5726,10 @@
            if (staProtocolRGVOther == null) {
                return false;
            }

            if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
                if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
                    //移走  == > 2
                    if (jarRgvMoveTake(wrkMastExecute,2)){
                    if (!jarRgvMoveTake(wrkMastExecute,2)){
                        log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                    }
@@ -5747,7 +5746,7 @@
                            return false;
                        }
                        //调车  == > 取货
                        if (jarRgvGetTake(wrkMastExecute
                        if (!jarRgvGetTake(wrkMastExecute
                                ,SteAndJarUtil.getRgvStaRow(wrkMastExecute.getJarEnterStaNo())==1
                                ,SteAndJarUtil.getRgvStaRow(wrkMastExecute.getJarEnterStaNo())==3)){
                            log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
@@ -5756,19 +5755,19 @@
                        }
                        wrkMastExecute.setWrkType(1);
                        wrkMastExecute.setWrkSts(3);
                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                            log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
                    } else {
                        //调车  == > endRow
                        if (jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                        if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                            log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
                        wrkMastExecute.setWrkType(1);
                        wrkMastExecute.setWrkSts(2);
                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                            log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
@@ -5844,7 +5843,7 @@
            if (staProtocolRGV.rgvBoolean(2) && staProtocolRGVOther.rgvBoolean(1)){
                if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
                    //移走  == > 2
                    if (jarRgvMoveTake(wrkMastExecute,2)){
                    if (!jarRgvMoveTake(wrkMastExecute,2)){
                        log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                    }
@@ -5861,19 +5860,19 @@
                            return false;
                        }
                        //调车  == > 取货
                        if (jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT22.id,SteTaskModeType.STE_WFFH_13,false)){
                        if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT22.id,SteTaskModeType.STE_WFFH_13,false)){
                            log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
                        wrkMastExecute.setWrkType(1);
                        wrkMastExecute.setWrkSts(5);
                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                            log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
                    } else {
                        //调车  == > endRow
                        if (jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                        if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                            log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
@@ -5948,7 +5947,7 @@
            if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
                if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
                    //移走  == > 2
                    if (jarRgvMoveTake(wrkMastExecute,2)){
                    if (!jarRgvMoveTake(wrkMastExecute,2)){
                        log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                    }
@@ -5965,25 +5964,25 @@
                            return false;
                        }
                        //调车  == > 取货
                        if (jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT21.id,SteTaskModeType.STE_WFQH_12,false)){
                        if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT21.id,SteTaskModeType.STE_WFQH_12,false)){
                            log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
                        wrkMastExecute.setWrkType(1);
                        wrkMastExecute.setWrkSts(3);
                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                            log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
                    } else {
                        //调车  == > endRow
                        if (jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                        if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                            log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
                        wrkMastExecute.setWrkType(1);
                        wrkMastExecute.setWrkSts(2);
                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                            log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
@@ -6058,7 +6057,7 @@
            if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
                if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
                    //移走  == > 2
                    if (jarRgvMoveTake(wrkMastExecute,2)){
                    if (!jarRgvMoveTake(wrkMastExecute,2)){
                        log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                    }
@@ -6075,25 +6074,25 @@
                            return false;
                        }
                        //调车  == > 取货
                        if (jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT21.id,SteTaskModeType.STE_WFQH_12,false)){
                        if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT21.id,SteTaskModeType.STE_WFQH_12,false)){
                            log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
                        wrkMastExecute.setWrkType(1);
                        wrkMastExecute.setWrkSts(3);
                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                            log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
                    } else {
                        //调车  == > endRow
                        if (jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                        if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                            log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
                        wrkMastExecute.setWrkType(1);
                        wrkMastExecute.setWrkSts(2);
                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                            log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
@@ -6184,7 +6183,7 @@
            if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
                if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
                    //移走  == > 2
                    if (jarRgvMoveTake(wrkMastExecute,2)){
                    if (!jarRgvMoveTake(wrkMastExecute,2)){
                        log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                    }
@@ -6202,20 +6201,20 @@
                        if (wrkMastExecute.getIoType()==7){
                            if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
                                //调车  == > 移动
                                if (jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT26.id,SteTaskModeType.STE_WFQH_12,false)){
                                if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT26.id,SteTaskModeType.STE_WFQH_12,false)){
                                    log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                }
                                wrkMastExecute.setWrkType(1);
                                wrkMastExecute.setWrkSts(3);
                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                }
                            } else if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE)){
                                wrkMastExecute.setWrkType(1);
                                wrkMastExecute.setWrkSts(4);
                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                }
@@ -6223,20 +6222,20 @@
                        } else {
                            if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE)){
                                //调车  == > 移动
                                if (jarSteTake(wrkMastExecute,SteLocaType.POINT26.id,SteLocaType.POINT23.id,SteTaskModeType.STE_WFQH_12,false)){
                                if (!jarSteTake(wrkMastExecute,SteLocaType.POINT26.id,SteLocaType.POINT23.id,SteTaskModeType.STE_WFQH_12,false)){
                                    log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                }
                                wrkMastExecute.setWrkType(1);
                                wrkMastExecute.setWrkSts(3);
                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                }
                            } else if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
                                wrkMastExecute.setWrkType(1);
                                wrkMastExecute.setWrkSts(4);
                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                }
@@ -6245,13 +6244,13 @@

