zy-wcs.git - Gitblit

			@@ -156,24 +156,26 @@
			errMsg = "扫码失败";
			back = true;
			}

			// 退回
			if (back) {
			log.info("errmsg: " + errMsg);
			// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));

			if (!staProtocol.isLoading()){
			if (!staProtocol.isLoading()) {
			continue;
			}
			if (!staProtocol.isPakMk()) {
			continue;
			}
			staProtocol.setWorkNo(wrkNo);
			News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			News.info("{}PLC入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg, wrkNo);
			wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
			log.error("输送线下发1：" + wrkNo + "," + inSta.getBackSta());
			}

			// 判断是否满足入库条件
			@@ -182,52 +184,53 @@
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			&& staProtocol.isPakMk()) {
			if(Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "00000000".equals(barcode)) {
			if (Cools.isEmpty(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "00000000".equals(barcode)) {
			News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);

			staProtocol.setWorkNo(wrkNo);
			News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
			News.info("{}barcode入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg, wrkNo);
			wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
			log.error("输送线下发1：" + wrkNo + "," + inSta.getBackSta());
			continue;
			}
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
			if (wrkNo1 != 0){
			News.error(barcode + "条码已存在状态为（ 2.设备上走）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
			if (ledThread != null) {
			News.error(methodName + ":扫码失败，请重试");
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走）的任务,工作号="+ wrkMast.getWrkNo()));
			}
			continue;
			}
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast.getSourceStaNo()));
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.info("输送线下发(存在设备上走的工作档，直接下发！))："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());

			ledThread.errorReset();
			log.info("组托请求后LED错误清除");

			if (!result) {
			News.error(methodName + ":更新plc站点信息失败");
			log.error("输送线下发(存在设备上走的工作档，直接下发！)==>更新plc站点信息失败");

			// throw new CoolException("更新plc站点信息失败");
			continue;
			}
			// int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
			// if (wrkNo1 != 0){
			// if (ledThread != null) {
			// News.error(methodName + ":扫码失败，请重试");
			// }
			//
			// }
			News.error(barcode + "条码已存在状态为（ 2.设备上走）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走）的任务,工作号=" + wrkMast.getWrkNo()));
			continue;
			// barcodeThread.setBarcode("");
			// staProtocol.setWorkNo(wrkMast.getWrkNo());
			// staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast.getSourceStaNo()));
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// log.info("输送线下发(存在设备上走的工作档，直接下发！))："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			//
			// ledThread.errorReset();
			// log.info("组托请求后LED错误清除");
			//
			// if (!result) {
			// News.error(methodName + ":更新plc站点信息失败");
			// log.error("输送线下发(存在设备上走的工作档，直接下发！)==>更新plc站点信息失败");
			//
			//// throw new CoolException("更新plc站点信息失败");
			// continue;
			// }

			}
			WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
			.eq("barcode", barcode)
			.in("io_type", 107,103,57));
			.in("io_type", 107, 103, 57));
			if (!Cools.isEmpty(checkPick)) {
			continue;
			}
			@@ -240,6 +243,7 @@
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setTimeout(30,TimeUnit.SECONDS)
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			@@ -250,10 +254,11 @@
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
			//staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发2："+dto.getWorkNo()+","+dto.getStaNo());
			log.error("输送线下发2：" + dto.getWorkNo() + "," + dto.getStaNo());

			ledThread.errorReset();
			log.error("组托请求后LED错误清除");
			@@ -264,6 +269,30 @@
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			if (jsonObject.getString("msg").equals("工作档已存在")) {

			//工作档已存在再次进去
			// wrkMast = wrkMastMapper.selectPakInStepBarcode(barcode);
			// if (wrkMast != null) {
			// barcodeThread.setBarcode("");
			// staProtocol.setWorkNo(9999);
			// //staProtocol.setWorkNo(wrkMast.getWrkNo());
			// //staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
			// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// log.error("输送线下发2：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
			// ledThread.errorReset();
			// log.error("组托请求后LED错误清除");
			// if (!result) {
			// News.error(methodName + ":更新plc站点信息失败");
			//
			// throw new CoolException("更新plc站点信息失败");
			// }
			// }

			continue;
			}
			staProtocol.setWorkNo(wrkNo);
			wrkNo++;
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			@@ -271,10 +300,10 @@
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//
			// if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			// }
			// News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}
			@@ -318,13 +347,13 @@
			}

			// 判断是否满足入库条件
			if (!staProtocol.isLoading()){
			if (!staProtocol.isLoading()) {
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() == 9999)
			&& staProtocol.isPakMk()) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行");
			News.warnNoLog("" + mark + " - 0" + " - 开始执行");
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			if (wrkMast == null) {
			@@ -338,22 +367,22 @@
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发3："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			log.error("输送线下发3：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
			if (result) {
			// 更新工作主档
			wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error(""+mark+" - 1"+" - 更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			News.error("" + mark + " - 1" + " - 更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			}
			} else {
			News.error(""+mark+" - 2"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			News.error("" + mark + " - 2" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isLoading()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
			+"、锁定标记"+ staProtocol.isPakMk()+"、入库印记：" + staProtocol.getStamp());
			} else {
			News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isLoading() + "、可入信号：" + staProtocol.isInEnable()
			+ "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo()
			+ "、锁定标记" + staProtocol.isPakMk() + "、入库印记：" + staProtocol.getStamp());
			}
			}
			}
			@@ -374,18 +403,93 @@
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			// News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());

			if(staProtocol == null) {
			News.error("站点信息未获得");
			continue;
			}
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			if (!back && staProtocol.isFrontErr()) {
			errMsg = "前超限";
			back = true;
			}
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "高超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			back = true;
			}

			// 退回
			if (back) {
			log.info("errmsg: " + errMsg);
			// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
			if (!staProtocol.isLoading()) {
			continue;
			}
			if (!staProtocol.isPakMk()) {
			continue;
			}
			staProtocol.setWorkNo(wrkNo);
			News.info("{}入库回退：{}，任务号：{}", pickSta.getStaNo(), errMsg, wrkNo);
			wrkNo++;
			staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发1：" + 9999 + "," + pickSta.getBackSta());
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());

