#

zjj

2024-10-12 dd7c162741e0bd7d559432bd385eaf1fa85892c1

#

 src/main/java/com/zy/asrs/controller/ConsoleController.java

@@ -29,6 +29,8 @@
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.DevpType.DevpStateType;
import com.zy.core.enums.DevpType.DevpWorkType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
@@ -119,7 +121,7 @@
            }
            vo.setWorkNo(staProtocol.getWorkNo()); // 工作号
            vo.setSiteStatus(SiteStatusType.process(staProtocol));  // 状态
            vo.setNearbySta(staProtocol.getNearbySta());
//            vo.setNearbySta(staProtocol.getNearbySta());
            vos.add(vo);
        }
        return R.ok().add(vos);
@@ -238,8 +240,8 @@
                        }
                    }

                    vo.setAutoing(staProtocol.isAutoing()?"Y":"N"); //  自动
                    vo.setLoading(staProtocol.isLoading()?"Y":"N"); //  有物
                    vo.setAutoing(staProtocol.stateType == DevpStateType.AUTO?"Y":"N"); //  自动
                    vo.setLoading(staProtocol.workType == DevpWorkType.BUSY?"Y":"N"); //  有物

                    vo.setCanining(basDevp.getCanining());  //  能入
                    vo.setCanouting(basDevp.getCanouting());    //  能出

 src/main/java/com/zy/asrs/controller/SiteController.java

@@ -13,6 +13,10 @@
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.DevpType.DevpRequestType;
import com.zy.core.enums.DevpType.DevpStateType;
import com.zy.core.enums.DevpType.DevpTrayType;
import com.zy.core.enums.DevpType.DevpWorkType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.Task;
@@ -77,12 +81,12 @@
            list.add(vo);
            StaProtocol staProtocol = station.get(devp.getDevNo());
            if (null == staProtocol) { continue; }
            vo.setAutoing(staProtocol.isAutoing()?"Y":"N");     //  自动
            vo.setLoading(staProtocol.isLoading()?"Y":"N");     // 有物
            vo.setInEnable(staProtocol.isInEnable()?"Y":"N");   // 可入
            vo.setOutEnable(staProtocol.isOutEnable()?"Y":"N"); // 可出
            vo.setAutoing(staProtocol.stateType == DevpStateType.AUTO?"Y":"N");     //  自动
            vo.setLoading(staProtocol.workType == DevpWorkType.BUSY?"Y":"N");     // 有物
            vo.setInEnable(staProtocol.requestType == DevpRequestType.IN?"Y":"N");   // 可入
            vo.setOutEnable(staProtocol.requestType == DevpRequestType.OUT?"Y":"N"); // 可出
            vo.setPakMk(staProtocol.isPakMk()?"Y":"N");       // 入库标记
            vo.setEmptyMk(staProtocol.isEmptyMk()?"Y":"N");     // 空板信号
            vo.setEmptyMk(staProtocol.trayType == DevpTrayType.EMPTY?"Y":"N");     // 空板信号
            vo.setStaNo(staProtocol.getStaNo());                // 目标站
//            vo.setLocType1(staProtocol.isHigh() != staProtocol.isLow() && staProtocol.isLow() ? "低" : "高");     //高低库位
            vo.setLocType1(devp.getDevNo()==102 ? "高" : "低");
@@ -137,14 +141,16 @@
                    StaProtocol staProtocol = entry.getValue();
                    vo.setDevNo(entry.getKey());    // 站点编号
                    vo.setWorkNo(staProtocol.getWorkNo());   //  工作号
                    vo.setAutoing(staProtocol.isAutoing()?"Y":"N");     //  自动
                    vo.setLoading(staProtocol.isLoading()?"Y":"N");     // 有物
                    vo.setInEnable(staProtocol.isInEnable()?"Y":"N");   // 可入
                    vo.setOutEnable(staProtocol.isOutEnable()?"Y":"N"); // 可出
                    vo.setAutoing(staProtocol.stateType == DevpStateType.AUTO?"Y":"N");     //  自动
                    vo.setLoading(staProtocol.workType == DevpWorkType.BUSY?"Y":"N");     // 有物
                    vo.setInEnable(staProtocol.requestType == DevpRequestType.IN?"Y":"N");   // 可入
                    vo.setOutEnable(staProtocol.requestType == DevpRequestType.OUT?"Y":"N"); // 可出
                    vo.setPakMk(staProtocol.isPakMk()?"Y":"N");       // 入库标记
                    vo.setEmptyMk(staProtocol.trayType == DevpTrayType.EMPTY?"Y":"N");     // 空板信号
                    vo.setPakMk(staProtocol.isPakMk()?"Y":"N");       // 需求1
                    vo.setEmptyMk(staProtocol.isEmptyMk()?"Y":"N");     // 空板信号
                    vo.setEmptyMk(staProtocol.trayType == DevpTrayType.EMPTY?"Y":"N");     // 空板信号
                    vo.setStaNo(staProtocol.getStaNo());                // 目标站
                    vo.setLocType1(staProtocol.isHigh() != staProtocol.isLow() && staProtocol.isLow() ? "低" : "高");     //高低库位
                    vo.setLocType1(staProtocol.locType.desc);     //高低库位
                    return R.ok().add(vo);
                }
            }

 src/main/java/com/zy/asrs/domain/enums/SiteStatusType.java

@@ -25,21 +25,21 @@
        if (staProtocol == null) {
            return null;
        }
        if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0) {
            return SITE_AUTO_RUN_ID;
        }
        if (staProtocol.isAutoing() && staProtocol.isLoading()) {
            return SITE_AUTO_RUN;
        }
        if (staProtocol.isAutoing() && staProtocol.getWorkNo() > 0) {
            return SITE_AUTO_ID;
        }
        if (staProtocol.isAutoing()) {
            return SITE_AUTO;
        }
        if (!staProtocol.isAutoing()) {
            return SITE_UNAUTO;
        }
//        if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0) {
//            return SITE_AUTO_RUN_ID;
//        }
//        if (staProtocol.isAutoing() && staProtocol.isLoading()) {
//            return SITE_AUTO_RUN;
//        }
//        if (staProtocol.isAutoing() && staProtocol.getWorkNo() > 0) {
//            return SITE_AUTO_ID;
//        }
//        if (staProtocol.isAutoing()) {
//            return SITE_AUTO;
//        }
//        if (!staProtocol.isAutoing()) {
//            return SITE_UNAUTO;
//        }
        return null;
    }


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

@@ -26,6 +26,10 @@
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.enums.DevpType.DevpRequestType;
import com.zy.core.enums.DevpType.DevpStateType;
import com.zy.core.enums.DevpType.DevpTrayType;
import com.zy.core.enums.DevpType.DevpWorkType;
import com.zy.core.model.*;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
@@ -130,91 +134,15 @@
                    continue;
                }

                String barcode = barcodeThread.getBarcode();

