zy-wcs.git - Gitblit

			@@ -3,7 +3,6 @@
			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.baomidou.mybatisplus.mapper.Wrapper;
			import com.core.common.Cools;
			import com.core.common.DateUtils;
			import com.core.exception.CoolException;
			@@ -13,6 +12,7 @@
			import com.zy.asrs.utils.RouteUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.VersionUtils;
			import com.zy.common.constant.GhjtApiConstant;
			import com.zy.common.model.LocTypeDto;
			import com.zy.common.model.MatDto;
			import com.zy.common.model.SearchLocParam;
			@@ -21,7 +21,6 @@
			import com.zy.common.utils.CollectionUtils;
			import com.zy.common.utils.HttpHandler;
			import com.zy.common.utils.RedisUtil;
			import com.zy.common.utils.RgvUtils;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			import com.zy.core.cache.MessageQueue;
			@@ -39,14 +38,19 @@
			import com.zy.core.thread.LedThread;
			import com.zy.core.thread.RgvThread;
			import com.zy.core.thread.SiemensDevpThread;
			import com.zy.system.entity.Config;
			import com.zy.system.mapper.ConfigMapper;
			import lombok.extern.slf4j.Slf4j;
			import org.apache.poi.ss.formula.functions.T;
			import org.springframework.beans.factory.annotation.Autowired;
			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 javax.annotation.Resource;
			import java.util.*;
			import java.util.concurrent.TimeUnit;
			import java.util.stream.Collectors;

			/**
			@@ -98,6 +102,11 @@
			private WrkMastStaMapper wrkMastStaMapper;
			@Autowired
			private BasRgvMapMapper basRgvMapMapper;
			@Autowired
			private RgvOneSignMapper rgvOneSignMapper;

			@Resource
			private ConfigMapper configMapper;

			@Value("${wms.url}")
			private String wmsUrl;
			@@ -135,6 +144,47 @@
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

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

			// 入出库模式判断
			@@ -202,7 +252,7 @@
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(dto.getWorkNo());

			if(Cools.isEmpty(dto.getRgvNo()) \|\| dto.getRgvNo() <= 0) {
			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());
			@@ -267,11 +317,11 @@
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& staProtocol.isEmptyMk()
			&& (staProtocol.getWorkNo() == 0 \|\| (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) )
			&& (staProtocol.getWorkNo() == 0 \|\| (staProtocol.getWorkNo() > 9899 && staProtocol.getWorkNo() < 10000))
			) {
			try {
			BasDevp basDevp = basDevpService.selectById(driveSta.getStaNo());
			if (basDevp.getReportSign()>0){
			if (basDevp.getReportSign() > 0) {
			continue;
			}
			basDevp.setBarcode(barcode);
			@@ -324,7 +374,7 @@
			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			Integer staNo = wrkMast.getStaNo();
			if (wrkMast.getSourceStaNo()==145){
			if (wrkMast.getSourceStaNo() == 145) {
			staNo = 147;
			}
			staProtocol.setStaNo(staNo);
			@@ -385,7 +435,7 @@

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
			// WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
			WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(), "7");
			if (wrkMast == null) {
			// 无拣料数据
			continue;
			@@ -395,64 +445,67 @@
			continue;
			}

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

			// 获取库位号
			try {
			// 保存工作明细档历史档
			if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作明细档历史档失败");
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(wrkMast.getBarcode());
			param.setIoType(wrkMast.getIoType());
			param.setSourceStaNo(pickSta.getStaNo()); //作业站点
			param.setLocType1((short) 1);
			String response = "";
			log.info("入库作业站" + pickSta.getStaNo() + "盘点再入库任务请求WMS===>>参数：" + param);
			try {
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin2/loc/v1")
			.setJson(JSON.toJSONString(param))
			.setTimeout(15, TimeUnit.SECONDS)
			.build()
			.doPost();
			} catch (Exception e) {
			log.error("入库作业站" + pickSta.getStaNo() + "盘点再入库任务请求WMS===>>参数：" + param);
			log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
			e.printStackTrace();
			continue;
			}
			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作主档历史档失败");
			log.info("入库作业站" + pickSta.getStaNo() + "盘点再入库任务请求WMS===>>参数：" + param);
			log.info("入库作业站" + pickSta.getStaNo() + "下发盘点再入库任务请求WMS返回结果===>>" + response);
			if (response.equals("")) {
			continue;
			}

			Date now = new Date();
			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			// 更新工作档数据状态
			wrkMast.setIoTime(now);
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
			wrkMast.setStaNo(staNo); // 目标站
			wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档数据状态失败");
			}
			// 更新明细档io_time (历史档关联使用）
			wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
			// 修改库位状态 Q.拣料/盘点/并板再入库
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException("修改库位状态失败");
			JSONObject jsonObject = JSON.parseObject(response);
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			Integer code = jsonObject.getInteger("code");
			if (code == 200) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			if (Cools.isEmpty(dto) \|\| Cools.isEmpty(dto.getStaNo())) {
			log.error("任务号" + wrkMast.getWrkNo() + "盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
			} else {
			log.info("任务号" + wrkMast.getWrkNo() + "盘点再入库查询库位成功===>>" + jsonObject.toJSONString());
			try {
			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(dto.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			// ledThread.errorReset();
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			log.info("任务号" + wrkMast.getWrkNo() + "盘点/拣料再入库任务下发成功===>>" + staProtocol);
			} catch (Exception e) {
			log.error("盘点再入库失败===>>" + e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			log.error("stnToCrnStnPick2===>>fail", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			continue;
			}

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}

			}
			@@ -479,31 +532,18 @@
			staProtocol = staProtocol.clone();
			}
			BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
			if (Cools.isEmpty(basDevp) \|\| basDevp.getReportSign()!=1){
			if (Cools.isEmpty(basDevp) \|\| basDevp.getReportSign() != 1) {
			continue;
			}

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

			if (wrkMast == null) {
			// WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
			// if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
			// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 9999L);
			// if (Cools.isEmpty(wrkMastSta)){
			// WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
			// wrkMastSta1.setType(2);
			// wrkMastSta1.setWrkType(1);
			// wrkMastStaMapper.insert(wrkMastSta1);
			// }
			// continue;
			// }
			// log.error("站点号"+staProtocol.getSiteId()+"未查询到工作档案！");
			// 无拣料数据
			continue;
			}
			if (staProtocol.isEmptyMk()){
			log.error("站点号"+staProtocol.getSiteId()+"空板信号异常！");
			if (staProtocol.isEmptyMk()) {
			log.error("站点号" + staProtocol.getSiteId() + "空板信号异常！");
			continue;
			}
			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			@@ -511,70 +551,302 @@
			continue;
			}

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

			// 获取库位号
			try {
			// 保存工作明细档历史档
			if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作明细档历史档失败");
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(wrkMast.getIoType());
			param.setSourceStaNo(pickSta.getStaNo()); //作业站点
			param.setLocType1((short) 1);
			String response = "";
			log.info("入库作业站" + pickSta.getStaNo() + "盘点再入库任务请求WMS===>>参数：" + param);
			try {
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin2/loc/v1")
			.setJson(JSON.toJSONString(param))
			.setTimeout(15, TimeUnit.SECONDS)
			.build()
			.doPost();
			} catch (Exception e) {
			log.error("入库作业站" + pickSta.getStaNo() + "盘点再入库任务请求WMS===>>参数：" + param);
			log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
			e.printStackTrace();
			continue;
			}
			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作主档历史档失败");
			log.info("入库作业站" + pickSta.getStaNo() + "盘点再入库任务请求WMS===>>参数：" + param);
			log.info("入库作业站" + pickSta.getStaNo() + "下发盘点再入库任务请求WMS返回结果===>>" + response);
			if (response.equals("")) {
			continue;
			}