			// led 异常显示
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
			}
			continue;
			}
			if (!Cools.isEmpty(barcode)) {
			News.infoNoLog("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());

			if (!Cools.isEmpty(barcode)) {
			// News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}


			if (staProtocol == null) {
			continue;
			} else {
			@@ -396,7 +500,7 @@
			// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行");
			News.warnNoLog("" + mark + " - 0" + " - 开始执行");
			WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
			if (wrkMast == null) {
			@@ -424,17 +528,17 @@
			.eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (Cools.isEmpty(staDesc)) {
			News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			News.error("" + mark + " - 2" + " - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			staProtocol.setWorkNo(wrkNo++);
			staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
			staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue() - (short) 1));
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发4："+9989+","+(pickSta.getStaNo().shortValue()-(short)1));
			log.error("输送线下发4：" + 9989 + "," + (pickSta.getStaNo().shortValue() - (short) 1));
			//LED
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "此为拣料、并板、盘点再入库.请放在"+pickSta.getBackSta().shortValue()+"站点";
			String errorMsg = "此为拣料、并板、盘点再入库.请放在" + pickSta.getBackSta().shortValue() + "站点";
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			}
			continue;
			@@ -482,17 +586,17 @@

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo((short) 161);
			staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString()));
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发5："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			log.error("输送线下发5：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
			if (!result) {
			News.error(""+mark+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			News.error("" + mark + " - 3" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isLoading()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk());
			} else {
			News.errorNoLog("" + mark + " - 6" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isLoading() + "、可入信号：" + staProtocol.isInEnable()
			+ "、空板信号：" + staProtocol.isEmptyMk());
			}

			}
			@@ -503,7 +607,7 @@


			//盘点再入库
			public synchronized void stnToCrnStnPick2(){
			public synchronized void stnToCrnStnPick2() {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta()) {
			@@ -520,7 +624,7 @@
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk()
			// && staProtocol.getWorkNo() > 0
			&& staProtocol.isPakMk()){
			&& staProtocol.isPakMk()) {

			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			@@ -528,9 +632,9 @@
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if (!Cools.isEmpty(barcode)) {
			// log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			staProtocol.setWorkNo(wrkNo++);
			staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			@@ -582,14 +686,14 @@
			param.setBarcode(barcode);
			param.setIoType(107);
			param.setSourceStaNo(pickSta.getStaNo()); //作业站点
			if (!Cools.isEmpty(locMast)){
			if (!Cools.isEmpty(locMast)) {
			param.setLocType1(locMast.getLocType1());
			}else {
			} else {
			param.setLocType1(locTypeDto.getLocType1());
			}

			String response = "";
			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() + "盘点再入库任务请求WMS===>>参数：" + param);
			try {
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			@@ -598,15 +702,15 @@
			// .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);
			} 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;
			}
			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("")) {
			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;
			}
			JSONObject jsonObject = JSON.parseObject(response);
			@@ -615,20 +719,20 @@
			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());
			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());
			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((short)161);
			staProtocol.setStaNo(Short.valueOf(dto.getStaNo().toString()));
			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());
			}
			log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库任务下发成功===>>" + staProtocol);
			log.info("任务号" + wrkMast.getWrkNo() + "盘点再入库任务下发成功===>>" + staProtocol);

			ledThread.errorReset();
			log.error("盘点后led错误删除");
			@@ -708,12 +812,12 @@

			// 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))) {
			log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发失败");
			log.info(staProtocol.getWorkNo() + "," + staProtocol.getStaNo() + "输送线出库命令下发失败");
			continue;
			}else {
			log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发成功");
			} else {
			log.info(staProtocol.getWorkNo() + "," + staProtocol.getStaNo() + "输送线出库命令下发成功");
			}

			// 更新工作档状态为14失败
			@@ -724,15 +828,15 @@
			log.error("出库任务完成下发堆垛机复位,{}", wrkMast.getWrkNo());
			crnThread.setResetFlag(true);
			} else {
			News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			News.error("" + mark + " - 1" + " - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}

			}else {
			News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！"
			+" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO
			+"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast.getWrkNo().shortValue()
			+"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
			+"、货叉位置："+crnProtocol.forkPosType+"==HOME：0 // 货叉原位：" + CrnForkPosType.HOME);
			} else {
			News.errorNoLog("" + mark + " - 6" + " - 堆垛机信息不符合入库条件！！！"
			+ " 堆垛机状态：" + crnProtocol.modeType + "==自动AUTO：" + CrnModeType.AUTO
			+ "、堆垛机任务号：" + crnProtocol.getTaskNo() + "==工作档任务号：" + wrkMast.getWrkNo().shortValue()
			+ "、状态枚举：" + crnProtocol.statusType + "==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
			+ "、货叉位置：" + crnProtocol.forkPosType + "==HOME：0 // 货叉原位：" + CrnForkPosType.HOME);
			}

			}
			@@ -755,7 +859,7 @@
			}
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			News.error(""+mark+" - 1"+" - {}号堆垛机尚未在数据库进行维护！", crn.getId());
			News.error("" + mark + " - 1" + " - {}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}

			@@ -767,33 +871,33 @@
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
			&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行堆垛机入出库作业下发");
			News.warnNoLog("" + mark + " - 0" + " - 开始执行堆垛机入出库作业下发");
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			//mark - 1 - ....
			this.crnStnToLoc(crn, crnProtocol,mark); // 入库
			this.crnStnToLoc(crn, crnProtocol, mark); // 入库
			crnProtocol.setLastIo("O");
			} else if (basCrnp.getOutEnable().equals("Y")) {
			//mark - 2 - ....
			this.locToCrnStn(crn, crnProtocol,mark); // 出库
			this.locToCrnStn(crn, crnProtocol, mark); // 出库
			crnProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn(crn, crnProtocol,mark); // 出库
			this.locToCrnStn(crn, crnProtocol, mark); // 出库
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLoc(crn, crnProtocol,mark); // 入库
			this.crnStnToLoc(crn, crnProtocol, mark); // 入库
			crnProtocol.setLastIo("O");
			}
			}
			}
			// 库位移转
			//mark - 3 - ....
			this.locToLoc(crn, crnProtocol,mark);
			this.locToLoc(crn, crnProtocol, mark);
			// this.crnRebackHp(crnProtocol, crnThread);