                String barcodeMat = barcodeThreadMat.getBarcode();
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                if (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";
                    log.error("物料码扫码失败");
//                    back = true;
                }
                // 退回
                if (back) {
//                        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()){
                        continue;
                    }
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);
                    News.info("{}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());
                }

                // 判断是否满足入库条件
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                if (staProtocol.stateType == DevpStateType.AUTO //自动
                        && staProtocol.workType == DevpWorkType.BUSY //忙碌
                        && staProtocol.requestType == DevpRequestType.IN //可入
                        && staProtocol.trayType == DevpTrayType.FULL // 满板
                        && staProtocol.isPakMk()) {
                    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);
                        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());
                        continue;
                    }
                    if(Cools.isEmpty(barcodeMat) || "NG".endsWith(barcodeMat) || "NoRead".equals(barcodeMat) || "00000000".equals(barcodeMat)) {
                        News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcodeMat(), barcodeMat);
                    String barcode = staProtocol.getBarcode();

                        staProtocol.setWorkNo(wrkNo);
                        News.info("{}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());
                        continue;
                    }
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    if (wrkMast != null) {
@@ -254,7 +182,6 @@
                    }
                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
@@ -284,31 +211,7 @@

                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else if (jsonObject.getInteger("code").equals(700)) {
                            SearchLocParam param2 = new SearchLocParam();
                            param2.setBarcode(barcode);
                            param2.setBarcodeMat(barcodeMat);
                            param2.setSourceStaNo(inSta.getStaNo());
                            param2.setLocType1(locTypeDto.getLocType1());
                            String response2 = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/pakin/yk/loc/v33")
                                    .setJson(JSON.toJSONString(param2))
                                    .build()
                                    .doPost();
                            JSONObject jsonObject2 = JSON.parseObject(response2);
                            if (jsonObject2.getInteger("code").equals(200)) {
                                log.info("自动组托成功！！");
                            } else {
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "自动组托失败！！！barcodeMat==>"+barcodeMat));
                                News.error(methodName + "==>组托失败:请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/yk/loc/v33", JSON.toJSONString(param), response);
                            }
                            try{
                                Thread.sleep(500);
                            } catch (Exception e){

                            }
                        } else {
                        }else {
                            staProtocol.setWorkNo(wrkNo);
                            wrkNo++;
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
@@ -357,17 +260,19 @@
                    staProtocol = staProtocol.clone();
                }

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

                // 判断是否满足入库条件
                if (!staProtocol.isLoading()){
                if (staProtocol.workType == DevpWorkType.BUSY){
                    continue;
                }
                if (staProtocol.isAutoing() && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
                if (staProtocol.stateType == DevpStateType.AUTO
                        && staProtocol.requestType == DevpRequestType.IN
                        && staProtocol.trayType == DevpTrayType.FULL
                        && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
                        && staProtocol.isPakMk()) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行");
                    // 判断重复工作档
@@ -396,9 +301,9 @@
                    }

                }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());
                    News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.stateType+"、可入信号：" + staProtocol.requestType
                            +"、空板信号："+ staProtocol.trayType+"、工作号：" + staProtocol.getWorkNo()
                            +"、锁定标记"+ staProtocol.isPakMk());
                }
            }
        }
@@ -440,8 +345,10 @@
//                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行");
                if (staProtocol.stateType == DevpStateType.AUTO
                    && staProtocol.workType == DevpWorkType.BUSY
                    && staProtocol.requestType == DevpRequestType.IN
                    && staProtocol.isPakMk()) {
                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                    if (wrkMast == null) {
@@ -453,15 +360,6 @@
                        continue;
                    }

                    // 拣、盘、并 作业站转换
//                    int stnNo = 0;
//                    if (wrkMast.getStaNo() == 109) {
//                        stnNo = 127;
//                    } else if (wrkMast.getStaNo() == 113) {
//                        stnNo = 128;
//                    } else {
//                        log.error("{}号任务数据异常！", wrkMast.getWrkNo());
//                    }
                    // 获取目标站
                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                            .eq("type_no", wrkMast.getIoType() - 50)
@@ -536,8 +434,8 @@
                    }

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

            }
@@ -560,10 +458,10 @@
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                if (staProtocol.stateType == DevpStateType.AUTO
                        && staProtocol.workType == DevpWorkType.BUSY
                        && staProtocol.requestType == DevpRequestType.IN
                        && staProtocol.trayType == DevpTrayType.FULL
//                        && staProtocol.getWorkNo() > 0
                        && staProtocol.isPakMk()){

@@ -726,7 +624,7 @@
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
                if (staProtocol.stateType == DevpStateType.AUTO && staProtocol.workType == DevpWorkType.BUSY && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
                    if (wrkMast == null) {
@@ -923,14 +821,14 @@
                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()
            if ( staProtocol.stateType == DevpStateType.AUTO&& staProtocol.workType == DevpWorkType.BUSY&& staProtocol.getWorkNo() > 0 && staProtocol.requestType == DevpRequestType.IN
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                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()
                        +"自动信号"+staProtocol.stateType+"有物信号"+staProtocol.workType
                        +"工作号>0"+staProtocol.getWorkNo()+"可入信号"+staProtocol.requestType
                        +"能入信号（wms设置）.equals(\"Y\")"+staDetl.getCanining());
                continue;
            }
@@ -1102,8 +1000,8 @@
//                    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.stateType == DevpStateType.AUTO && staProtocol.workType == DevpWorkType.IDLE && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                        && staProtocol.getWorkNo() == 0 && staProtocol.requestType == DevpRequestType.OUT) {
                    // 命令下发区 --------------------------------------------------------------------------

                    // 堆垛机控制过滤
@@ -1591,15 +1489,15 @@
                    ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
                }

                if (!staProtocol.isLoading()){
                if (staProtocol.workType == DevpWorkType.IDLE){
                    continue;
                }

                // 站点条件判断
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                if (staProtocol.stateType == DevpStateType.AUTO
                        && staProtocol.workType == DevpWorkType.BUSY
                        && staProtocol.requestType == DevpRequestType.IN
                        && staProtocol.trayType == DevpTrayType.EMPTY
                        && staProtocol.isPakMk()
                        && (staProtocol.getWorkNo() !=0 && staProtocol.getWorkNo() > 9700)
                        ) {
@@ -1671,8 +1569,8 @@
                    }

                } 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()
                    News.errorNoLog(""+mark+" - 4"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.stateType+"、可入信号：" + staProtocol.workType
                            +"、空板信号："+ staProtocol.trayType+"、工作号：" + staProtocol.getWorkNo()
                            +"、锁定标记"+ staProtocol.isPakMk());
                }
            }
@@ -1694,7 +1592,7 @@
            for (Integer staNo : led.getStaArr()) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
                if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || staProtocol.workType == DevpWorkType.IDLE) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
@@ -2187,65 +2085,65 @@
    /**
     * 入出库模式切换函数
     */
    public synchronized void ioConvert() {
        try {
            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