                    } else {
                        //调车  == > endRow
                        if (jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                        if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                            log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
                        wrkMastExecute.setWrkType(1);
                        wrkMastExecute.setWrkSts(2);
                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                            log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
@@ -6359,13 +6358,13 @@
                    //判断小车状态
                    if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE)){
                        //调车  == > 取货
                        if (jarSteTake(wrkMastExecute,SteLocaType.POINT26.id,SteLocaType.POINT24.id,SteTaskModeType.STE_WFQH_12,false)){
                        if (!jarSteTake(wrkMastExecute,SteLocaType.POINT26.id,SteLocaType.POINT24.id,SteTaskModeType.STE_WFQH_12,false)){
                            log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},冷却槽数据={},sign={}",
                                    wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(basJar),sign);
                        }
                        wrkMastExecute.setWrkType(1);
                        wrkMastExecute.setWrkSts(1);
                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                            log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},冷却槽数据={},sign={}",
                                    wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(basJar),sign);
                        }
@@ -6419,7 +6418,7 @@
                }
                wrkMastExecute.setWrkType(1);
                wrkMastExecute.setWrkSts(3);
                if (wrkMastExecuteService.updateById(wrkMastExecute)){
                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                    log.error("输送线出库目标站命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},放货站点数据={},sign={}",
                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocol),sign);
                }
@@ -6488,7 +6487,7 @@
            if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
                if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
                    //移走  == > 2
                    if (jarRgvMoveTake(wrkMastExecute,2)){
                    if (!jarRgvMoveTake(wrkMastExecute,2)){
                        log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                    }
@@ -6505,20 +6504,20 @@
                        if (wrkMastExecute.getIoType()==10){
                            if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
                                //调车  == > 移动
                                if (jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT23.id,SteTaskModeType.STE_WFQH_12,false)){
                                if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT23.id,SteTaskModeType.STE_WFQH_12,false)){
                                    log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                }
                                wrkMastExecute.setWrkType(1);
                                wrkMastExecute.setWrkSts(3);
                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                }
                            } else if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
                                wrkMastExecute.setWrkType(1);
                                wrkMastExecute.setWrkSts(4);
                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                }
@@ -6526,20 +6525,20 @@
                        } else {
                            if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
                                //调车  == > 移动
                                if (jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT20.id,SteTaskModeType.STE_WFQH_12,false)){
                                if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT20.id,SteTaskModeType.STE_WFQH_12,false)){
                                    log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                }
                                wrkMastExecute.setWrkType(1);
                                wrkMastExecute.setWrkSts(3);
                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                }
                            } else if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
                                wrkMastExecute.setWrkType(1);
                                wrkMastExecute.setWrkSts(4);
                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("穿梭板Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                }
@@ -6548,13 +6547,13 @@