			}
			@@ -859,15 +963,15 @@
			/**
			* 入库 ===>> 堆垛机站到库位
			*/
			public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
			News.warnNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发：执行入库");
			public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
			News.warnNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发：执行入库");
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			boolean flag = false;
			// 获取堆垛机入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			News.infoNoLog(""+mark+" - 1"+" - 1"+" - 堆垛机入库站信息(staProtocol!=null继续执行)：staProtocol="+staProtocol);
			News.infoNoLog("" + mark + " - 1" + " - 1" + " - 堆垛机入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
			continue;
			} else {
			staProtocol = staProtocol.clone();
			@@ -875,7 +979,7 @@
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error(""+mark+" - 1"+" - 2"+" - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			News.error("" + mark + " - 1" + " - 2" + " - 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()
			@@ -883,27 +987,27 @@
			flag = true;
			}
			if (!flag) {
			News.errorNoLog(""+mark+" - 1"+" - 3"+" - 堆垛机入库站信息(以下需要全true):"
			+"自动信号"+staProtocol.isAutoing()+"有物信号"+staProtocol.isLoading()
			+"工作号>0"+staProtocol.getWorkNo()+"可入信号"+staProtocol.isInEnable()
			+"能入信号（wms设置）.equals(\"Y\")"+staDetl.getCanining());
			News.errorNoLog("" + mark + " - 1" + " - 3" + " - 堆垛机入库站信息(以下需要全true):"
			+ "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
			+ "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isInEnable()
			+ "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
			continue;
			}
			// 获取工作状态为2（设备上走）的入库工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
			if (null == wrkMast) {
			News.infoNoLog(""+mark+" - 1"+" - 4"+" - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			// log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			// 获取库位信息
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			if (locMast == null) {
			News.error(""+mark+" - 1"+" - 5"+" - 查询库存无数据--库位号{}", wrkMast.getLocNo());
			News.error("" + mark + " - 1" + " - 5" + " - 查询库存无数据--库位号{}", wrkMast.getLocNo());
			continue;
			}
			if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
			News.error(""+mark+" - 1"+" - 6"+" - 入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
			News.error("" + mark + " - 1" + " - 6" + " - 入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
			continue;
			}

			@@ -918,51 +1022,51 @@
			continue;
			}

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
			News.warnNoLog(""+mark+" - 1"+" - 8"+" - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行任务号={}",wrkMast.getWrkNo());
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			News.warnNoLog(""+mark+" - 1"+" - 9"+" - // 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！库位状态={}",shallowLoc.getLocSts());
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			News.error(""+mark+" - 1"+" - 10"+" - {}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			News.error(""+mark+" - 1"+" - 11"+" - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			}

			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			News.warnNoLog(""+mark+" - 1"+" - 12"+" - // F、D 库位状态={}",shallowLoc.getLocSts());
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(14D);
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档,将浅库位移转到新的库位中
			moveLocForDeepLoc(slave, shallowLoc,mark);
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			}
			continue;
			} else if (shallowLoc.getLocSts().equals("Q")) {
			News.warnNoLog(""+mark+" - 1"+" - 13"+" - // Q 库位状态={}",shallowLoc.getLocSts());
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			News.infoNoLog(""+mark+" - 1"+" - 14"+" - // F、D 工作状态(判断条件为==4)={}",waitWrkMast.getWrkSts());
			continue;
			}
			}
			}
			News.warnNoLog(""+mark+" - 1"+" - 15"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
			,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue()
			,locMast.getRow1().shortValue(),locMast.getBay1().shortValue(),locMast.getLev1().shortValue());
			// // 双深库位且浅库位有货，则需先对浅库位进行库位移转
			// if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
			// News.warnNoLog("" + mark + " - 1" + " - 8" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行任务号={}", wrkMast.getWrkNo());
			// String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
			// LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			// if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			// News.warnNoLog("" + mark + " - 1" + " - 9" + " - // 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！库位状态={}", shallowLoc.getLocSts());
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			// if (null == waitWrkMast) {
			// News.error("" + mark + " - 1" + " - 10" + " - {}库位异常，未检索到相应工作档！", shallowLocNo);
			// } else {
			// waitWrkMast.setIoPri(15D);
			// waitWrkMast.setModiTime(new Date());
			// if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			// News.error("" + mark + " - 1" + " - 11" + " - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			// }
			// continue;
			// }
			//
			// } else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// News.warnNoLog("" + mark + " - 1" + " - 12" + " - // F、D 库位状态={}", shallowLoc.getLocSts());
			// // 此标记避免多次执行移库任务
			// if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			// wrkMast.setUpdMk("Y");
			// wrkMast.setIoPri(14D);
			// wrkMastMapper.updateById(wrkMast);
			// // 生成工作档,将浅库位移转到新的库位中
			// moveLocForDeepLoc(slave, shallowLoc, mark);
			// // 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			//// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
			// }
			// continue;
			// } else if (shallowLoc.getLocSts().equals("Q")) {
			// News.warnNoLog("" + mark + " - 1" + " - 13" + " - // Q 库位状态={}", shallowLoc.getLocSts());
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			// if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			// News.infoNoLog("" + mark + " - 1" + " - 14" + " - // F、D 工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
			// continue;
			// }
			// }
			// }
			News.warnNoLog("" + mark + " - 1" + " - 15" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
			, crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue()
			, locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue());