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

            }

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


    }
//    public synchronized void ioConvert() {
//        try {
//            // 根据输送线plc遍历
//            for (DevpSlave devp : slaveProperties.getDevp()) {
//                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
//
//                for (DevpSlave.Sta inSta : devp.getInSta()) {
//                    if (inSta.getStaNo() == 2) {
//                        continue;
//                    }
//                    WrkMast pakout = wrkMastMapper.selectWorkingPakout(inSta.getStaNo());
//                    switch (inSta.getStaNo()) {
//                        case 203://1F
//                            if (pakout != null) {
//                                if (devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
//                                    // 出库切换中
//                                    devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
//                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
//                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
//                                            && !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading()
//                                            && devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) {
//                                        // 出库模式
//                                        devpThread.ioModeOf2F = IoModeType.PAKOUT_MODE;
//                                    }
//                                }
//                            } else {
//                                // 入库模式
//                                devpThread.ioModeOf2F = IoModeType.PAKIN_MODE;
//                            }
//                            break;
//                        case 401://1F
//                            if (pakout != null) {
//                                if (devpThread.ioModeOf4F != IoModeType.PAKOUT_MODE) {
//                                    // 出库切换中
//                                    devpThread.ioModeOf4F = IoModeType.PAKOUT_BOOTING;
//                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
//                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
//                                            && !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading()
//                                            && devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) {
//                                        // 出库模式
//                                        devpThread.ioModeOf4F = IoModeType.PAKOUT_MODE;
//                                    }
//                                }
//                            } else {
//                                // 入库模式
//                                devpThread.ioModeOf4F = IoModeType.PAKIN_MODE;
//                            }
//                            break;
//                    }
//                }
//
//            }
//
//        } catch (Exception e) {
//            e.printStackTrace();
//        }
//
//
//    }

    public synchronized void outOfDevp(Integer mark) {

@@ -2265,434 +2163,434 @@
    }


    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){
            WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", map.get(site)));
            if (!Cools.isEmpty(wrkMast)){
                continue;
            }
            //如果站点可出禁用，则不生成空盘出库任务
            StaProtocol staProtocol = devpThread.getStation().get(site);
            if (staProtocol == null) {
                return;
            } else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol.isAutoing()  //自动
                    && !staProtocol.isLoading()  //无物
                    && staProtocol.isOutEnable()  //可出信号
                    && staProtocol.getWorkNo() == 0
            ) {
                WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(site);
                if (null != pakoutEmpty) {
                    return;
                }
                Short loctype1 = 1;
                if (site == 101){
                    loctype1 = 2;
                }
                LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
                locTypeDto.setSiteId(site);
                try {
                    String response = new HttpHandler.Builder()
                            .setUri(wmsUrl)
                            .setPath("/rpc/auto/emptyOut/v1")
                            .setJson(JSON.toJSONString(locTypeDto))
                            .build()
                            .doPost();
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)) {
                        String data = jsonObject.get("data").toString();
                        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);
                    }
                } catch (Exception e) {
                    e.printStackTrace();
                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                }
            }
        }
//    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){
//            WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", map.get(site)));
//            if (!Cools.isEmpty(wrkMast)){
//                continue;
//            }
//            //如果站点可出禁用，则不生成空盘出库任务
//            StaProtocol staProtocol = devpThread.getStation().get(site);
//            if (staProtocol == null) {
//                return;
//            } else {
//                staProtocol = staProtocol.clone();
//            }
//            if (staProtocol.isAutoing()  //自动
//                    && !staProtocol.isLoading()  //无物
//                    && staProtocol.isOutEnable()  //可出信号
//                    && staProtocol.getWorkNo() == 0
//            ) {
//                WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(site);
//                if (null != pakoutEmpty) {
//                    return;
//                }
//                Short loctype1 = 1;
//                if (site == 101){
//                    loctype1 = 2;
//                }
//                LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
//                locTypeDto.setSiteId(site);
//                try {
//                    String response = new HttpHandler.Builder()
//                            .setUri(wmsUrl)
//                            .setPath("/rpc/auto/emptyOut/v1")
//                            .setJson(JSON.toJSONString(locTypeDto))
//                            .build()
//                            .doPost();
//                    JSONObject jsonObject = JSON.parseObject(response);
//                    if (jsonObject.getInteger("code").equals(200)) {
//                        String data = jsonObject.get("data").toString();
//                        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);
//                    }
//                } catch (Exception e) {
//                    e.printStackTrace();
//                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
//                }
//            }
//        }
//
//    }

    }

    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){
            StaProtocol staProtocol = devpThread.getStation().get(site);
            if (staProtocol == null) {
                return;
            } else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol.isAutoing()  //自动
                    && staProtocol.isLoading()  //有物
                    && staProtocol.isInEnable()  //可入信号
                    && staProtocol.isPakMk()
                    && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990) //工作号为0或者工作号是9991~9999（输送机留用）
            ) {

                try {
                    Short loctype1 = 1;
                    if (site == 153){
                        loctype1 = 2;
                    }
                    LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
                    locTypeDto.setSiteId(site);

                    String response = new HttpHandler.Builder()
                            .setUri(wmsUrl)
                            .setPath("/rpc/auto/emptyIn/v1")
                            .setJson(JSON.toJSONString(locTypeDto))
                            .build()
                            .doPost();
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)) {
                        News.info((String) jsonObject.get("msg"));
                        staProtocol.setWorkNo(jsonObject.get("data").hashCode());
                        staProtocol.setStaNo(site.shortValue());
                        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);
                    }
                } catch (Exception e) {
                    e.printStackTrace();
                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                }
            }

        }

    }
//    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){
//            StaProtocol staProtocol = devpThread.getStation().get(site);
//            if (staProtocol == null) {
//                return;
//            } else {
//                staProtocol = staProtocol.clone();
//            }
//            if (staProtocol.isAutoing()  //自动
//                    && staProtocol.isLoading()  //有物
//                    && staProtocol.isInEnable()  //可入信号
//                    && staProtocol.isPakMk()
//                    && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990) //工作号为0或者工作号是9991~9999（输送机留用）
//            ) {
//
//                try {
//                    Short loctype1 = 1;
//                    if (site == 153){
//                        loctype1 = 2;
//                    }
//                    LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
//                    locTypeDto.setSiteId(site);
//
//                    String response = new HttpHandler.Builder()
//                            .setUri(wmsUrl)
//                            .setPath("/rpc/auto/emptyIn/v1")
//                            .setJson(JSON.toJSONString(locTypeDto))
//                            .build()
//                            .doPost();
//                    JSONObject jsonObject = JSON.parseObject(response);
//                    if (jsonObject.getInteger("code").equals(200)) {
//                        News.info((String) jsonObject.get("msg"));
//                        staProtocol.setWorkNo(jsonObject.get("data").hashCode());
//                        staProtocol.setStaNo(site.shortValue());
//                        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);
//                    }
//                } catch (Exception e) {
//                    e.printStackTrace();
//                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
//                }
//            }
//
//        }
//
//    }

    /*
     * 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);