			Date now = new Date();
			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			// 更新工作档数据状态
			wrkMast.setIoTime(now);
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
			wrkMast.setStaNo(staNo); // 目标站
			wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档数据状态失败");
			}
			// 更新明细档io_time (历史档关联使用）
			wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
			// 修改库位状态 Q.拣料/盘点/并板再入库
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException("修改库位状态失败");
			JSONObject jsonObject = JSON.parseObject(response);
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			Integer code = jsonObject.getInteger("code");
			if (code == 200) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			if (Cools.isEmpty(dto) \|\| Cools.isEmpty(dto.getStaNo())) {
			log.error("任务号" + wrkMast.getWrkNo() + "盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
			} else {
			log.info("任务号" + wrkMast.getWrkNo() + "盘点再入库查询库位成功===>>" + jsonObject.toJSONString());
			try {
			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(dto.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			// ledThread.errorReset();
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			log.info("任务号" + wrkMast.getWrkNo() + "盘点/拣料再入库任务下发成功===>>" + staProtocol);
			} catch (Exception e) {
			log.error("盘点再入库失败===>>" + e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			log.error("stnToCrnStnPick2===>>fail", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			continue;
			}

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

			}

			}

			}
			}

			/**
			* 2楼212呼叫空板
			*/
			public synchronized void stnToCrnStnPick3Auto(Integer sign) {
			try {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol = devpThread.getStation().get(212);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo() == 0) {
			switch (sign) {
			//执行小车货物搬运任务
			case 1:
			case 4:
			stnToCrnStnPick3();
			return;
			//执行小车空板搬运任务
			case 2://放//拆盘
			case 5://放//拆盘
			stnToCrnStnPick4();
			return;
			default:
			return;
			}
			} else if (staProtocol.isAutoing() && staProtocol.isLoading()) {
			switch (sign) {
			case 3://满放
			case 6://满放
			stnToCrnStnPick5();
			return;
			default:
			return;
			}
			}
			} catch (Exception e) {
			log.error("2楼212呼叫空板" + e);
			}
			}

			/**
			* 2楼212呼叫空板
			*/
			public synchronized void stnToCrnStnPick3() {
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
			if (Cools.isEmpty(wrkMast) \|\| wrkMast.getWrkSts() != 61) {//61、等待空板
			return;
			}
			for (DevpSlave devp : slaveProperties.getDevp()) {
			for (DevpSlave.Sta driveSta : devp.getDriveSta()) {
			if (driveSta.getStaNo() != 215) {
			continue;
			}
			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(driveSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0
			\|\| (staProtocol.getWorkNo() > 9899 && staProtocol.getWorkNo() < 10000))) {
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));

			staProtocol.setWorkNo(wrkMast.getWrkNo() - 1);
			staProtocol.setStaNo(driveSta.getStaNo() == 215 ? 217 : 221);
			boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result2) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			wrkMast.setWrkSts(62L);
			wrkMastMapper.updateById(wrkMast);

			boolean result3 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
			return;
			}
			}
			}
			}

			/**
			* 2楼212呼叫空板
			*/
			public synchronized void stnToCrnStnPick4() {
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
			if (Cools.isEmpty(wrkMast) \|\| wrkMast.getWrkSts() != 62) {//62、等待小车搬运
			return;
			}
			for (DevpSlave devp : slaveProperties.getDevp()) {
			for (DevpSlave.Sta driveSta : devp.getInSta()) {
			if (driveSta.getStaNo() != 217) {
			continue;
			}
			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(driveSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			StaProtocol staProtocol212 = devpThread.getStation().get(212);
			if (staProtocol212 == null) {
			continue;
			} else {
			staProtocol212 = staProtocol212.clone();
			}
			if (staProtocol212.isAutoing() && !staProtocol212.isLoading() && staProtocol212.getWorkNo() == 0) {
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0
			\|\| (staProtocol.getWorkNo() > 9899 && staProtocol.getWorkNo() < 10000) \|\| staProtocol.getWorkNo() == wrkMast.getWrkNo() - 1)) {
			// boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));

			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(212);
			boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result2) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			wrkMast.setWrkSts(63L);
			wrkMastMapper.updateById(wrkMast);

			// boolean result3 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
			return;
			}
			}
			}
			}
			}

			/**
			* 2楼212呼叫空板
			*/
			public synchronized void stnToCrnStnPick5() {
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
			if (Cools.isEmpty(wrkMast) \|\| wrkMast.getWrkSts() != 63) {//63、等待完成
			return;
			}

			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
			StaProtocol staProtocol = devpThread.getStation().get(212);
			if (staProtocol == null) {
			return;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading()) {
			// boolean result1 = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, staProtocol));

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

			// boolean result3 = MessageQueue.offer(SlaveType.Devp, 2, new Task(4, staProtocol));
			return;
			}
			}

			@@ -595,23 +867,66 @@
			staProtocol = staProtocol.clone();
			}
			BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
			if (Cools.isEmpty(basDevp) \|\| basDevp.getReportSign()!=1){
			if (Cools.isEmpty(basDevp) \|\| basDevp.getReportSign() != 1) {
			continue;
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
			WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo() == 0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
			WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(), "3");
			if (wrkMast == null) {
			WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
			if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
			WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(), "3");
			if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()) {
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
			if (Cools.isEmpty(wrkMastSta)){
			WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
			if (Cools.isEmpty(wrkMastSta)) {
			WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(), staProtocol.getSiteId());
			wrkMastSta1.setType(2);
			wrkMastSta1.setWrkType(1);
			wrkMastStaMapper.insert(wrkMastSta1);
			}
			}
			}
			}
			}
			}
			}

			/**
			* 堆垛机站出库到出库站
			*/
			public synchronized void crnStnToOutStn1() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(crnStn.getStaNo());
			if (wrkMast == null) {
			continue;
			}
			// 判断工作档条件
			if ((wrkMast.getIoType() < 100 && wrkMast.getIoType() != 12) \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			continue;
			}
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			continue;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {

			// 命令下发区 --------------------------------------------------------------------------
			// 更新工作档状态为14
			wrkMast.setWrkSts(13L);
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位堆垛机
			crnThread.setResetFlag(true);
			} else {
			log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			}
			}
			@@ -659,7 +974,7 @@

			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
			staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(), wrkMast.getSourceStaNo()));
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}
			@@ -685,7 +1000,7 @@
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			public synchronized void crnIoExecute() {
			try{
			try {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			@@ -731,8 +1046,8 @@
			// this.crnRebackHp(crnProtocol, crnThread);

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

			@@ -740,7 +1055,7 @@
			* 搜索RGV车。通过目标站搜索哪台车可用
			*/
			public synchronized Integer searchRgvNo(Integer staNo) {
			try{
			try {
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			return null;//目标站不存在
			@@ -781,7 +1096,7 @@
			return rgvThread.getSlave().getId();
			}
			}
			}else {
			} 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) {
			@@ -795,8 +1110,8 @@
			}

			return null;
			}catch (Exception e){
			log.error("搜索RGV车。通过目标站搜索哪台车可用"+e);
			} catch (Exception e) {
			log.error("搜索RGV车。通过目标站搜索哪台车可用" + e);
			return null;
			}
			}
			@@ -995,44 +1310,44 @@
			*/
			public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
			for(WrkMast wrkMast : wrkMasts){
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast == null) {
			continue;
			}

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

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

			// 获取库位信息
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			@@ -1075,7 +1390,18 @@

			} 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())) {
			//// 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);
			//// }
			// break;
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (Cools.isEmpty(waitWrkMast)) {
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			@@ -1084,7 +1410,7 @@
			// 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;
			break;
			} else if (shallowLoc.getLocSts().equals("Q")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			@@ -1093,18 +1419,19 @@
			}
			}

			// 命令下发区 --------------------------------------------------------------------------
			// 入库命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			//crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			//crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			//crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			crnCommand.setSourceStaNo(crnStn.getPlatNo().shortValue()); // 源库位排
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			@@ -1115,6 +1442,8 @@
			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());
			} else {
			log.info("修改工作档状态 2.设备上走 => 3.吊车入库中 cg！！，工作号={}，zhuangty={}", wrkMast.getWrkNo(), wrkMast.getWrkSts());
			}
			}
			}
			@@ -1265,24 +1594,47 @@
			*/
			public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
			Integer count = wrkMastMapper.countPakOut();