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			@@ -973,12 +1077,12 @@
			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.setDestinationPosX((short) (locMast.getRow1() + slave.getOffset())); // 目标库位排
			crnCommand.setDestinationPosY((short) (locMast.getBay1() + slave.getOffset())); // 目标库位列
			crnCommand.setDestinationPosZ((short) (locMast.getLev1() + slave.getOffset())); // 目标库位层
			crnCommand.setTraySize(locMast.getLocType1() == 2);
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			News.error(""+mark+" - 1"+" - 16"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			News.error("" + mark + " - 1" + " - 16" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {

			// long startTime = System.currentTimeMillis();
			@@ -999,19 +1103,19 @@
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error(""+mark+" - 1"+" - 17"+" - 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());
			News.error("" + mark + " - 1" + " - 17" + " - 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());
			}
			}
			}
			News.infoNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发：入库执行完毕");
			News.infoNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发：入库执行完毕");
			}

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
			*/
			public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
			News.warnNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发：执行出库");
			public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
			News.warnNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发：执行出库");
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			@@ -1022,20 +1126,20 @@
			}
			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null) {
			News.error(""+mark+" - 2"+" - 1"+" - 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());
			News.error("" + mark + " - 2" + " - 1" + " - 查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
			continue;
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
			News.error(""+mark+" - 2"+" - 2"+" - 出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			News.error("" + mark + " - 2" + " - 2" + " - 出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			News.infoNoLog(""+mark+" - 2"+" - 3"+" - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol="+staProtocol);
			News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
			break;
			// continue;
			} else {
			@@ -1052,7 +1156,7 @@
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			News.error("" + mark + " - 2" + " - 5" + " - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			break;
			// continue;
			}
			@@ -1067,54 +1171,54 @@
			break;
			}

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
			News.warnNoLog(""+mark+" - 2"+" - 6"+" - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行任务号={}",wrkMast.getWrkNo());
			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")) {
			News.warnNoLog(""+mark+" - 2"+" - 7"+" - // 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！库位状态={}",shallowLoc.getLocSts());
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			News.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) {
			News.error(""+mark+" - 2"+" - 8"+" - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			continue;
			} else {

			}
			}
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			News.warnNoLog(""+mark+" - 2"+" - 9"+" - // F、D 库位状态={}",shallowLoc.getLocSts());
			// // 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())) {
			// News.warnNoLog("" + mark + " - 2" + " - 6" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行任务号={}", wrkMast.getWrkNo());
			// 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")) {
			// News.warnNoLog("" + mark + " - 2" + " - 7" + " - // 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！库位状态={}", shallowLoc.getLocSts());
			// 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,mark);
			}
			News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			continue;
			} else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			News.warnNoLog(""+mark+" - 2"+" - 10"+" - // Q、S 库位状态={}",shallowLoc.getLocSts());
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			News.infoNoLog(""+mark+" - 2"+" - 11"+" - // F、D 工作状态(判断条件为==4)={}",waitWrkMast.getWrkSts());
			continue;
			}
			}
			}
			// if (null == waitWrkMast) {
			// News.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) {
			// News.error("" + mark + " - 2" + " - 8" + " - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			// }
			// continue;
			// } else {
			//
			// }
			// }
			// } else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F、D 库位状态={}", shallowLoc.getLocSts());
			//// 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, mark);
			// }
			// News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
			// continue;
			// } else if (shallowLoc.getLocSts().equals("Q") \|\| shallowLoc.getLocSts().equals("S")) {
			// News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q、S 库位状态={}", shallowLoc.getLocSts());
			// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
			// if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
			// News.infoNoLog("" + mark + " - 2" + " - 11" + " - // F、D 工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
			// continue;
			// }
			// }
			// }

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			@@ -1122,9 +1226,9 @@
			// return;
			}

			News.warnNoLog(""+mark+" - 2"+" - 12"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
			,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue()
			,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue());
			News.warnNoLog("" + mark + " - 2" + " - 12" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
			, sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue()
			, crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue());

			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			@@ -1132,15 +1236,15 @@
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			// crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setSourcePosX((short) (sourceSta.getRow1() + slave.getOffset())); // 源库位排
			crnCommand.setSourcePosY((short) (sourceSta.getBay1() + slave.getOffset())); // 源库位列
			crnCommand.setSourcePosZ((short) (sourceSta.getLev1() + slave.getOffset())); // 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.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			News.error(""+mark+" - 2"+" - 13"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			@@ -1148,14 +1252,14 @@
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error(""+mark+" - 2"+" - 14"+" - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			break;
			}
			}
			}
			}
			News.infoNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发：出库执行完毕");
			News.infoNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发：出库执行完毕");
			}

			// /**
			@@ -1278,17 +1382,17 @@
			/**
			* 库位移转
			*/
			public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
			public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
			// 获取工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
			if (null == wrkMast) {
			return;
			}
			News.warnNoLog(""+mark+" - 3"+" - 0"+" - 堆垛机入出库作业下发：执行库位移转");
			News.warnNoLog("" + mark + " - 3" + " - 0" + " - 堆垛机入出库作业下发：执行库位移转");
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (null == sourceSta) {
			News.error(""+mark+" - 3"+" - 1"+" - 工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			News.error("" + mark + " - 3" + " - 1" + " - 工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			return;
			}
			// 源库位库位状态判断
			@@ -1298,10 +1402,10 @@
			// 获取目标库位信息
			LocMast sta = locMastService.selectById(wrkMast.getLocNo());
			if (null == sta) {
			News.error(""+mark+" - 3"+" - 2"+" - 工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
			News.error("" + mark + " - 3" + " - 2" + " - 工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
			return;
			}
			if(sta.getLocType1() != sourceSta.getLocType1()){
			if (sta.getLocType1() != sourceSta.getLocType1()) {
			News.error("移库目标库位类型与源库位类型不符");
			return;
			}
			@@ -1321,9 +1425,9 @@
			return;
			}