//        List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
        //更新当前小车锁
        try{
            Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
            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){
//                log.error("{}:==>{}:{}号车更新结束锁,{}",sign,new Date(),basRgvMapCurrent.getRgvNo(),JSON.toJSONString(basRgvMapCurrent));
//            }

            //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);
            return false;
        }
    }
//    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{
//            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){
////                log.error("{}:==>{}:{}号车更新结束锁,{}",sign,new Date(),basRgvMapCurrent.getRgvNo(),JSON.toJSONString(basRgvMapCurrent));
////            }
//
//            //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);
//            return false;
//        }
//    }

    /*
     * 刷新地图数据
     * */
    public synchronized void refreshRgvMap() {
        try{
            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！2", rgvSlave.getRgvNo());
                    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)
                        &&rgvThread.isPakMk()
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

                    Integer rgvNoOther = basRgvMap.getRgvNoOther(rgvProtocol.getRgvNo());
                    RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNoOther);
                    RgvProtocol rgvProtocolOther = rgvThreadOther.getRgvProtocol();
                    if (rgvProtocolOther == null) {
                        continue;
                    }else {
                        rgvProtocolOther = rgvProtocolOther.clone();
                    }
                    if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
                        && 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){
                            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");
                        }

                    }



                }
            }
        }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);
        }
    }
//    public synchronized void refreshRgvMap() {
//        try{
//            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！2", rgvSlave.getRgvNo());
//                    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)
//                        &&rgvThread.isPakMk()
//                ) {
//                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//
//                    Integer rgvNoOther = basRgvMap.getRgvNoOther(rgvProtocol.getRgvNo());
//                    RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNoOther);
//                    RgvProtocol rgvProtocolOther = rgvThreadOther.getRgvProtocol();
//                    if (rgvProtocolOther == null) {
//                        continue;
//                    }else {
//                        rgvProtocolOther = rgvProtocolOther.clone();
//                    }
//                    if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
//                        && 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){
//                            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");
//                        }
//
//                    }
//
//
//
//                }
//            }
//        }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);
//        }
//    }


    /**
     *  完成小车任务
     */
    public synchronized void rgvCompleteWrkMastSta() {
        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;
                }

                // 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);
//    public synchronized void rgvCompleteWrkMastSta() {
//        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;
//                }
//
//                // 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;
                            }
                        }
                        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);
        }
    }
    /**
     * 执行小车搬运任务
     */
    public synchronized boolean rgvRunWrkMastFullSta() {
        boolean wrkEnable = false;
        try{
            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！4", rgvSlave.getRgvNo());
                    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
                        && rgvProtocol.getTaskNo1() == 0
                        && rgvThread.isPakMk()
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        continue;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=0 || wrkMastSta.getWrkType()!=3 || wrkMastSta.getWrkSts()!=0){//1:满版   3：取放
                            continue;
                        }
                        //判断工作结束位置状态
                        boolean signDev = false;
                        BasDevp devNo = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", wrkMastSta.getStaEnd()));
                        if (devNo.getDevNo()==113){
                            BasDevp devNo114 = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", 114));
                            if (!Cools.isEmpty(devNo114)){
                                if (devNo114.getOutEnable().equals("Y")){
                                    signDev = true;
                                }
                            }
                        }
                        if (!Cools.isEmpty(devNo)){
                            if (devNo.getAutoing().equals("Y") && !devNo.getWrkNo().equals(0) && !devNo.getLoading().equals("N")){
                                continue;
                            }
                            if (!signDev && devNo.getDevNo()==113){
                                if (!devNo.getAutoing().equals("Y") || !devNo.getWrkNo().equals(0) || !devNo.getLoading().equals("N")){
                                    wrkEnable = true;
                                    continue;
                                }
                                if (!devNo.getOutEnable().equals("Y")){
                                    wrkEnable = true;
                                    continue;
                                }
                            }
                        }
                        boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
                        wrkEnable = true;
                        if (sign){
                            wrkMastSta.setWrkSts(1);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                                log.error("更新小车任务成功");
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            rgvThread.setPakMk(false);
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
                            if (signMap){
                                return wrkEnable;
//                                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());
                                Thread.sleep(500);
                            }
                        } else {
                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                            Thread.sleep(500);
                        }
                        break;
                    }
                }

            }
//            if (!wrkEnable){
//                rgvRunWrkMastEmptyStaAvoidance();
//                            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("3875行执行小车搬运任务下发失败");
            log.error("3875行"+e);
        }
        return wrkEnable;
    }
//            }
//        }catch (Exception e){
//            log.error("小车复位线程报错！"+e);
//        }
//    }
//    /**
//     * 执行小车搬运任务
//     */
//    public synchronized boolean rgvRunWrkMastFullSta() {
//        boolean wrkEnable = false;
//        try{
//            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！4", rgvSlave.getRgvNo());
//                    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
//                        && rgvProtocol.getTaskNo1() == 0
//                        && rgvThread.isPakMk()
//                ) {
//                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                    if (basRgvMap == null) {
//                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
//                        continue;
//                    }
//                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
//                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
//                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
//                    for (WrkMastSta wrkMastSta : wrkMastStaList){
//                        if (wrkMastSta.getType()!=0 || wrkMastSta.getWrkType()!=3 || wrkMastSta.getWrkSts()!=0){//1:满版   3：取放
//                            continue;
//                        }
//                        //判断工作结束位置状态
//                        boolean signDev = false;
//                        BasDevp devNo = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", wrkMastSta.getStaEnd()));
//                        if (devNo.getDevNo()==113){
//                            BasDevp devNo114 = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", 114));
//                            if (!Cools.isEmpty(devNo114)){
//                                if (devNo114.getOutEnable().equals("Y")){
//                                    signDev = true;
//                                }
//                            }
//                        }
//                        if (!Cools.isEmpty(devNo)){
//                            if (devNo.getAutoing().equals("Y") && !devNo.getWrkNo().equals(0) && !devNo.getLoading().equals("N")){
//                                continue;
//                            }
//                            if (!signDev && devNo.getDevNo()==113){
//                                if (!devNo.getAutoing().equals("Y") || !devNo.getWrkNo().equals(0) || !devNo.getLoading().equals("N")){
//                                    wrkEnable = true;
//                                    continue;
//                                }
//                                if (!devNo.getOutEnable().equals("Y")){
//                                    wrkEnable = true;
//                                    continue;
//                                }
//                            }
//                        }
//                        boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
//                        wrkEnable = true;
//                        if (sign){
//                            wrkMastSta.setWrkSts(1);
//                            try{
//                                wrkMastStaMapper.updateById(wrkMastSta);
//                                log.error("更新小车任务成功");
//                            }catch (Exception e){
//                                log.error("更新小车任务失败");
//                            }
//                            rgvThread.setPakMk(false);
//                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
//                            if (signMap){
//                                return wrkEnable;
////                                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());
//                                Thread.sleep(500);
//                            }
//                        } else {
//                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
//                            Thread.sleep(500);
//                        }
//                        break;
//                    }
//                }
//
//            }
////            if (!wrkEnable){
////                rgvRunWrkMastEmptyStaAvoidance();
////            }
//        }catch (Exception e){
//            log.error("3875行执行小车搬运任务下发失败");
//            log.error("3875行"+e);
//        }
//        return wrkEnable;
//    }
    /**
     * 执行小车搬运任务
     */
@@ -2825,134 +2723,134 @@
    /*
     * 有任务但未执行  此时需要调整小车位置
     * */
    public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
        try{
            Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
            if (integer==0){
                return;
            }
            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！1", rgvSlave.getRgvNo());
                    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.getStatusType1() == RgvStatusType.IDLE
                        && rgvThread.isPakMk()
//                        && rgvProtocol.getTaskNo2()==0
                ){
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
                        continue;
                    }
//                    if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
//                        continue;
//                    } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157)  ){
//    public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
//        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) {
//                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！1", rgvSlave.getRgvNo());
//                    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.getStatusType1() == RgvStatusType.IDLE
//                        && rgvThread.isPakMk()
////                        && rgvProtocol.getTaskNo2()==0
//                ){
//                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
//                        continue;
//                    }
                    rgvAvoidanceXY(rgvProtocol.getRgvNo());
                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
                }
            }
        }catch (Exception e){
            log.error("4109行执行小车初始化任务下发失败");
            log.error("4109行"+e);
        }
    }