			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast.getIoType() == 110 && wrkMast.getStaNo() == 2101) {

			} else {
			if (count > 30) { //设备上走托盘不超过30个
			// log.info("托盘数量不超过指定数量");
			continue;
			}
			}
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			break;
			// return;
			}

			// 判断堆垛机站点是否可用
			if (!crnEnabled(wrkMast)) {
			break;
			}

			if (wrkMast == null) {
			continue;
			}

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

			log.info("{}号堆垛机选定的出库口是{}", crnProtocol.getCrnNo(), crnStn.getPlatNo());

			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null) {
			if ((wrkMast.getIoType() < 100 && wrkMast.getIoType() != 12) \|\| 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;
			}
			@@ -1293,20 +1645,20 @@
			continue;
			}
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			break;
			// continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			//SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			//StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			// if (staProtocol == null) {
			// break;
			//// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }

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

			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			@@ -1316,8 +1668,9 @@
			// continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			//if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
			// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			if (staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			@@ -1361,7 +1714,7 @@
			moveLocForDeepLoc(slave, shallowLoc);
			}
			log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			break;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			@@ -1370,13 +1723,8 @@
			}
			}

			// 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
			// 1.堆垛机开始移动出库命令
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			@@ -1385,9 +1733,10 @@
			crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			// crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			// crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			// crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			crnCommand.setDestinationStaNo(crnStn.getPlatNo().shortValue());
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			@@ -1407,24 +1756,90 @@
			}

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

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

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

			boolean success;
			String response;
			try {
			response = new HttpHandler.Builder()
			.setUri(GhjtApiConstant.GWCS_IP_PORT)
			.setPath(GhjtApiConstant.GWCS_CKMT_URL)
			.setHeaders(headers)
			.setJson(body)
			.build()
			.doPost();
			if (!Cools.isEmpty(response)) {
			JSONObject jsonObject1 = JSONObject.parseObject(response);
			if ((Integer) jsonObject1.get("code") == 200 && (Integer) jsonObject1.get("data") == 1) {
			success = true;
			} else {
			success = false;
			log.info("确认出库码头是否可用失败！！！url：{}；request：{}；response：{}", GhjtApiConstant.GWCS_IP_PORT + GhjtApiConstant.GWCS_CKMT_URL, body, response);
			}
			} else {
			log.error("确认出库码头是否可用失败！！！url：{}；request：{}；response：{}", GhjtApiConstant.GWCS_IP_PORT + GhjtApiConstant.GWCS_CKMT_URL, body, response);
			throw new CoolException("确认出库码头是否可用失败");
			}
			} catch (Exception e) {
			success = false;
			log.error("确认出库码头是否可用异常，工作号：{}，{}", wrkMast.getWrkNo(), e.getMessage());
			} finally {

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

			/**
			* 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){
			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){
			if (staNos.size() < 1) {
			return null;
			}
			List<WrkMast> wrkMasts = wrkMastMapper.selectRgvInStep1(slave.getId(), staNos);
			for(WrkMast wrkMast : wrkMasts){
			for (WrkMast wrkMast : wrkMasts) {
			Integer plcId = 0;
			for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) {
			if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
			if (rgvStn.getStaNo() == wrkMast.getRgvSstaNo()) {
			plcId = rgvStn.getDevpPlcId();
			break;
			}
			@@ -1469,9 +1884,9 @@
			flag2 = true;
			}

			if(flag1 && flag2){
			if (flag1 && flag2) {
			wrkMastTask.add(wrkMast);
			if(wrkMastTask.size() >= 2) break;
			if (wrkMastTask.size() >= 2) break;
			}
			}
			return wrkMastTask;
			@@ -1479,23 +1894,24 @@

			/**
			* 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){
			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){
			if (staNos.size() < 1) {
			return null;
			}
			List<WrkMast> wrkMasts = wrkMastMapper.selectRgvOutStep1(slave.getId(), staNos);
			for(WrkMast wrkMast : wrkMasts){
			for (WrkMast wrkMast : wrkMasts) {
			Integer plcId = 0;
			for (RgvSlave.RgvStn rgvStn : slave.getRgvOutSStn()) {
			if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
			if (rgvStn.getStaNo() == wrkMast.getRgvSstaNo()) {
			plcId = rgvStn.getDevpPlcId();
			break;
			}
			@@ -1540,9 +1956,9 @@
			flag2 = true;
			}

			if(flag1 && flag2){
			if (flag1 && flag2) {
			wrkMastTask.add(wrkMast);
			if(wrkMastTask.size() >= 2) break;
			if (wrkMastTask.size() >= 2) break;
			}
			}
			return wrkMastTask;
			@@ -1582,6 +1998,49 @@
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			return;
			}
			// 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());
			}
			return;
			} 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);
			return;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			return;
			}
			}
			}

			// 已经存在吊车执行任务时，则过滤
			@@ -1642,6 +2101,9 @@
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			wrkMast.setWrkSts(4L);
			if (wrkMast.getIoType() == 3) {
			wrkMast.setWrkSts(13L);
			}
			} else {
			continue;
			}
			@@ -1916,7 +2378,7 @@
			*/
			public synchronized void storeEmptyPlt() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			if (devp.getId()==1) continue;
			if (devp.getId() == 1) continue;
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			// 获取空板入库站信息
			@@ -1930,7 +2392,7 @@

			// 站点条件判断
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) \|\| staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
			&& staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) \|\| staProtocol.getWorkNo() == 0) && staProtocol.isPakMk()) {

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			@@ -1974,7 +2436,7 @@
			*/
			public synchronized void storeEmptyPlt2() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			if (devp.getId()==2) continue;
			if (devp.getId() == 2) continue;
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			// 获取空板入库站信息
			@@ -1988,11 +2450,11 @@

			// 站点条件判断
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) \|\| staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
			&& staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) \|\| staProtocol.getWorkNo() == 0) && staProtocol.isPakMk()) {
			try {
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
			if (Cools.isEmpty(wrkMastSta)){
			WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
			if (Cools.isEmpty(wrkMastSta)) {
			WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(), staProtocol.getSiteId());
			wrkMastSta1.setType(2);
			wrkMastSta1.setWrkType(1);//工作类型 1:取（叠盘） 2：拆盘 3：取放 5：满取 6：满放
			wrkMastStaMapper.insert(wrkMastSta1);
			@@ -2010,8 +2472,12 @@
			* 空栈板初始化入库,叉车入库站放货
			*/
			public synchronized void storeEmptyPlt3() {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			try {
			RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
			if (Cools.isEmpty(rgvOneSign) \|\| rgvOneSign.getRgvOneSign() == 1) {
			return;
			}
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			@@ -2028,12 +2494,13 @@
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			&& rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
			// && (rgvProtocol.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			&& rgvProtocol.getLoaded2() == 3 ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			try {
			WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122);
			if (!Cools.isEmpty(wrkMast1)){
			if (!Cools.isEmpty(wrkMast1)) {
			continue;
			}
			// 获取空板入库站信息
			@@ -2041,7 +2508,8 @@
			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			param.setSourceStaNo(122);
			param.setLocType1((short)1);
			param.setLocType1((short) 1);
			param.setRgvNo(rgvProtocol.getRgvNo());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/empty/loc/v1")
			@@ -2053,10 +2521,10 @@
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			// 更新站点信息且下发plc命令
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(dto.getWorkNo());
			if (!Cools.isEmpty(wrkMast) && wrkMast.getIoType()==10 && wrkMast.getWrkSts()==2){
			if (!Cools.isEmpty(wrkMast) && wrkMast.getIoType() == 10 && wrkMast.getWrkSts() == 2) {
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
			if (Cools.isEmpty(wrkMastSta)){
			WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),wrkMast.getStaNo());
			if (Cools.isEmpty(wrkMastSta)) {
			WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(), wrkMast.getStaNo());
			wrkMastSta1.setWrkNo(wrkMast.getWrkNo().longValue());
			wrkMastSta1.setType(2);
			wrkMastSta1.setWrkType(6);//工作类型 1:取（叠盘） 2：拆盘 3：取放 5：满取 6：满放
			@@ -2072,9 +2540,9 @@
			}
			}
			}
			}catch (Exception e){
			} 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);
			log.error("3933行" + e);
			}
			}