                    } else {
                        //调车  == > endRow
                        if (jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                        if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                            log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
                        wrkMastExecute.setWrkType(1);
                        wrkMastExecute.setWrkSts(2);
                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                            log.error("硫化罐Jar命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                        }
@@ -6742,10 +6741,11 @@
                                        //ste任务完成
                                        if (jarSteTake(wrkMastExecute,null,null,null,true)){
                                            wrkMastExecute.setWrkSts(4);
                                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
                                            if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                                log.error("穿梭车Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},穿梭车数据={},sign={}",
                                                        wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
                                            }
                                            return true;
                                        }
                                    }
                                    log.error("穿梭车Ste命令下发失败===>下发异常，jar号={},任务数据={},穿梭车数据={},sign={}",
@@ -6763,10 +6763,11 @@
                                            //ste任务完成
                                            if (jarSteTake(wrkMastExecute,null,null,null,true)){
                                                wrkMastExecute.setWrkSts(6);
                                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
                                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                                    log.error("穿梭车Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},穿梭车数据={},sign={}",
                                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
                                                }
                                                return true;
                                            }
                                        }
                                        log.error("穿梭车Ste命令下发失败===>下发异常，jar号={},任务数据={},穿梭车数据={},sign={}",
@@ -6787,10 +6788,11 @@
                                        //ste任务完成
                                        if (jarSteTake(wrkMastExecute,null,null,null,true)){
                                            wrkMastExecute.setWrkSts(4);
                                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
                                            if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                                log.error("穿梭车Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},穿梭车数据={},sign={}",
                                                        wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
                                            }
                                            return true;
                                        }
                                    }
                                    log.error("穿梭车Ste命令下发失败===>下发异常，jar号={},任务数据={},穿梭车数据={},sign={}",
@@ -6806,10 +6808,11 @@
                                        //ste任务完成
                                        if (jarSteTake(wrkMastExecute,null,null,null,true)){
                                            wrkMastExecute.setWrkSts(2);
                                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
                                            if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                                log.error("穿梭车Ste命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},穿梭车数据={},sign={}",
                                                        wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
                                            }
                                            return true;
                                        }
                                    }
                                    log.error("穿梭车Ste命令下发失败===>下发异常，jar号={},任务数据={},穿梭车数据={},sign={}",
@@ -6879,7 +6882,7 @@
                        WrkMastExecute execute = new WrkMastExecute();
                        execute.setJarId(jarProtocol.getJarNo());
                        //直接关门
                        if (jarDoorTake(execute,JarTaskModeType.OPEN_THE_DOOR_COMPLETE)){
                        if (!jarDoorTake(execute,JarTaskModeType.OPEN_THE_DOOR_COMPLETE)){
                            log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                    execute.getJarId(), JSON.toJSON(execute), JSON.toJSON(jarProtocol),sign);
                        }
@@ -6888,12 +6891,12 @@
                    for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
                        if (wrkMastExecute.getIoType() == 1 || wrkMastExecute.getIoType() == 3){
                            //直接关门
                            if (jarDoorTake(wrkMastExecute,JarTaskModeType.OPEN_THE_DOOR_COMPLETE)){
                            if (!jarDoorTake(wrkMastExecute,JarTaskModeType.OPEN_THE_DOOR_COMPLETE)){
                                log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                            }
                            wrkMastExecute.setWrkSts(4);
                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
                            if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                log.error("平衡车Rgv命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                        wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                return false;
@@ -6913,7 +6916,7 @@
                        WrkMastExecute execute = new WrkMastExecute();
                        execute.setJarId(jarProtocol.getJarNo());
                        //直接关门
                        if (jarDoorTake(execute,JarTaskModeType.CLOSE_THE_DOOR_COMPLETE)){
                        if (!jarDoorTake(execute,JarTaskModeType.CLOSE_THE_DOOR_COMPLETE)){
                            log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                    execute.getJarId(), JSON.toJSON(execute), JSON.toJSON(jarProtocol),sign);
                        }
@@ -6922,12 +6925,12 @@
                    for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
                        if (wrkMastExecute.getIoType() == 2 || wrkMastExecute.getIoType() == 4){
                            //直接关门
                            if (jarDoorTake(wrkMastExecute,JarTaskModeType.CLOSE_THE_DOOR_COMPLETE)){
                            if (!jarDoorTake(wrkMastExecute,JarTaskModeType.CLOSE_THE_DOOR_COMPLETE)){
                                log.error("硫化罐Jar命令下发失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                            }
                            wrkMastExecute.setWrkSts(4);
                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
                            if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                log.error("平衡车Rgv命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                        wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                return false;
@@ -6979,7 +6982,7 @@
                if (staProtocolRGV.getNowRow() == staProtocolRGVEnd.getNowRow()
                        && staProtocolRGV.getNowRow() == SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId())){
                    wrkMastExecute.setWrkSts(2);
                    if (wrkMastExecuteService.updateById(wrkMastExecute)){
                    if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                        log.error("平衡车Rgv命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},平衡车Rgv数据={},sign={}",
                                wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocolRGV),sign);
                        return false;
@@ -7015,28 +7018,20 @@
                    continue;
                }

                StaProtocol staProtocolRGVEnd = devpThread.getStation().get(wrkMastExecute.getRgvEndId());
                if (staProtocolRGVEnd == null) {
                    continue;
                } else {
                    staProtocolRGVEnd = staProtocolRGVEnd.clone();
                }
                if (staProtocolRGVEnd == null) {
                    continue;
                }
                if (staProtocolRGV.getNowRow() == staProtocolRGVEnd.getNowRow()

                if ( staProtocolRGV.rgvBoolean(2)
                        && staProtocolRGV.getNowRow() == SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId())){
                    //调车  == > 取货完成复位
                    if (!jarRgvGetFuTake(wrkMastExecute,true)){
                        log.error("平衡车RGV命令下发失败，rgv号={},任务数据={},硫化罐数据={},sign={}",
                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocolRGV),sign);
                        return false;
                        return true;
                    }
                    wrkMastExecute.setWrkSts(4);
                    if (wrkMastExecuteService.updateById(wrkMastExecute)){
                    if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                        log.error("平衡车Rgv命令下发失败===>更新wrkMastExecute失败，jar号={},任务数据={},平衡车Rgv数据={},sign={}",
                                wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocolRGV),sign);
                        return false;
                        return true;
                    }
                    return true;
                }