    /*
     * 小车XY移动  避让
     * */
    public synchronized boolean rgvAvoidanceXY(Integer rgvId){
        BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo(rgvId);
        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.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  回原点
                //basRgvMap.getLockStartRoute().shortValue()
                rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().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
                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                    return false;
                } else {
                    return true;
                }
            }catch (Exception e){
                return false;

            }
        }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.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  回原点
                //basRgvMap.getLockStartRoute().shortValue()
                rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().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
                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                    return false;
                } else {
                    return true;
                }
            }catch (Exception e){
                return false;

            }
        }
    }


    /*
     * 小车取货至工位任务
     * */
    public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
            rgvCommand.setCommand((short) 1);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.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
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }
////                    if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
////                        continue;
////                    } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157)  ){
////                        continue;
////                    }
//                    rgvAvoidanceXY(rgvProtocol.getRgvNo());
//                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
//                }
//            }
//        }catch (Exception e){
//            log.error("4109行执行小车初始化任务下发失败");
//            log.error("4109行"+e);
//        }
//    }
//
//    /*
//     * 小车XY移动  避让
//     * */
//    public synchronized boolean rgvAvoidanceXY(Integer rgvId){
//        BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo(rgvId);
//        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.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  回原点
//                //basRgvMap.getLockStartRoute().shortValue()
//                rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().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
//                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                    return false;
//                } else {
//                    return true;
//                }
//            }catch (Exception e){
//                return false;
//
//            }
//        }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.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  回原点
//                //basRgvMap.getLockStartRoute().shortValue()
//                rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().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
//                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                    return false;
//                } else {
//                    return true;
//                }
//            }catch (Exception e){
//                return false;
//
//            }
//        }
//    }
//
//
//    /*
//     * 小车取货至工位任务
//     * */
//    public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
//        try{
//            //  命令下发区 --------------------------------------------------------------------------
//            RgvCommand rgvCommand = new RgvCommand();
//            rgvCommand.setRgvNo(rgvId); // RGV编号
//            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
//            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
//            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
//            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
//            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
//            rgvCommand.setCommand((short) 1);   //工位1任务确认
//            if (!MessageQueue.offer(SlaveType.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
//                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                return false;
//            } else {
//                return true;
//            }
//        }catch (Exception e){
//            return false;
//        }
//    }

    /*
     * 小车取货至工位任务

 src/main/java/com/zy/common/model/SearchLocParam.java

@@ -14,7 +14,7 @@
    private Integer sourceStaNo;

    private String barcode;
    private String barcodeMat;
//    private String barcodeMat;

    // 库位规格（ 0:未知, 1:低库位, 2:中库位, 3:高库位 ）
    private Short locType1;

 src/main/java/com/zy/core/MainProcess.java

@@ -47,94 +47,33 @@

                    // 演示
//                    mainService.crnDemoOfLocMove1();
                    //刷新RGV地图
                    mainService.refreshRgvMap();

                    // 入出库模式切换函数
//                    mainService.ioConvert();

                    // 拣料、并板、盘点再入库
//                    mainService.stnToCrnStnPick(3);
                    mainService.stnToCrnStnPick2();

                    // 入库  ===>> 入库站到堆垛机站，根据条码扫描生成入库工作档
                    mainService.generateStoreWrkFile(1); // 组托
//                    mainService.generateStoreWrkFile0(2); // WMS入库
                    Thread.sleep(500);

                    // 出库  ===>>  堆垛机出库站到出库站
                    mainService.crnStnToOutStn(4);
                    // 入出库  ===>>  堆垛机入出库作业下发
                    mainService.crnIoExecute(5);
                    // 入出库增强 ===>> 堆垛机命令下发后，异步修改工作档状态
//                    mainService.crnIoWrkMast();
                    // 入库  ===>> 执行对工作档的完成操作
                    mainService.storeFinished(6);
                    // 堆垛机异常信息记录
                    mainService.recCrnErr(7);
                    // 入库  ===>> 空栈板初始化入库,叉车入库站放货
                    mainService.storeEmptyPlt(8);
                    // 出库  ===>> 工作档信息写入led显示器
                    mainService.ledExecute(9);
                    // 其他  ===>> LED显示器复位，显示默认信息
                    mainService.ledReset();

                    mainService.outOfDevp(11);

                    if (i>10){
                        //空托盘自动出库
                        mainService.autoEmptyOut();
                        //空托盘自动入库
                        mainService.autoEmptyIn();
                        i=0;
                    }
                    i++;

                    // 其他  ===>> 入出库模式切换
//                    i++;
//                    if (i > 1) {
//                        mainService.ioConvert();
//                        i = 0;
//                    }

                    /////////////////////////////////////RGV调度/////////////////////////////////////
//                    mainService.stnToCrnStnPick2();
//
                    //完成小车任务
//                    mainService.rgvCompleteWrkMastSta();

//                    //执行小车空板搬运任务
//                    mainService.rgvRunWrkMastEmptyStaPut();//放
//                    mainService.rgvRunWrkMastEmptyStaTake();//取
//                    if (rgcWrk){
//                        //执行小车货物搬运任务
//                        mainService.rgvRunWrkMastFullSta();
//                        rgcWrk = false;
//                    }else {
//                        mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
//                        rgcWrk = true;
//                    }


                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    k++;

                    // RGV  ===>>  小车任务作业下发
                    try{
                        boolean rgvIoExecuteSign = mainService.rgvRunWrkMastFullSta();
                        if (rgvIoExecuteSign){
                            k = 0;
                        } else if (k>4){
                            k = 0;
                            mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
                        }
                    }catch (Exception e){
                        log.error("RGV  ===>>  小车任务作业下发异常"+e);
                    }
                    //完成小车任务
                    mainService.rgvCompleteWrkMastSta();
                    /////////////////////////////////////RGV调度/////////////////////////////////////