			News.warnNoLog(""+mark+" - 3"+" - 3"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
			,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue()
			,sta.getRow1().shortValue(),sta.getBay1().shortValue(),sta.getLev1().shortValue());
			News.warnNoLog("" + mark + " - 3" + " - 3" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
			, sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue()
			, sta.getRow1().shortValue(), sta.getBay1().shortValue(), sta.getLev1().shortValue());

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			@@ -1339,7 +1443,7 @@
			crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 目标库位层
			crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			News.error(""+mark+" - 3"+" - 4"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			News.error("" + mark + " - 3" + " - 4" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			@@ -1347,10 +1451,10 @@
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error(""+mark+" - 3"+" - 5"+" - 【库位移转】修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			News.error("" + mark + " - 3" + " - 5" + " - 【库位移转】修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			News.infoNoLog(""+mark+" - 3"+" - 0"+" - 堆垛机入出库作业下发：库位移转完成");
			News.infoNoLog("" + mark + " - 3" + " - 0" + " - 堆垛机入出库作业下发：库位移转完成");

			}

			@@ -1368,31 +1472,31 @@
			}
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行对工作档的完成操作，任务号:"+crnProtocol.getTaskNo());
			News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			News.error(""+mark+" - 1"+" - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			continue;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			wrkMast.setWrkSts(4L);
			} else {
			continue;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			log.error(wrkMast.getWrkNo()+"任务修改状态4成功，复位堆垛机={}",crnThread.getCrnProtocol().getCrnNo());
			News.warnNoLog(""+mark+" - 2"+" - 修改成功后复位堆垛机 : 堆垛机号={}",crnThread.getCrnProtocol().getCrnNo());
			crnThread.setResetFlag(true);
			}
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			News.error("" + mark + " - 1" + " - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			continue;
			}
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			wrkMast.setWrkSts(4L);
			} else {
			continue;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo());
			News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
			crnThread.setResetFlag(true);
			}
			}


			}
			@@ -1419,7 +1523,7 @@
			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			News.warnNoLog(""+mark+" - 1"+" - 开始执行：堆垛机异常信息记录：有任务，有异常");
			News.warnNoLog("" + mark + " - 1" + " - 开始执行：堆垛机异常信息记录：有任务，有异常");
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			@@ -1451,7 +1555,7 @@
			"任务中异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			News.error(""+mark+" - 2"+" - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			News.error("" + mark + " - 2" + " - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			} else {
			@@ -1461,7 +1565,7 @@
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			News.error(""+mark+" - 3"+" - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			News.error("" + mark + " - 3" + " - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			@@ -1470,7 +1574,7 @@
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			News.warnNoLog(""+mark+" - 4"+" - 开始执行：堆垛机异常信息记录：无任务，有异常");
			News.warnNoLog("" + mark + " - 4" + " - 开始执行：堆垛机异常信息记录：无任务，有异常");
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			@@ -1499,7 +1603,7 @@
			"无任务异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			News.error(""+mark+" - 5"+" - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			News.error("" + mark + " - 5" + " - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			// 无异常
			@@ -1510,7 +1614,7 @@
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			News.error(""+mark+" - 6"+" - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			News.error("" + mark + " - 6" + " - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			@@ -1542,11 +1646,11 @@
			}

			LedThread ledThread = null;
			if (!Cools.isEmpty(emptyInSta.getLed())) {
			if (!Cools.isEmpty(emptyInSta.getLed())) {
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
			}

			if (!staProtocol.isLoading()){
			if (!staProtocol.isLoading()) {
			continue;
			}

			@@ -1556,9 +1660,9 @@
			&& staProtocol.isInEnable()
			&& staProtocol.isEmptyMk()
			&& staProtocol.isPakMk()
			&& (staProtocol.getWorkNo() !=0 && staProtocol.getWorkNo() > 9700)
			) {
			News.warnNoLog(""+mark+" - 0"+" - 开始执行：空栈板初始化入库,叉车入库站放货");
			&& (staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() > 9700)
			) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行：空栈板初始化入库,叉车入库站放货");

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			@@ -1579,12 +1683,13 @@

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo());
			staProtocol.setStaNo(staProtocol.getSiteId().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			//staProtocol.setStaNo(staProtocol.getSiteId().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			log.error("输送线下发6："+dto.getWorkNo()+","+staProtocol.getSiteId());
			log.error("输送线下发6：" + dto.getWorkNo() + "," + staProtocol.getSiteId());
			if (!result) {
			News.errorNoLog(""+mark+" - 1"+" - 更新plc站点信息失败");
			News.errorNoLog("" + mark + " - 1" + " - 更新plc站点信息失败");
			throw new CoolException("更新plc站点信息失败");
			}

			@@ -1626,9 +1731,9 @@
			}

			} else {
			News.errorNoLog(""+mark+" - 4"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isAutoing()+"、可入信号：" + staProtocol.isInEnable()
			+"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
			+"、锁定标记"+ staProtocol.isPakMk());
			News.errorNoLog("" + mark + " - 4" + " - 站点信息不符合入库条件！！！" + " 自动信号：" + staProtocol.isAutoing() + "、可入信号：" + staProtocol.isInEnable()
			+ "、空板信号：" + staProtocol.isEmptyMk() + "、工作号：" + staProtocol.getWorkNo()
			+ "、锁定标记" + staProtocol.isPakMk());
			}
			}
			}
			@@ -1656,7 +1761,9 @@
			}
			// 获取工作档数据
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			if (null == wrkMast) { continue; }
			if (null == wrkMast) {
			continue;
			}
			wrkMasts.add(wrkMast);
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			@@ -1706,13 +1813,13 @@
			total = locDetl.getAnfme();
			}
			if (wrkMast.getIoType() == 101 \|\| wrkMast.getIoType() == 1) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(), total));
			}
			if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() \|\| 0 == wrkDetl.getInspect())) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(), total));
			}
			if (wrkMast.getIoType() == 107) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(), total));
			}
			});
			}
			@@ -1766,7 +1873,9 @@
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) { continue; }
			if (staProtocol == null) {
			continue;
			}
			if (staProtocol.getWorkNo() != 0 \|\| staProtocol.isErr()) {
			reset = false;
			break;
			@@ -1866,10 +1975,10 @@
			* 因双深库位阻塞，对浅库位进行移转（立即执行版)
			* tip：同步
			*/
			private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc,Integer mark) {
			private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc, Integer mark) {