			@@ -2133,6 +2601,10 @@
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			case 212:
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			default:
			log.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			break;
			@@ -2157,12 +2629,12 @@
			// 命令下发 -------------------------------------------------------------------------------
			if (!commands.isEmpty()) {
			// 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);
			}
			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))) {
			@@ -2323,9 +2795,18 @@
			try {
			List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
			LocMast loc = null;

			// 获取备货区配置
			Config config = configMapper.selectConfigByCode("auto_stock_up");
			if (config == null) {
			return;
			}
			// 备货取是前几列
			int bay1 = Integer.parseInt(config.getValue());

			for (Integer row : rows) {
			if (Utils.isDeepLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
			loc = locMastService.queryFreeLocMastNotBay(row, shallowLoc.getLocType1(), bay1);

			if (loc != null) {
			if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
			@@ -2344,7 +2825,7 @@
			if (null == loc) {
			for (Integer row : rows) {
			if (Utils.isShallowLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
			loc = locMastService.queryFreeLocMastNotBay(row, shallowLoc.getLocType1(), bay1);

			if (null != loc) {//对应深库位非在库状态,不能移库
			String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
			@@ -2363,68 +2844,69 @@

			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());
			}
			// throw new CoolException("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			} else {

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			throw new CoolException("保存工作档明细失败");
			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setAnfme(locDetl.getAnfme());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			throw new CoolException("保存工作档明细失败");
			}
			}
			}
			}
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)) {
			throw new CoolException("更新源库位状态失败");
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)) {
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			throw new CoolException("移转失败");
			}
			} else {
			throw new CoolException("移转失败");
			}
			} catch (Exception e) {
			log.error("双深库位阻塞，对浅库位进行移转失败", e);
			@@ -2738,14 +3220,14 @@
			*/
			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){
			int[] staNos = new int[]{215, 219};//(2楼两个入库码垛站)
			for (int staNo : staNos) {
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp.getWrkNo()!=9992 \|\| Cools.isEmpty(basDevp.getBarcode())){
			if ((basDevp.getWrkNo() != 0 && (basDevp.getWrkNo() < 9900 \|\| basDevp.getWrkNo() > 9999)) \|\| Cools.isEmpty(basDevp.getBarcode())) {
			continue;
			}
			Integer zpallet = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet", basDevp.getBarcode()).eq("status","N"));
			if (zpallet<=0){
			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
			@@ -2763,8 +3245,8 @@
			// continue;
			// }

			if (!staProtocol.isLoading()){
			log.info("{}站点无物，正在自动调出空板！",staNo);
			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
			@@ -2772,11 +3254,11 @@
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& staProtocol.getWorkNo() == 9992
			&& (basDevp.getWrkNo() == 0 \|\| (basDevp.getWrkNo() >= 9900 && basDevp.getWrkNo() <= 9999))
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {

			staProtocol.setWorkNo(9999);
			staProtocol.setStaNo(staNo + 1);
			int workNo = commonService.getWorkNo(5);
			staProtocol.setWorkNo(workNo);
			staProtocol.setStaNo(staNo + 2);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
			if (!result) {
			@@ -2785,28 +3267,29 @@

			}
			}
			}catch (Exception e){
			} 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);
			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[]{131,135};//(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){
			int[] staNos = new int[]{131, 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 (Cools.isEmpty(basDevp) \|\| basDevp.getReportSign()!=1){
			if (Cools.isEmpty(basDevp) \|\| basDevp.getReportSign() != 1) {
			continue;
			}
			if (basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 \|\| basDevp.getWrkNo()>9999)){
			if (basDevp.getWrkNo() != 0 && (basDevp.getWrkNo() < 9900 \|\| basDevp.getWrkNo() > 9999)) {
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
			if (Cools.isEmpty(wrkMast)){
			if (Cools.isEmpty(wrkMast)) {
			continue;
			}
			// 获取站点信息
			@@ -2824,15 +3307,15 @@
			// continue;
			// }

			if (!staProtocol.isLoading()){
			log.info("{}站点无物，异常！",staNo);
			if (!staProtocol.isLoading()) {
			log.info("{}站点无物，异常！", staNo);
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& (staProtocol.getWorkNo() == 0 \|\| (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000))
			&& (staProtocol.getWorkNo() == 0 \|\| (staProtocol.getWorkNo() > 9899 && staProtocol.getWorkNo() < 10000))
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {

			//任务完成
			@@ -2855,10 +3338,10 @@

			}
			}
			}catch (Exception e){
			} 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);
			log.error("其他 ===>> 码垛完成驱动托盘进入下一步" + e);
			}
			}

			@@ -2879,23 +3362,23 @@
			staProtocol = staProtocol.clone();
			}

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

			if (wrkMast == null) {
			log.error("站点号"+staProtocol.getSiteId()+"未查询到工作档案！");
			log.error("站点号" + staProtocol.getSiteId() + "未查询到工作档案！");
			// 无拣料数据
			continue;
			}
			if (!wrkMast.getSheetNo().equals("2") \|\| wrkMast.getIoType()<100 \|\| wrkMast.getWrkSts()!=14){
			if (Cools.isEmpty(wrkMast.getSheetNo()) \|\| !wrkMast.getSheetNo().equals("2") \|\| wrkMast.getIoType() < 100 \|\| wrkMast.getWrkSts() != 14) {
			continue;
			}
			if (wrkMast.getIoType()==101){
			if (wrkMast.getIoType() == 101) {
			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
			wrkMast.setSheetNo("3");
			wrkMastMapper.updateById(wrkMast);
			}else {
			} else {
			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			continue;
			@@ -2905,9 +3388,9 @@
			wrkMast.setSheetNo("3");
			wrkMastMapper.updateById(wrkMast);

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

			}

			@@ -2918,19 +3401,20 @@
			}
			}
			}

			/**
			* 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){
			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()<9900 \|\| basDevp.getWrkNo()>9999) && basDevp.getWrkNo()!=32222){
			if ((basDevp.getWrkNo() < 9900 \|\| basDevp.getWrkNo() > 9999) && basDevp.getWrkNo() != 32222) {
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
			if (Cools.isEmpty(wrkMast)){
			if (Cools.isEmpty(wrkMast)) {
			continue;
			}
			// 获取站点信息
			@@ -2948,12 +3432,12 @@
			// continue;
			// }

			if (!staProtocol.isLoading()){
			log.info("{}站点无物，异常！",staNo);
			if (!staProtocol.isLoading()) {
			log.info("{}站点无物，异常！", staNo);
			continue;
			}
			if (!staProtocol.getWorkNo().equals(wrkMast.getWrkNo())){
			log.info("站点工作号={} 与贴标工作号={} 不一致，异常！",staProtocol.getWorkNo(),wrkMast.getWrkNo().shortValue());
			if (!staProtocol.getWorkNo().equals(wrkMast.getWrkNo())) {
			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()
			@@ -2972,10 +3456,10 @@

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

			@@ -2984,14 +3468,14 @@
			*/
			public synchronized void stackingCompletionDriveTrayOk3() {
			try {
			int[] staNos=new int[]{118};
			for (int staNo : staNos){
			int[] staNos = new int[]{118};
			for (int staNo : staNos) {
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (Cools.isEmpty(basDevp) \|\| basDevp.getWrkNo()!=0 \|\| basDevp.getReportSign()!=3){
			if (Cools.isEmpty(basDevp) \|\| basDevp.getWrkNo() != 0 \|\| basDevp.getReportSign() != 3) {
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne145(145);
			if (Cools.isEmpty(wrkMast)){
			if (Cools.isEmpty(wrkMast)) {
			continue;
			}
			// 获取站点信息
			@@ -3003,8 +3487,20 @@
			staProtocol = staProtocol.clone();
			}

			if (!staProtocol.isLoading()){
			log.info("{}站点无物，异常！",staNo);
			StaProtocol staProtocol147 = devpThread.getStation().get(147);
			if (staProtocol147 == null) {
			continue;
			} else {
			staProtocol147 = staProtocol147.clone();
			}