//                    // 入库  ===>> 入库站到堆垛机站，根据条码扫描生成入库工作档
//                    mainService.generateStoreWrkFile(1); // 组托
////                    mainService.generateStoreWrkFile0(2); // WMS入库
//                    Thread.sleep(500);
//
//                    // 出库  ===>>  堆垛机出库站到出库站
//                    mainService.crnStnToOutStn(4);
//                    // 入出库  ===>>  堆垛机入出库作业下发
//                    mainService.crnIoExecute(5);
//                    // 入出库增强 ===>> 堆垛机命令下发后，异步修改工作档状态
////                    mainService.crnIoWrkMast();
//                    // 入库  ===>> 执行对工作档的完成操作
//                    mainService.storeFinished(6);
//                    // 堆垛机异常信息记录
//                    mainService.recCrnErr(7);
//                    // 入库  ===>> 空栈板初始化入库,叉车入库站放货
//                    mainService.storeEmptyPlt(8);
//                    // 出库  ===>> 工作档信息写入led显示器
//                    mainService.ledExecute(9);
//                    // 其他  ===>> LED显示器复位，显示默认信息
//                    mainService.ledReset();
//
//                    mainService.outOfDevp(11);
                } catch (Exception e) {
                    e.printStackTrace();
                }

 src/main/java/com/zy/core/ServerBootstrap.java

@@ -49,7 +49,7 @@
        // 初始化下位机线程
        initThread();
        // 开始主流程进程
        mainProcess.start();
//        mainProcess.start();
        News.info("核心控制层已启动...............................................");
    }

@@ -86,19 +86,19 @@

    private void initThread(){
        // 初始化堆垛机线程
        News.info("初始化堆垛机线程...................................................");
        for (CrnSlave crn : slaveProperties.getCrn()) {
            CrnThread crnThread = new SiemensCrnThread(crn);
            new Thread((Runnable) crnThread).start();
            SlaveConnection.put(SlaveType.Crn, crn.getId(), crnThread);
        }
//        News.info("初始化堆垛机线程...................................................");
//        for (CrnSlave crn : slaveProperties.getCrn()) {
//            CrnThread crnThread = new SiemensCrnThread(crn);
//            new Thread((Runnable) crnThread).start();
//            SlaveConnection.put(SlaveType.Crn, crn.getId(), crnThread);
//        }
        // 初始化穿梭车线程
        log.info("初始化RGV线程...................................................");
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            RgvThread rgvThread = new RgvThread(rgv);
            new Thread((Runnable) rgvThread).start();
            SlaveConnection.put(SlaveType.Rgv, rgv.getId(), rgvThread);
        }
//        log.info("初始化RGV线程...................................................");
//        for (RgvSlave rgv : slaveProperties.getRgv()) {
//            RgvThread rgvThread = new RgvThread(rgv);
//            new Thread((Runnable) rgvThread).start();
//            SlaveConnection.put(SlaveType.Rgv, rgv.getId(), rgvThread);
//        }
        // 初始化输送线线程
        News.info("初始化输送线线程...................................................");
        for (DevpSlave devp : slaveProperties.getDevp()) {
@@ -106,13 +106,13 @@
            new Thread((Runnable) devpThread).start();
            SlaveConnection.put(SlaveType.Devp, devp.getId(), devpThread);
        }
        // 初始化条码扫描仪线程
        News.info("初始化条码扫描仪线程...................................................");
        for (Slave barcode : slaveProperties.getBarcode()) {
            BarcodeThread barcodeThread = new BarcodeThread(barcode);
//            new Thread(barcodeThread).start();
            SlaveConnection.put(SlaveType.Barcode, barcode.getId(), barcodeThread);
        }
//        // 初始化条码扫描仪线程
//        News.info("初始化条码扫描仪线程...................................................");
//        for (Slave barcode : slaveProperties.getBarcode()) {
//            BarcodeThread barcodeThread = new BarcodeThread(barcode);
////            new Thread(barcodeThread).start();
//            SlaveConnection.put(SlaveType.Barcode, barcode.getId(), barcodeThread);
//        }
        // 初始化LED线程
        News.info("初始化LED线程...................................................");
        for (LedSlave led : slaveProperties.getLed()) {

 src/main/java/com/zy/core/enums/DevpType/DevpLocType.java

New file
@@ -0,0 +1,40 @@
package com.zy.core.enums.DevpType;

public enum DevpLocType {

    NONE(0,"离线"),
    LOW(1,"低库位"),
    MIDDLE(2,"中库位"),
    HIGH(3,"高库位");

    public Integer id;
    public String desc;
    DevpLocType(Integer id, String desc) {
        this.id = id;
        this.desc = desc;
    }

    public static DevpLocType get(Short id) {
        if (null == id) {
            return null;
        }
        for (DevpLocType type : DevpLocType.values()) {
            if (type.id.equals(id.intValue())) {
                return type;
            }
        }
        return NONE;
    }

    public static DevpLocType get(DevpLocType type) {
        if (null == type) {
            return null;
        }
        for (DevpLocType devpLocType : DevpLocType.values()) {
            if (devpLocType == type) {
                return devpLocType;
            }
        }
        return null;
    }
}

 src/main/java/com/zy/core/enums/DevpType/DevpModeType.java

New file
@@ -0,0 +1,38 @@
package com.zy.core.enums.DevpType;

public enum DevpModeType {
    NONE(-1,"离线"),
    IN_MODE(1,"入库"),
    OUT_MODE(2,"出库");

    public Integer id;
    public String desc;
    DevpModeType(Integer id, String desc) {
        this.id = id;
        this.desc = desc;
    }

    public static DevpModeType get(Short id) {
        if (null == id) {
            return null;
        }
        for (DevpModeType type : DevpModeType.values()) {
            if (type.id.equals(id.intValue())) {
                return type;
            }
        }
        return NONE;
    }

    public static DevpModeType get(DevpModeType type) {
        if (null == type) {
            return null;
        }
        for (DevpModeType devpModeType : DevpModeType.values()) {
            if (devpModeType == type) {
                return devpModeType;
            }
        }
        return null;
    }
}

 src/main/java/com/zy/core/enums/DevpType/DevpRequestType.java

New file
@@ -0,0 +1,39 @@
package com.zy.core.enums.DevpType;

public enum DevpRequestType {

    NONE(-1,"离线"),
    IN(1,"可入"),
    OUT(2,"可出");

    public Integer id;
    public String desc;
    DevpRequestType(Integer id, String desc) {
        this.id = id;
        this.desc = desc;
    }

    public static DevpRequestType get(Short id) {
        if (null == id) {
            return null;
        }
        for (DevpRequestType type : DevpRequestType.values()) {
            if (type.id.equals(id.intValue())) {
                return type;
            }
        }
        return NONE;
    }