			try {
			News.warnNoLog(""+mark+"moveLocForDeepLoc"+" - 0"+" - 开始执行:因双深库位阻塞，对浅库位进行移转（立即执行版)");
			News.warnNoLog("" + mark + "moveLocForDeepLoc" + " - 0" + " - 开始执行:因双深库位阻塞，对浅库位进行移转（立即执行版)");
			List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
			LocMast loc = null;
			for (Integer row : rows) {
			@@ -1911,7 +2020,7 @@
			}

			if (null == loc) {
			News.error(""+mark+"moveLocForDeepLoc"+" - 1"+" - 双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			News.error("" + mark + "moveLocForDeepLoc" + " - 1" + " - 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());
			}

			@@ -1937,7 +2046,7 @@
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 2"+" - 保存工作档失败");
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 2" + " - 保存工作档失败");
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			@@ -1952,7 +2061,7 @@
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 3"+" - 保存工作档明细失败");
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 3" + " - 保存工作档明细失败");
			throw new CoolException("保存工作档明细失败");
			}
			}
			@@ -1962,11 +2071,11 @@
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 4"+" - 更新源库位状态失败");
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 4" + " - 更新源库位状态失败");
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 5"+" - 源库位出库失败");
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 5" + " - 源库位出库失败");
			throw new CoolException("源库位出库失败");
			}
			// 修改目标库位状态
			@@ -1974,15 +2083,15 @@
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 6"+" - 更新目标库位状态失败");
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 6" + " - 更新目标库位状态失败");
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 7"+" - 移转失败");
			News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 7" + " - 移转失败");
			throw new CoolException("移转失败");
			}
			} catch (Exception e) {
			News.error(""+mark+"moveLocForDeepLoc"+" - 8"+" - 双深库位阻塞，对浅库位进行移转失败", e);
			News.error("" + mark + "moveLocForDeepLoc" + " - 8" + " - 双深库位阻塞，对浅库位进行移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			@@ -2205,14 +2314,14 @@
			public synchronized void outOfDevp(Integer mark) {

			List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
			if (wrkMasts.size()!=0){
			News.warnNoLog(""+mark+" - 0"+" - 开始执行outOfDevp");
			if (wrkMasts.size() != 0) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行outOfDevp");
			}
			for (WrkMast wrkMast : wrkMasts) {
			if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
			wrkMast.setCtnNo("Y");
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error(""+mark+" - 1"+" - 修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
			News.error("" + mark + " - 1" + " - 修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
			}
			}
			}
			@@ -2223,12 +2332,14 @@
			public synchronized void autoEmptyOut() {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			List<Integer> list = new ArrayList<>();
			list.add(101);list.add(112);
			Map<Integer,Integer> map = new HashMap<>();
			map.put(101,102);map.put(112,111);
			for (Integer site:list){
			list.add(101);
			list.add(112);
			Map<Integer, Integer> map = new HashMap<>();
			map.put(101, 102);
			map.put(112, 111);
			for (Integer site : list) {
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", map.get(site)));
			if (!Cools.isEmpty(wrkMast)){
			if (!Cools.isEmpty(wrkMast)) {
			continue;
			}
			//如果站点可出禁用，则不生成空盘出库任务
			@@ -2248,7 +2359,7 @@
			return;
			}
			Short loctype1 = 1;
			if (site == 101){
			if (site == 101) {
			loctype1 = 2;
			}
			LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
			@@ -2263,9 +2374,9 @@
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			String data = jsonObject.get("data").toString();
			News.info((String) jsonObject.get("msg")+","+data);
			News.info((String) jsonObject.get("msg") + "," + data);
			} else {
			News.warnNoLog("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
			News.warnNoLog("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1", "", response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			@@ -2279,8 +2390,9 @@
			public synchronized void autoEmptyIn() {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			List<Integer> list = new ArrayList<>();
			list.add(153);list.add(157);
			for (Integer site:list){
			list.add(153);
			list.add(157);
			for (Integer site : list) {
			StaProtocol staProtocol = devpThread.getStation().get(site);
			if (staProtocol == null) {
			return;
			@@ -2296,7 +2408,7 @@

			try {
			Short loctype1 = 1;
			if (site == 153){
			if (site == 153) {
			loctype1 = 2;
			}
			LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
			@@ -2313,7 +2425,7 @@
			News.info((String) jsonObject.get("msg"));
			staProtocol.setWorkNo(jsonObject.get("data").hashCode());
			staProtocol.setStaNo(site.shortValue());
			devpThread.setPakMk(site,false);
			devpThread.setPakMk(site, false);
			MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			} else {
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
			@@ -2331,14 +2443,16 @@
			/*
			* 小车地图更新更新锁
			* */
			public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd,String sign){
			log.info("小车地图更新！[标记：{}];[BasRgvMap：{}];[staStart：{}];[staEnd：{}];",sign,JSON.toJSONString(basRgvMapCurrent),staStart,staEnd);
			public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent, Integer staStart, Integer staEnd, String sign) {
			log.info("小车地图更新！[标记：{}];[BasRgvMap：{}];[staStart：{}];[staEnd：{}];", sign, JSON.toJSONString(basRgvMapCurrent), staStart, 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
			log.info("小车地图更新！获取最远站点;[farCurrentStaNo：{}]", farCurrentStaNo);
			Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
			log.info("小车地图更新！获取合并干涉项;[fallMerge：{}]", fallMerge);
			basRgvMapCurrent.setLockEndRoute(fallMerge);
			Integer i = basRgvMapMapper.updateById(basRgvMapCurrent);
			// if (i>0){
			@@ -2347,17 +2461,22 @@