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

			if (staProtocol147.isLoading()) {
			log.info("{}站点有物！", staProtocol147.getSiteId());
			continue;
			}
			// 判断是否满足入库条件
			@@ -3012,6 +3508,9 @@
			&& staProtocol.isLoading()
			&& !staProtocol.isEmptyMk()
			) {

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

			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			@@ -3019,14 +3518,18 @@
			if (!result) {
			throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
			}

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

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

			}
			}
			}catch (Exception e){
			} catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("其他 ===>> 退货码垛完成托盘继续下一步"+e);
			log.error("其他 ===>> 退货码垛完成托盘继续下一步" + e);
			}
			}

			@@ -3035,18 +3538,18 @@
			*/
			public synchronized void stackingCompletionDriveTray4() {
			try {
			int[] staNos=new int[]{134};//(134有任务，135空闲，则避让)
			for (int staNo : staNos){
			int[] staNos = new int[]{134};//(134有任务，135空闲，则避让)
			for (int staNo : staNos) {
			BasDevp basDevp = basDevpService.selectById(staNo);
			BasDevp basDevp135 = basDevpService.selectById(135);
			if (basDevp.getWrkNo()==0 \|\| (basDevp.getWrkNo()<10000 && basDevp.getWrkNo()>9899) ){
			if (basDevp.getWrkNo() == 0 \|\| (basDevp.getWrkNo() < 10000 && basDevp.getWrkNo() > 9899)) {
			continue;
			}
			if (basDevp135.getReportSign()!=0){
			if (basDevp135.getReportSign() != 0) {
			continue;
			}
			WrkMast wrkMast131 = wrkMastMapper.selectWrkMastUnstackingOne202Two(131);
			if (Cools.isEmpty(wrkMast131)){
			if (Cools.isEmpty(wrkMast131)) {
			continue;
			}
			// 获取站点信息
			@@ -3057,8 +3560,8 @@
			} else {
			staProtocol135 = staProtocol135.clone();
			}
			if (staProtocol135.getWorkNo()<9900 \|\| staProtocol135.getWorkNo()>9999 \|\| staProtocol135.getWorkNo()==0
			\|\| !staProtocol135.isLoading() \|\| !staProtocol135.isAutoing()){
			if (staProtocol135.getWorkNo() < 9900 \|\| staProtocol135.getWorkNo() > 9999 \|\| staProtocol135.getWorkNo() == 0
			\|\| !staProtocol135.isLoading() \|\| !staProtocol135.isAutoing()) {
			continue;
			}
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			@@ -3068,7 +3571,7 @@
			staProtocol = staProtocol.clone();
			}

			if (!staProtocol.isLoading()){
			if (!staProtocol.isLoading()) {
			continue;
			}
			// if (!staProtocol.getWorkNo().equals(wrkMast131.getWrkNo())){
			@@ -3077,20 +3580,22 @@
			// 判断是否满足入库条件
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& basDevp.getReportSign()==0
			&& basDevp.getReportSign() == 0
			) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
			if (true){
			return;
			}
			// if (true){
			// return;
			// }

			//任务完成
			boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol135));
			try{
			try {
			Thread.sleep(100);
			}catch (Exception e){ }
			} catch (Exception e) {
			}
			basDevp135.setReportSign(2);
			basDevpService.updateById(basDevp135);
			staProtocol135.setWorkNo(32222);
			int workNo = commonService.getWorkNo(5);
			staProtocol135.setWorkNo(workNo);
			staProtocol135.setStaNo(144);
			devpThread.setPakMk(staProtocol135.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol135));
			@@ -3101,19 +3606,19 @@

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

			/**
			* 完成小车任务
			* 完成小车任务
			*/
			public synchronized void rgvCompleteWrkMastSta() {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			try {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			@@ -3128,136 +3633,148 @@
			// 只有当RGV等待WCS确认、自动
			if (rgvProtocol.getStatusType() == RgvStatusType.WORKING
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& ((rgvProtocol.getStatusType1()==RgvStatusType.WAITING \|\| rgvProtocol.getStatusType2()==RgvStatusType.WAITING ) \|\|
			(rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING \|\| rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING ))
			&& ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING \|\| rgvProtocol.getStatusType2() == RgvStatusType.WAITING) \|\|
			(rgvProtocol.getStatusType1() == RgvStatusType.FETCHWAITING \|\| rgvProtocol.getStatusType2() == RgvStatusType.FETCHWAITING))
			) {
			log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
			if (rgvProtocol.getTaskNo1()!=0 && (rgvProtocol.getStatusType1()==RgvStatusType.WAITING \|\| rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)){
			if (rgvProtocol.getTaskNo1()==(short)32222){
			log.info("{}号小车等待wcs确认，状态{}，参数{}", rgvProtocol.getRgvNo(), rgvProtocol.getStatusType(), rgvProtocol);
			if (rgvProtocol.getTaskNo1() != 0 && (rgvProtocol.getStatusType1() == RgvStatusType.WAITING \|\| rgvProtocol.getStatusType1() == RgvStatusType.FETCHWAITING)) {
			if (rgvProtocol.getTaskNo1() == (short) 32222) {
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",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());
			rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute());
			break;
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue());
			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);
			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;
			}

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast)){
			if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType() != 5) {
			Thread.sleep(200);
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()) {
			continue;
			}
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
			continue;
			}
			log.error("小车任务完成下发输送线任务："+staProtocol);
			try{
			Thread.sleep(1000);
			DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
			log.error("小车任务完成读取输送线任务："+staProtocolEnd);
			if (staProtocolEnd.getWorkNo()==0 ){ //\|\| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
			staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
			staProtocolEnd.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
			continue;
			}
			log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
			}
			}catch (Exception e){

			}
			log.error("小车任务完成下发输送线任务：" + staProtocol);
			// try{
			// Thread.sleep(1000);
			// DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			// StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
			// log.error("小车任务完成读取输送线任务："+staProtocolEnd);
			// if (staProtocolEnd.getWorkNo()==0 ){ //\|\| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
			// staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
			// staProtocolEnd.setStaNo(wrkMast.getStaNo());
			// if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
			// continue;
			// }
			// log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
			// }
			// }catch (Exception e){
			//
			// }
			}
			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 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING \|\| rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){
			if (rgvProtocol.getTaskNo2()==(short)32222){
			rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute());
			} else if (rgvProtocol.getTaskNo2() != 0 && (rgvProtocol.getStatusType2() == RgvStatusType.WAITING \|\| rgvProtocol.getStatusType2() == RgvStatusType.FETCHWAITING)) {
			if (rgvProtocol.getTaskNo2() == (short) 32222) {
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",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());
			rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute());
			break;
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().longValue());
			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);
			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;
			}
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast)){
			if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType() != 5) {
			Thread.sleep(200);
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()) {
			continue;
			}
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
			continue;
			}
			log.error("小车任务完成下发输送线任务："+staProtocol);
			try{
			Thread.sleep(1000);
			DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
			log.error("小车任务完成读取输送线任务："+staProtocolEnd);
			if (staProtocolEnd.getWorkNo()==0 ){ //\|\| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
			staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
			staProtocolEnd.setStaNo(wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
			continue;
			}
			log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
			}
			}catch (Exception e){

			}
			log.error("小车任务完成下发输送线任务：" + staProtocol);
			// try{
			// Thread.sleep(1000);
			// DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			// StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
			// log.error("小车任务完成读取输送线任务："+staProtocolEnd);
			// if (staProtocolEnd.getWorkNo()==0 ){ //\|\| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
			// staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
			// staProtocolEnd.setStaNo(wrkMast.getStaNo());
			// if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
			// continue;
			// }
			// log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
			// }
			// }catch (Exception e){
			//
			// }
			}
			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());
			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);
			} catch (Exception e) {
			log.error("小车复位线程报错！" + e);
			}
			}