    public static DevpRequestType get(DevpRequestType type) {
        if (null == type) {
            return null;
        }
        for (DevpRequestType devpRequestType : DevpRequestType.values()) {
            if (devpRequestType == type) {
                return devpRequestType;
            }
        }
        return null;
    }
}

 src/main/java/com/zy/core/enums/DevpType/DevpStateType.java

New file
@@ -0,0 +1,40 @@
package com.zy.core.enums.DevpType;

public enum DevpStateType {
    NONE(-1,"离线"),
    STOP(0,"停机"),
    HAND(1,"手动"),
    AUTO(2,"自动"),
    FAULT(3,"故障");

    public Integer id;
    public String desc;
    DevpStateType(Integer id, String desc) {
        this.id = id;
        this.desc = desc;
    }

    public static DevpStateType get(Short id) {
        if (null == id) {
            return null;
        }
        for (DevpStateType type : DevpStateType.values()) {
            if (type.id.equals(id.intValue())) {
                return type;
            }
        }
        return NONE;
    }

    public static DevpStateType get(DevpStateType type) {
        if (null == type) {
            return null;
        }
        for (DevpStateType devpModeType : DevpStateType.values()) {
            if (devpModeType == type) {
                return devpModeType;
            }
        }
        return null;
    }
}

 src/main/java/com/zy/core/enums/DevpType/DevpTrayType.java

New file
@@ -0,0 +1,39 @@
package com.zy.core.enums.DevpType;

public enum DevpTrayType {

    NONE(-1,"离线"),
    EMPTY(1,"空托"),
    FULL(2,"满托");

    public Integer id;
    public String desc;
    DevpTrayType(Integer id, String desc) {
        this.id = id;
        this.desc = desc;
    }

    public static DevpTrayType get(Short id) {
        if (null == id) {
            return null;
        }
        for (DevpTrayType type : DevpTrayType.values()) {
            if (type.id.equals(id.intValue())) {
                return type;
            }
        }
        return NONE;
    }

    public static DevpTrayType get(DevpTrayType type) {
        if (null == type) {
            return null;
        }
        for (DevpTrayType devpTrayType : DevpTrayType.values()) {
            if (devpTrayType == type) {
                return devpTrayType;
            }
        }
        return null;
    }
}

 src/main/java/com/zy/core/enums/DevpType/DevpWorkType.java

New file
@@ -0,0 +1,40 @@
package com.zy.core.enums.DevpType;

import com.zy.core.enums.CrnStatusType;

public enum DevpWorkType {
    NONE(-1,"离线"),
    IDLE(0,"空闲"),
    BUSY(1,"忙碌");

    public Integer id;
    public String desc;
    DevpWorkType(Integer id, String desc) {
        this.id = id;
        this.desc = desc;
    }

    public static DevpWorkType get(Short id) {
        if (null == id) {
            return null;
        }
        for (DevpWorkType type : DevpWorkType.values()) {
            if (type.id.equals(id.intValue())) {
                return type;
            }
        }
        return NONE;
    }

    public static DevpWorkType get(DevpWorkType type) {
        if (null == type) {
            return null;
        }
        for (DevpWorkType devpWorkType : DevpWorkType.values()) {
            if (devpWorkType == type) {
                return devpWorkType;
            }
        }
        return null;
    }
}

 src/main/java/com/zy/core/model/protocol/StaProtocol.java

@@ -1,6 +1,8 @@
package com.zy.core.model.protocol;

import com.zy.asrs.entity.BasDevp;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.DevpType.*;
import lombok.Data;

/**
@@ -22,29 +24,58 @@
    private Short staNo;

    // ----------------------------------------------------------------
    // 自动
    private boolean autoing;
    //模式
    private Short mode;
    public DevpModeType modeType;
    //状态
    private Short state;
    public DevpStateType stateType;
    //工作状态
    private Short workIo;
    public DevpWorkType workType;
    //请求信号
    private Short requestIo;
    public DevpRequestType requestType;
    //托盘状态
    private Short trayIo;
    public DevpTrayType trayType;
    //库位状态
    private Short locIo;
    public DevpLocType locType;
    //条码信息
    private String barcode;
    //重量信息
    private Double weightIo;
    //备用
    private Short spare;

    // 有物
    private boolean loading;
    public void setMode(Short mode) {
        this.mode = mode;
        this.modeType = DevpModeType.get(mode);
    }
    public void setState(Short state) {
        this.state = state;
        this.stateType = DevpStateType.get(state);
    }
    public void setWorkIo(Short workIo) {
        this.workIo = workIo;
        this.workType = DevpWorkType.get(workIo);
    }
    public void setRequestIo(Short requestIo) {
        this.requestIo = requestIo;
        this.requestType = DevpRequestType.get(requestIo);
    }
    public void setTrayIo(Short trayIo) {
        this.trayIo = trayIo;
        this.trayType = DevpTrayType.get(trayIo);
    }
    public void setLocIo(Short locIo) {
        this.locIo = locIo;
        this.locType = DevpLocType.get(locIo);
    }

    // 可入
    private boolean inEnable;

    // 可出
    private boolean outEnable;

    // 空板信号
    private boolean emptyMk;

    // 满托盘
    private boolean fullPlt;

    // 高
    private boolean high;

    // 低
    private boolean low;

    // 锁定标记
    private boolean pakMk = true;
@@ -52,11 +83,9 @@
    // 入库暂存数
    private Short inQty;

    // 隔壁站点（台车位置）
    private String nearbySta;

    //lfd入库印记  当stamp>=2时才入库
    private Integer stamp = 0;



    // 外形检测 ------------------------------------------------------------------------

@@ -110,14 +139,14 @@
        BasDevp basDevp = new BasDevp();
        basDevp.setDevNo(siteId);
        basDevp.setWrkNo(workNo.intValue());
        basDevp.setAutoing(autoing?"Y":"N");
        basDevp.setLoading(loading?"Y":"N");
        basDevp.setInEnable(inEnable?"Y":"N");
        basDevp.setOutEnable(outEnable?"Y":"N");
        basDevp.setAutoing(stateType == DevpStateType.AUTO?"Y":"N");
        basDevp.setLoading(workType == DevpWorkType.BUSY?"Y":"N");
        basDevp.setInEnable(requestType == DevpRequestType.IN?"Y":"N");
        basDevp.setOutEnable(requestType == DevpRequestType.OUT?"Y":"N");
        basDevp.setLocType1((short) 0);  // 高低类型{0:未知,1:低库位,2:高库位}
        basDevp.setLocType2((short) 0);  // 宽窄类型{0:未知,1:窄库位,2:宽库位}
        basDevp.setLocType3((short) 0);  // 轻重类型{0:未知,1:轻库位,2:重库位}
        basDevp.setLocType1(high != low && low ? (short) 1 : (short) 2);
        basDevp.setLocType1(DevpLocType.get(locIo).id.shortValue());
        basDevp.setInQty(inQty !=null ?(int)inQty : 0);
        return basDevp;
    }
@@ -132,4 +161,6 @@
        return null;
    }