			//更新另一台小车地图
			Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther(basRgvMapCurrent.getRgvNo());
			log.info("小车地图更新！另一台小车号;[rgvNoOther：{}]", rgvNoOther);

			BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
			log.info("小车地图更新！另一台小车;[basRgvMapOther：{}]", JSON.toJSONString(basRgvMapOther));

			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
			log.info("小车地图更新！另一台小车可活动最远位置;[lockEndRoute：{}]", lockEndRoute);
			basRgvMapOther.setEndRoute(lockEndRoute);
			Integer i1 = basRgvMapMapper.updateById(basRgvMapOther);
			// if (i1>0){
			// log.error("{}:==>{}:{}号车更新结束位置,{}",sign,new Date(),basRgvMapOther.getRgvNo(),JSON.toJSONString(basRgvMapOther));
			// }
			return true;
			}catch (Exception e){
			log.error("小车地图更新出错！异常原因："+e);
			} catch (Exception e) {
			log.error("小车地图更新出错！异常原因：" + e);
			return false;
			}
			}
			@@ -2366,14 +2485,14 @@
			* 刷新地图数据
			* */
			public synchronized void refreshRgvMap() {
			try{
			try {
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			for (BasRgvMap rgvSlave:basRgvMaps) {
			for (BasRgvMap rgvSlave : basRgvMaps) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}else {
			} else {
			rgvProtocol = rgvProtocol.clone();
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
			@@ -2384,10 +2503,10 @@

			// 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)
			&&rgvThread.isPakMk()
			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)
			&& rgvThread.isPakMk()
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

			@@ -2396,161 +2515,160 @@
			RgvProtocol rgvProtocolOther = rgvThreadOther.getRgvProtocol();
			if (rgvProtocolOther == null) {
			continue;
			}else {
			} else {
			rgvProtocolOther = rgvProtocolOther.clone();
			}
			if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
			&& rgvProtocolOther.getModeType() == RgvModeType.AUTO
			&& rgvProtocolOther.getLoaded1()==0
			&& (rgvProtocolOther.getTaskNo1()==0)
			&&rgvThreadOther.isPakMk()
			){
			&& rgvProtocolOther.getModeType() == RgvModeType.AUTO
			&& rgvProtocolOther.getLoaded1() == 0
			&& (rgvProtocolOther.getTaskNo1() == 0)
			&& rgvThreadOther.isPakMk()
			) {
			//对工作档进行判断
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			if (rgvProtocol.getTaskNo1() >0 && rgvProtocol.getTaskNo1()<=9000){
			if (rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo1() <= 9000) {
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
			rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2366");
			}else if (rgvProtocol.getTaskNo1() == 0){
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2366");
			rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(), "2366");
			} else if (rgvProtocol.getTaskNo1() == 0) {
			rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute(), "2366");
			}

			}



			}
			}
			}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);
			}
			}


			/**
			* 完成小车任务
			* 完成小车任务
			*/
			public synchronized void rgvCompleteWrkMastSta() {
			try{
			try {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			for (BasRgvMap rgvSlave:basRgvMaps) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}else {
			rgvProtocol = rgvProtocol.clone();
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！3", rgvSlave.getRgvNo());
			continue;
			}
			for (BasRgvMap rgvSlave : basRgvMaps) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			} else {
			rgvProtocol = rgvProtocol.clone();
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
			if (basRgv == null) {
			log.error("{}号RGV尚未在数据库进行维护！3", rgvSlave.getRgvNo());
			continue;
			}

			// 只有当RGV等待WCS确认、自动
			if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING \|\| rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
			){
			log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
			if (rgvProtocol.getTaskNo1()!=0){
			if (rgvProtocol.getTaskNo1()==32222){
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			// 只有当RGV等待WCS确认、自动
			if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING \|\| rgvProtocol.getStatusType1() == RgvStatusType.FETCHWAITING)
			&& rgvProtocol.getModeType() == RgvModeType.AUTO
			&& (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
			) {
			log.info("{}号小车等待wcs确认，状态{}，参数{}", rgvProtocol.getRgvNo(), rgvProtocol.getStatusType(), rgvProtocol);
			if (rgvProtocol.getTaskNo1() != 0) {
			if (rgvProtocol.getTaskNo1() == 32222) {
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			if (!rgvComplete) {
			log.error("小车复位失败，小车号{}！", rgvProtocol.getRgvNo());
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute(), "2415");
			rgvThread.setPakMk(true);
			break;
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
			if (Cools.isEmpty(wrkMastSta) \|\| 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;
			}

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()) {
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast)) {
			if (!staProtocol.isPakMk()) {
			continue;
			}
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			log.error("rgv任务完成给输送线下发命令：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
			continue;
			}
			} else {
			log.error("rgv任务完成给输送线下发命令,但未查询到工作档");
			// 下发站点信息
			Map<Integer, Integer> map = new HashMap<>();
			map.put(101, 102);
			map.put(112, 111);
			map.put(100, 100);
			staProtocol.setWorkNo(rgvProtocol.getTaskNo1().intValue());
			staProtocol.setStaNo(map.get(rgvProtocol.getRgvPosI()).shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			// log.error("rgv任务完成给输送线下发命令："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
			continue;
			}
			}
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			// boolean rgvComplete = true;
			if (!rgvComplete) {
			log.error("小车复位失败，小车号{}！", rgvProtocol.getRgvNo());
			break;
			}
			WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
			wrkMast1.setPdcType("Y");

			wrkMastService.updateById(wrkMast1);

			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2415");
			rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute(), "2471");
			rgvThread.setPakMk(true);
			break;
			}
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
			if (Cools.isEmpty(wrkMastSta) \|\| 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;
			}