			/**
			* 入出库 ===>> 小车作业下发
			*/
			public synchronized void rgvIoExecute(Integer sign) {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			public synchronized boolean rgvIoExecute(Integer sign) {
			boolean rgvIoExecuteSign = false;
			try {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			// 获取小车信息
			boolean signWork = false;
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			@@ -3276,26 +3793,26 @@
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& rgvProtocol.getLoaded1() == 0
			&& rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
			) {
			switch (sign){
			switch (sign) {
			//执行小车货物搬运任务
			case 1:
			signWork = rgvRunWrkMastFullSta();
			signWork = rgvRunWrkMastFullSta(rgvSlave);
			break;
			//执行小车空板搬运任务
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut();
			signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull();
			signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake();
			signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull();
			signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
			break;
			case 6:////提升
			// signWork = qwe();
			@@ -3303,179 +3820,240 @@
			default:
			break;
			}
			}
			for (int signCount = 1;!signWork && signCount<8;signCount++){
			switch (signCount){
			case 1://执行小车货物搬运任务
			signWork = rgvRunWrkMastFullSta();
			break;
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut();
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull();
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake();
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull();
			break;
			case 6:////提升
			for (int signCount = 1; !signWork && signCount < 7; signCount++) {
			switch (signCount) {
			case 1://执行小车货物搬运任务
			signWork = rgvRunWrkMastFullSta(rgvSlave);
			break;
			case 2://放//拆盘
			signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
			break;
			case 3://满放
			signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
			break;
			case 4://取叠盘
			signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
			break;
			case 5:////满取
			signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
			break;
			case 6:////提升
			// signWork = rgvRunWrkMastEmptyStaPut();
			break;
			default:
			if (sign>6){
			rgvRunWrkMastEmptyStaAvoidance();//避让
			signWork = true;
			}
			break;
			break;
			default:
			break;
			}
			}
			} else {
			continue;
			}

			if (!rgvIoExecuteSign) {
			rgvIoExecuteSign = signWork;
			}
			}
			}catch (Exception e){
			log.error("RGV小车任务下发报错"+e);
			// if (!rgvIoExecuteSign){
			// if (sign>6){
			//
			// }
			// }
			} catch (Exception e) {
			log.error("RGV小车任务下发报错" + e);
			}
			return rgvIoExecuteSign;
			}

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

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1() == 0
			&& rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			if (rgvProtocol.getRgvNo() == 1) {//切换近范围
			route = routeNear;
			}
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			for (WrkMastSta wrkMastSta : wrkMastStaList) {
			if (wrkMastSta.getType() != 1 \|\| wrkMastSta.getWrkType() != 3) {//1:满版 3：取放
			continue;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			for (WrkMastSta wrkMastSta : wrkMastStaList){
			if (wrkMastSta.getType()!=1 \|\| wrkMastSta.getWrkType()!=3){//1:满版 3：取放
			continue;
			}
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y")){
			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 true;
			}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;
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y") \|\| basDevp.getWrkNo() != 0) {
			continue;
			}
			List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
			add(101);
			add(102);
			add(104);
			add(105);
			add(107);
			add(108);
			add(118);
			add(119);
			add(122);
			}};
			List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
			add(110);
			add(111);
			add(113);
			add(114);
			add(116);
			add(117);
			add(120);
			add(121);
			add(122);
			add(123);
			}};
			if (basRgv.getRgvNo() == 1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())) {
			continue;
			} else if (basRgv.getRgvNo() == 2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())) {
			continue;
			}

			if (basDevp.getDevNo() >= 118 && basDevp.getDevNo() <= 123) {
			if (!basDevp.getEmptyMk().equals("Y")) {
			continue;
			}
			}
			Date date = new Date();
			log.info(date + "取放任务下发：小车工作档：" + wrkMastSta);
			log.info(date + "取放任务下发：目标站状态：" + basDevp);
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
			if (sign) {
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(), rgvProtocol.getRgvNo() == 1);
			if (signMap) {
			wrkMastSta.setWrkSts(1);
			try {
			wrkMastStaMapper.updateById(wrkMastSta);
			} catch (Exception e) {
			log.error("更新小车任务失败");
			}
			return true;
			} else {
			log.error("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){
			// }
			} catch (Exception e) {
			log.error("3875行执行小车搬运任务下发失败");
			log.error("3875行"+e);
			log.error("3875行" + e);
			}
			return false;
			}

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

			// 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==3 \|\| rgvProtocol.getLoaded2()==1 \|\| rgvProtocol.getLoaded2()==4)////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物() ；3 1、2层都有物 4：（）只允许拆盘
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			// 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
			&& (rgvProtocol.getLoaded2() == 3 \|\| rgvProtocol.getLoaded2() == 1 \|\| rgvProtocol.getLoaded2() == 4)////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物() ；3 1、2层都有物 4：（）只允许拆盘
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			return false;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
			if (rgvProtocol.getRgvNo() == 2) {//切换近范围
			route = routeNear;
			}
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
			for (WrkMastSta wrkMastSta : wrkMastStaList) {
			if (wrkMastSta.getType() != 2 \|\| wrkMastSta.getWrkType() != 2) {// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
			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){// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
			boolean sign = false;
			if (wrkMastSta.getStaEnd() != 0) {//放
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y") \|\| basDevp.getWrkNo() != 0) {
			continue;
			}
			boolean sign = false;
			if ( wrkMastSta.getStaEnd()!=0){//放
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y")){
			if (basDevp.getDevNo() >= 118 && basDevp.getDevNo() <= 123) {
			if (!basDevp.getEmptyMk().equals("Y")) {
			continue;
			}
			sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
			}else {
			continue;
			}
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
			if (signMap){
			wrkMastSta.setWrkSts(2);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return true;
			}else {
			log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			Date date = new Date();
			log.info(date + "拆盘任务下发：小车工作档：" + wrkMastSta);
			log.info(date + "拆盘任务下发：目标站状态：" + basDevp);
			sign = rgvPutEmpty(rgvProtocol.getRgvNo(), wrkMastSta);//拆盘
			} else {
			continue;
			}
			if (sign) {
			boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd(), rgvProtocol.getRgvNo() == 2);
			if (signMap) {
			wrkMastSta.setWrkSts(2);
			try {
			wrkMastStaMapper.updateById(wrkMastSta);
			} catch (Exception e) {
			log.error("更新小车任务失败");
			}
			return true;
			} else {
			log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败", wrkMastSta.getWrkNo());
			}
			} else {
			log.error("工作号{}所属任务下发失败", wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			}catch (Exception e){
			// }
			} 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);
			log.error("3933行" + e);
			}
			return false;
			}
			@@ -3483,229 +4061,303 @@
			/**
			* 执行小车搬运任务
			*/
			public synchronized boolean rgvRunWrkMastEmptyStaPutFull() {//满放
			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;
			}
			public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//满放
			try {
			// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			return false;
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
			return false;
			}

			// 只有当RGV空闲、自动,工位二有物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==2 \|\| rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			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());
			// 只有当RGV空闲、自动,工位二有物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
			&& (rgvProtocol.getLoaded2() == 2 \|\| rgvProtocol.getLoaded2() == 3) ////0 无物；1 一层无物二层有物；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			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());
			return false;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
			List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
			if (rgvProtocol.getRgvNo() == 2) {//切换近范围
			route = routeNear;
			}
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
			for (WrkMastSta wrkMastSta : wrkMastStaList) {
			if (wrkMastSta.getType() != 2 \|\| wrkMastSta.getWrkType() != 6) {// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放 7:提升
			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()!=6){// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放 7:提升
			boolean sign = false;
			if (wrkMastSta.getStaEnd() != 0) {//满放
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y") \|\| basDevp.getWrkNo() != 0) {
			continue;
			}
			boolean sign = false;
			if ( wrkMastSta.getStaEnd()!=0){//满放
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
			if (!basDevp.getAutoing().equals("Y") \|\| basDevp.getLoading().equals("Y")){
			if (basDevp.getDevNo() >= 118 && basDevp.getDevNo() <= 123) {
			if (!basDevp.getEmptyMk().equals("Y")) {
			continue;
			}
			sign = rgvPutEmptyFull(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 true;
			}else {
			log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			Date date = new Date();
			log.info(date + "满放任务下发：小车工作档：" + wrkMastSta);
			log.info(date + "满放任务下发：目标站状态：" + basDevp);
			sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(), wrkMastSta);
			} else {
			continue;
			}
			if (sign) {
			boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd(), rgvProtocol.getRgvNo() == 2);
			if (signMap) {
			wrkMastSta.setWrkSts(2);
			try {
			wrkMastStaMapper.updateById(wrkMastSta);
			} catch (Exception e) {
			log.error("更新小车任务失败");
			}
			return true;
			} else {
			log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败", wrkMastSta.getWrkNo());
			}
			} else {
			log.error("工作号{}所属任务下发失败", wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			}catch (Exception e){
			// }
			} 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);
			log.error("3933行" + e);
			}
			return false;
			}

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

			// 只有当RGV空闲、自动,工位二无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& (rgvProtocol.getLoaded2()==0 \|\| rgvProtocol.getLoaded2()==1 ) //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			// 只有当RGV空闲、自动,工位二无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
			&& (rgvProtocol.getLoaded2() == 0 \|\| rgvProtocol.getLoaded2() == 1) //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
			if (rgvProtocol.getRgvNo() == 2) {//切换近范围
			route = routeNear;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			for (WrkMastSta wrkMastSta : wrkMastStaList) {
			if (wrkMastSta.getType() != 2 \|\| wrkMastSta.getWrkType() != 1) {// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
			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 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
			boolean sign = false;
			if (wrkMastSta.getStaStart() != 0) {//取
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
			if (!basDevp.getAutoing().equals("Y") \|\| !basDevp.getLoading().equals("Y")) {
			continue;
			}
			boolean sign = false;
			if ( wrkMastSta.getStaStart()!=0){//取
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
			if (!basDevp.getAutoing().equals("Y") \|\| !basDevp.getLoading().equals("Y")){
			List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
			add(101);
			add(102);
			add(104);
			add(105);
			add(107);
			add(108);
			add(118);
			add(119);
			add(122);
			}};
			List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
			add(110);
			add(111);
			add(113);
			add(114);
			add(116);
			add(117);
			add(120);
			add(121);
			add(122);
			add(123);
			}};
			if (basRgv.getRgvNo() == 1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())) {
			continue;
			} else if (basRgv.getRgvNo() == 2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())) {
			continue;
			}
			if (basDevp.getDevNo() >= 118 && basDevp.getDevNo() <= 123) {
			if (!basDevp.getEmptyMk().equals("Y")) {
			continue;
			}
			sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
			}else {
			continue;
			}
			if (sign){
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
			if (signMap){
			wrkMastSta.setWrkSts(1);
			try{
			wrkMastStaMapper.updateById(wrkMastSta);
			}catch (Exception e){
			log.error("更新小车任务失败");
			}
			return true;
			}else {
			log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			Date date = new Date();
			log.info(date + "叠盘任务下发：小车工作档：" + wrkMastSta);
			log.info(date + "叠盘任务下发：目标站状态：" + basDevp);
			sign = rgvTakeEmpty(rgvProtocol.getRgvNo(), wrkMastSta);//叠盘
			} else {
			continue;
			}
			if (sign) {
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute(), rgvProtocol.getRgvNo() == 2);
			if (signMap) {
			wrkMastSta.setWrkSts(1);
			try {
			wrkMastStaMapper.updateById(wrkMastSta);
			} catch (Exception e) {
			log.error("更新小车任务失败");
			}
			return true;
			} else {
			log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败", wrkMastSta.getWrkNo());
			}
			} else {
			log.error("工作号{}所属任务下发失败", wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			}catch (Exception e){
			// }
			} 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);
			log.error("3989行" + e);
			}
			return false;
			}

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

			// 只有当RGV空闲、自动,工位二无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
			&& rgvProtocol.getLoaded2()==0 //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			// 只有当RGV空闲、自动,工位二无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
			&& rgvProtocol.getLoaded2() == 0 //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）；2一层有物二层无物（只能满放）；3 1、2层都有物 4：（）只允许拆盘
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (basRgvMap == null) {
			log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
			return false;
			}
			List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
			if (rgvProtocol.getRgvNo() == 2) {//切换近范围
			route = routeNear;
			}
			List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
			WrkMast wrkMast = wrkMastMapper.selectBy122ManQu(122, 110, 15L);
			if (!Cools.isEmpty(wrkMast)) {
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
			if (!Cools.isEmpty(wrkMastSta) && wrkMastSta.getType() == 2 && wrkMastSta.getWrkType() == 5) {
			wrkMastStaList.add(wrkMastSta);
			}
			}
			for (WrkMastSta wrkMastSta : wrkMastStaList) {
			if (wrkMastSta.getType() != 2 \|\| wrkMastSta.getWrkType() != 5) {// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
			continue;
			}
			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()!=5){// 2:空板 \|\| 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
			boolean sign = false;
			if (wrkMastSta.getStaStart() != 0) {//满取
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
			if (!basDevp.getAutoing().equals("Y") \|\| !basDevp.getLoading().equals("Y")) {
			continue;
			}
			boolean sign = false;
			if (wrkMastSta.getStaStart()!=0){//满取
			BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
			if (!basDevp.getAutoing().equals("Y") \|\| !basDevp.getLoading().equals("Y")){
			continue;
			}
			sign = rgvTakeEmptyFull(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 true;
			}else {
			log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
			}
			}else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			}
			break;
			Date date = new Date();
			log.info(date + "满取任务下发：小车工作档：" + wrkMastSta);
			log.info(date + "满取任务下发：目标站状态：" + basDevp);
			sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(), wrkMastSta);
			} else {
			continue;
			}
			if (sign) {
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute(), rgvProtocol.getRgvNo() == 2);
			if (signMap) {
			wrkMastSta.setWrkSts(1);
			try {
			wrkMastStaMapper.updateById(wrkMastSta);
			} catch (Exception e) {
			log.error("更新小车任务失败");
			}
			return true;
			} else {
			log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败", wrkMastSta.getWrkNo());
			}
			} else {
			log.error("工作号{}所属任务下发失败", wrkMastSta.getWrkNo());
			}
			break;
			}
			}
			}catch (Exception e){
			// }
			} 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);
			log.error("3989行" + e);
			}
			return false;
			}

			/*
			* 有任务但未执行此时需要调整小车位置
			* */
			* 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){
			try {
			// Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
			// if (integer==0){
			// return;
			// }
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0);
			if (Cools.isEmpty(wrkMastSta)) {
			return;
			}
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			Integer[] rgvRunSta = RouteUtils.RgvRunSta(wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
			boolean signRgv = true;
			boolean signRgv1 = true;
			boolean signRgv2 = true;
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			@@ -3720,28 +4372,59 @@
			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			&& rgvProtocol.getTaskNo1()==0
			&& rgvProtocol.getTaskNo2()==0
			&& rgvProtocol.getLoaded1() == 0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			&& rgvProtocol.getTaskNo1() == 0
			&& rgvProtocol.getTaskNo2() == 0
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			continue;
			// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
			if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(), rgvRunSta[rgvProtocol.getRgvNo() - 1], rgvProtocol.getRgvNo())) {
			if (rgvProtocol.getRgvNo() == 1) {
			signRgv1 = false;
			} else {
			signRgv2 = false;
			}
			}
			if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) \|\| rgvProtocol.getRgvPosI().equals(102) )){
			continue;
			} else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) \|\| rgvProtocol.getRgvPosI().equals(117) ) ){
			continue;
			if (rgvProtocol.getRgvNo() == 1 && (rgvProtocol.getRgvPosI().equals(101) \|\| rgvProtocol.getRgvPosI().equals(102))) {
			signRgv = false;
			break;
			} else if (rgvProtocol.getRgvNo() == 2 && (rgvProtocol.getRgvPosI().equals(116) \|\| rgvProtocol.getRgvPosI().equals(117))) {
			signRgv = false;
			break;
			}
			rgvAvoidanceXY(rgvProtocol.getRgvNo());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			} else {
			signRgv = false;
			break;
			}
			}
			}catch (Exception e){
			if (signRgv && (signRgv1 \|\| signRgv2)) {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}