			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			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());
			}
			if (!staProtocol.isAutoing() \|\| !staProtocol.isLoading()){
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
			if (!Cools.isEmpty(wrkMast)){
			if (!staProtocol.isPakMk()){
			continue;
			}
			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			log.error("rgv任务完成给输送线下发命令："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
			continue;
			}
			}else {
			log.error("rgv任务完成给输送线下发命令,但未查询到工作档");
			// 下发站点信息
			Map<Integer,Integer> map = new HashMap<>();
			map.put(101,102);map.put(112,111);
			map.put(100,100);
			staProtocol.setWorkNo(rgvProtocol.getTaskNo1().intValue());
			staProtocol.setStaNo(map.get(rgvProtocol.getRgvPosI()).shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			// log.error("rgv任务完成给输送线下发命令："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
			if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
			continue;
			}
			}
			boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
			// boolean rgvComplete = true;
			if (!rgvComplete){
			log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
			break;
			}
			WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
			wrkMast1.setPdcType("Y");

			wrkMastService.updateById(wrkMast1);

			wrkMastSta.setWrkSts(3);
			wrkMastStaMapper.updateById(wrkMastSta);
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
			rgvThread.setPakMk(true);
			}

			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);
			}
			}

			/**
			* 执行小车搬运任务
			*/
			public synchronized void rgvRunWrkMastFullSta() {
			boolean wrkEnable = false;
			try{
			try {
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			for (BasRgvMap rgvSlave:basRgvMaps) {
			for (BasRgvMap rgvSlave : basRgvMaps) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}else {
			} else {
			rgvProtocol = rgvProtocol.clone();
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
			@@ -2562,7 +2680,7 @@
			// 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
			&& rgvProtocol.getLoaded1() == 0
			&& rgvProtocol.getTaskNo1() == 0
			&& rgvThread.isPakMk()
			) {
			@@ -2574,31 +2692,38 @@
			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()!=0 \|\| wrkMastSta.getWrkType()!=3 \|\| wrkMastSta.getWrkSts()!=0){//1:满版 3：取放
			for (WrkMastSta wrkMastSta : wrkMastStaList) {
			if (wrkMastSta.getType() != 0 \|\| wrkMastSta.getWrkType() != 3 \|\| wrkMastSta.getWrkSts() != 0) {//1:满版 3：取放
			continue;
			}
			//判断工作结束位置状态
			BasDevp devNo = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", wrkMastSta.getStaEnd()));
			if (!Cools.isEmpty(devNo)) {
			if (devNo.getAutoing().equals("Y") && !devNo.getWrkNo().equals(0) && !devNo.getLoading().equals("N")) {
			continue;
			}
			}
			boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
			wrkEnable = true;
			if (sign){
			if (sign) {
			rgvThread.setPakMk(false);
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
			if (signMap){
			boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(), "2526");
			if (signMap) {
			Thread.sleep(300);
			wrkMastSta.setWrkSts(1);
			try{
			try {
			wrkMastStaMapper.updateById(wrkMastSta);
			return;
			}catch (Exception e){
			} catch (Exception e) {
			log.error("更新小车任务失败");
			}
			break;
			}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("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());
			Thread.sleep(500);
			}
			} else {
			log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
			log.error("工作号{}所属任务下发失败", wrkMastSta.getWrkNo());
			Thread.sleep(500);
			}
			break;
			@@ -2606,14 +2731,15 @@
			}

			}
			if (!wrkEnable){
			if (!wrkEnable) {
			rgvRunWrkMastEmptyStaAvoidance();
			}
			}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);
			}
			}

			/**
			* 执行小车搬运任务
			*/
			@@ -2747,18 +2873,18 @@
			* 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;
			}
			List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
			for (BasRgvMap rgvSlave:basRgvMaps) {
			for (BasRgvMap rgvSlave : basRgvMaps) {
			RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
			RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
			if (rgvProtocol == null) {
			continue;
			}else {
			} else {
			rgvProtocol = rgvProtocol.clone();
			}
			BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
			@@ -2770,14 +2896,14 @@
			// 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.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.getStatusType1() == RgvStatusType.IDLE
			&& rgvThread.isPakMk()
			// && rgvProtocol.getTaskNo2()==0
			){
			) {
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
			if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())) {
			continue;
			}
			// if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
			@@ -2786,28 +2912,28 @@
			// continue;
			// }
			rgvAvoidanceXY(rgvProtocol.getRgvNo());
			rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
			rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute(), "2727");
			}
			}
			}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){
			public synchronized boolean rgvAvoidanceXY(Integer rgvId) {
			BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo(rgvId);
			if (basRgvMap.getStartRoute() == 100 \|\| basRgvMap.getStartRoute() == 101){
			try{
			if (basRgvMap.getStartRoute() == 100 \|\| basRgvMap.getStartRoute() == 101) {
			try {

			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1((short)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(basRgvMap.getStartRoute().shortValue());
			@@ -2819,17 +2945,17 @@
			} else {
			return true;
			}
			}catch (Exception e){
			} catch (Exception e) {
			return false;

			}
			}else {
			try{
			} else {
			try {
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
			rgvCommand.setTaskNo1((short)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(basRgvMap.getStartRoute().shortValue());
			@@ -2841,7 +2967,7 @@
			} else {
			return true;
			}
			}catch (Exception e){
			} catch (Exception e) {
			return false;

			}
			@@ -2852,8 +2978,8 @@
			/*
			* 小车取货至工位任务
			* */
			public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
			try{
			public synchronized boolean rgvTakeFullAll(Integer rgvId, WrkMastSta wrkMastSta) {
			try {
			// 命令下发区 --------------------------------------------------------------------------
			RgvCommand rgvCommand = new RgvCommand();
			rgvCommand.setRgvNo(rgvId); // RGV编号
			@@ -2870,7 +2996,7 @@
			} else {
			return true;
			}
			}catch (Exception e){
			} catch (Exception e) {
			return false;
			}
			}
			@@ -2978,19 +3104,19 @@
			/*
			* 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;
			}
			}