			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1() == 0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			&& rgvProtocol.getTaskNo1() == 0
			&& rgvProtocol.getTaskNo2() == 0
			&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
			&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			rgvAvoidanceXY(rgvProtocol.getRgvNo(), rgvRunSta);
			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);
			log.error("4109行" + e);
			}
			}

			@@ -3749,8 +4432,8 @@
			* 刷新地图数据
			* */
			public synchronized void refreshRgvMap() {
			try{
			for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
			try {
			for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			@@ -3765,36 +4448,36 @@
			// 只有当RGV空闲、自动,工位一无物//rgv可用
			if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
			&& rgvProtocol.getTaskNo1()==0
			&& rgvProtocol.getTaskNo2()==0
			&& rgvProtocol.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(rgvSlave.getId());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
			rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute());
			}
			}
			}catch (Exception e){
			} 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);
			log.error("4109行" + e);
			}
			}

			/*
			* 小车XY移动避让
			* */
			public synchronized boolean rgvAvoidanceXY(Integer rgvId){
			if (rgvId==1){
			try{
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
			public synchronized boolean rgvAvoidanceXY(Integer rgvId, Integer[] rgvRunSta) {
			if (rgvId == 2) {
			try {
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1((short)32222); // 工位1工作号
			rgvCommand.setTaskNo1((short) 32222); // 工位1工作号
			rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式: 回原点
			//basRgvMap.getLockStartRoute().shortValue()
			rgvCommand.setSourceStaNo1( (short)101);
			rgvCommand.setSourceStaNo1(rgvRunSta[1].shortValue());
			rgvCommand.setCommand((short) 1); //工位1任务确认
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号
			@@ -3803,20 +4486,20 @@
			} else {
			return true;
			}
			}catch (Exception e){
			} catch (Exception e) {
			return false;

			}
			}else {
			try{
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
			} else {
			try {
			// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
			rgvCommand.setTaskNo2((short)32222); // 工位2工作号
			rgvCommand.setTaskNo2((short) 32222); // 工位2工作号
			rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式: 回原点
			rgvCommand.setSourceStaNo2((short)117);
			rgvCommand.setSourceStaNo2(rgvRunSta[0].shortValue());
			rgvCommand.setCommand((short) 2); //工位2任务确认
			if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
			//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号
			@@ -3825,7 +4508,7 @@
			} else {
			return true;
			}
			}catch (Exception e){
			} catch (Exception e) {
			return false;

			}
			@@ -3834,10 +4517,10 @@


			/*
			* 小车取货至工位任务
			* */
			public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			* 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
			@@ -3854,7 +4537,7 @@
			} else {
			return true;
			}
			}catch (Exception e){
			} catch (Exception e) {
			return false;
			}
			}
			@@ -3862,8 +4545,8 @@
			/*
			* 小车取货至工位任务
			* */
			public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			public synchronized boolean rgvTakeFull(Integer rgvId, WrkMastSta wrkMastSta) {
			try {
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			@@ -3879,16 +4562,16 @@
			} else {
			return true;
			}
			}catch (Exception e){
			} catch (Exception e) {
			return false;
			}
			}

			/*
			* 小车放货至输送线任务
			* */
			public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			* 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
			@@ -3904,7 +4587,7 @@
			} else {
			return true;
			}
			}catch (Exception e){
			} catch (Exception e) {
			return false;
			}
			}
			@@ -3912,8 +4595,8 @@
			/*
			* 小车取空板至工位任务叠盘
			* */
			public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			public synchronized boolean rgvTakeEmpty(Integer rgvId, WrkMastSta wrkMastSta) {
			try {
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			@@ -3929,7 +4612,7 @@
			} else {
			return true;
			}
			}catch (Exception e){
			} catch (Exception e) {
			return false;
			}
			}
			@@ -3937,8 +4620,8 @@
			/*
			* 小车放空板至输送线任务 //拆盘
			* */
			public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			public synchronized boolean rgvPutEmpty(Integer rgvId, WrkMastSta wrkMastSta) {
			try {
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			@@ -3954,7 +4637,7 @@
			} else {
			return true;
			}
			}catch (Exception e){
			} catch (Exception e) {
			return false;
			}
			}
			@@ -3962,8 +4645,8 @@
			/*
			* 小车取空板至工位任务满取
			* */
			public synchronized boolean rgvTakeEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			public synchronized boolean rgvTakeEmptyFull(Integer rgvId, WrkMastSta wrkMastSta) {
			try {
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			@@ -3979,7 +4662,7 @@
			} else {
			return true;
			}
			}catch (Exception e){
			} catch (Exception e) {
			return false;
			}
			}
			@@ -3987,8 +4670,8 @@
			/*
			* 小车放空板至输送线任务 //满放
			* */
			public synchronized boolean rgvPutEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			public synchronized boolean rgvPutEmptyFull(Integer rgvId, WrkMastSta wrkMastSta) {
			try {
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			@@ -4004,7 +4687,7 @@
			} else {
			return true;
			}
			}catch (Exception e){
			} catch (Exception e) {
			return false;
			}
			}
			@@ -4012,19 +4695,19 @@
			/*
			* 小车复位
			* */
			public synchronized boolean rgvComplete(Integer rgvId){
			try{
			public synchronized boolean rgvComplete(Integer rgvId) {
			try {
			// 命令下发区 --------------------------------------------------------------------------
			if (!MessageQueue.offer(SlaveType.Rgv, 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);
			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);
			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);
			} catch (Exception e) {
			log.error("RGV命令下发失败，RGV号={}。异常：" + e, rgvId);
			return false;
			}
			}
			@@ -4032,11 +4715,19 @@
			/*
			* 小车地图更新更新锁
			* */
			public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
			public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent, Integer staStart, Integer staEnd, boolean sign) {
			if (sign) {
			staStart = RouteUtils.RouteIndexFarMasOtherNearUpMap(basRgvMapCurrent.getRgvNo(), staStart);
			staEnd = RouteUtils.RouteIndexFarMasOtherNearUpMap(basRgvMapCurrent.getRgvNo(), staEnd);
			}
			return rgvMapUpdate(basRgvMapCurrent, staStart, staEnd);
			}

			public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent, Integer staStart, Integer staEnd) {

			// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
			//更新当前小车锁
			try{
			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);
			@@ -4048,12 +4739,88 @@
			List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
			Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//另一台小车可活动最远位置
			basRgvMapOther.setEndRoute(lockEndRoute);
			basRgvMapOther.setEndRouteOther(RouteUtils.RouteIndexFarMasOtherNear(rgvNoOther, lockEndRoute));
			basRgvMapMapper.updateById(basRgvMapOther);
			return true;
			}catch (Exception e){
			} catch (Exception e) {
			log.error("小车地图更新出错！");
			return false;
			}
			}

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

			CrnSlave.CrnStn crnStn = null;
			CrnSlave.CrnStn crnStn2 = null;
			for (CrnSlave.CrnStn crnStn1 : crn.getCrnOutStn()) {
			if (crnStn1.getStaNo().equals(wrkMast.getStaNo())) {
			crnStn = crnStn1;
			break;
			}
			}
			for (CrnSlave.CrnStn crnStn1 : crn.getCrnInStn()) {
			if (crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())) {
			crnStn2 = crnStn1;
			break;
			}
			}
			if (Cools.isEmpty(crnStn) \|\| Cools.isEmpty(crnStn2)) {
			continue;
			}

			// 入库命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(crnStn2.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(crnStn2.getBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(crnStn2.getLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			// crnCommand.setSourceStaNo(crnStn.getPlatNo().shortValue()); // 源库位排
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			break;
			}

			}
			}
			}

			/**
			* 12.跨巷道移库
			*/
			public synchronized void autoMoveLoc() {

			}
			}