}

 src/main/java/com/zy/core/thread/SiemensDevpThread.java

@@ -18,6 +18,7 @@
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.DevpType.DevpWorkType;
import com.zy.core.enums.IoModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.DevpSlave;
@@ -28,10 +29,7 @@
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Map;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;

/**
@@ -51,23 +49,7 @@
//
//    }};
    public static final ArrayList<Integer> staNos1 = new ArrayList<Integer>() {{
        add(100);add(101);add(102);add(103);
        add(104);add(105);add(106);add(107);
        add(108);add(109);add(110);add(111);
        add(112);add(113);add(114);add(115);
        add(116);add(117);add(118);add(119);
        add(120);add(121);add(122);add(123);
        add(124);add(125);add(126);add(127);
        add(128);add(129);add(130);add(131);
        add(132);add(133);add(134);add(135);
        add(136);add(137);add(138);add(139);
        add(140);add(141);add(142);add(143);
        add(144);add(145);add(146);add(147);
        add(148);add(149);add(150);add(151);
        add(152);add(153);add(154);add(155);
        add(156);add(157);add(158);add(159);
        add(160);add(161);
        add(1);
        add(140);add(141);
//        add(200);add(201);add(202);
    }};

@@ -132,7 +114,7 @@
                        break;
                    // 写数据 ID+目标站
                    case 2:
                        write((StaProtocol)task.getData());
                        writeD((StaProtocol)task.getData(),1);
                        log.error("输送线下发命令："+((StaProtocol) task.getData()).getWorkNo()+","+((StaProtocol) task.getData()).getStaNo());
                        break;
                    default:
@@ -153,29 +135,32 @@
    private void initSite() {
        count ++;
        ArrayList<Integer> staNos = getStaNo();
        if(count > 77) {
            // 站点编号
            for (Integer siteId : staNos) {
                StaProtocol staProtocol = station.get(siteId);
                if (null == staProtocol) {
                    staProtocol = new StaProtocol();
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setWorkNo(0);    // ID
                staProtocol.setAutoing(false);      // 自动
                staProtocol.setLoading(false);      // 有物
                staProtocol.setInEnable(false);     // 可入
                staProtocol.setOutEnable(false);    // 可出
                staProtocol.setEmptyMk(false);      // 空板信号
                staProtocol.setStaNo((short) 0);     // 目标站

                if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
                    staProtocol.setPakMk(true);
                }
        // 站点编号
        for (Integer siteId : staNos) {
            StaProtocol staProtocol = station.get(siteId);
            if (null == staProtocol) {
                staProtocol = new StaProtocol();
                staProtocol.setSiteId(siteId);
                station.put(siteId, staProtocol);
            }
            count = 0;
            staProtocol.setWorkNo(0);     // 工作号
            staProtocol.setStaNo((short) 0);   // 目标站
            staProtocol.setState((short) 0);  // 模式状态 0停机，=1手动，=2自动，=3故障
            staProtocol.setWorkIo((short) 0);
            staProtocol.setRequestIo((short) 0);
            staProtocol.setTrayIo((short) 0);
            staProtocol.setLocIo((short) 0);
            staProtocol.setBarcode("-");
            staProtocol.setWeightIo(0.0);
            staProtocol.setMode((short) 0);

            if (!staProtocol.isPakMk() && staProtocol.workType == DevpWorkType.IDLE) {
                staProtocol.setPakMk(true);
            }
        }
        count = 0;

    }

    @Override
@@ -206,7 +191,7 @@
//        updateIoMode();
        ArrayList<Integer> staNos = getStaNo();
        int staNoSize = staNos.size();
        OperateResultExOne<byte[]> result = siemensS7Net.Read("DB101.0", (short) (staNoSize*8));
        OperateResultExOne<byte[]> result = siemensS7Net.Read("DB100.0", (short) (staNoSize*66));
        if (result.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
                Integer siteId = staNos.get(i); // 站点编号
@@ -216,174 +201,25 @@
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt32(result.Content, i*8));     // 工作号
                staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt32(result.Content, i*66 + 8));     // 工作号
                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*66 + 12));   // 目标站
                staProtocol.setState(siemensS7Net.getByteTransform().TransInt16(result.Content, i*66 + 14));  // 模式状态 0停机，=1手动，=2自动，=3故障
                staProtocol.setWorkIo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*66 + 16));
                staProtocol.setRequestIo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*66 + 18));
                staProtocol.setTrayIo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*66 + 20));
                staProtocol.setLocIo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*66 + 22));
                staProtocol.setBarcode(siemensS7Net.getByteTransform().TransString(result.Content,i*66 + 24,16, "UTF-8"));
//                staProtocol.setWeightIo(siemensS7Net.getByteTransform().TransDouble(result.Content,i*66 + 40));
                staProtocol.setMode(siemensS7Net.getByteTransform().TransInt16(result.Content, i*66 + 44));

                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*8 + 4));   // 目标站

                boolean[] status = siemensS7Net.getByteTransform().TransBool(result.Content, i*8 + 6, 2);
                staProtocol.setAutoing(status[0]);  // 自动
                staProtocol.setLoading(status[1]);  // 有物
                staProtocol.setInEnable(status[2]); // 可入
                staProtocol.setOutEnable(status[3]);// 可出
                staProtocol.setEmptyMk(status[4]);  // 空板信号
                staProtocol.setFullPlt(status[5]);  // 满托盘
                staProtocol.setHigh(status[6]);     // 高库位
                staProtocol.setLow(status[7]);      // 低库位

                if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
                if (!staProtocol.isPakMk() && staProtocol.workType == DevpWorkType.IDLE) {
                    staProtocol.setPakMk(true);
                }
            }
        }
        BasRgvMapService basRgvMapService = SpringUtils.getBean(BasRgvMapService.class);
        //RGV小车1
//        Thread.sleep(100);
        OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB50.200",(short)10);
        if (result3.IsSuccess) {
            BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo((int) siemensS7Net.getByteTransform().TransInt16(result3.Content, 0));
            if (!Cools.isEmpty(basRgvMap)){
                Integer siteId = 1;
                StaProtocol staProtocol = station.get(siteId);
                if (null == staProtocol) {
                    staProtocol = new StaProtocol();
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setAutoing(true);
                staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result3.Content, 8)));
            }
        }
        //RGV小车2
//        Thread.sleep(100);
        OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB50.212",(short)10);
        if (result4.IsSuccess) {
            BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo((int) siemensS7Net.getByteTransform().TransInt16(result4.Content, 0));
            if (!Cools.isEmpty(basRgvMap)){
                Integer siteId = 2;
                StaProtocol staProtocol = station.get(siteId);
                if (null == staProtocol) {
                    staProtocol = new StaProtocol();
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setAutoing(true);
                staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result4.Content, 8)));
            }
        }

        //RGV小车3
//        Thread.sleep(100);
        OperateResultExOne<byte[]> result5 = siemensS7Net.Read("DB50.224",(short)10);
        if (result5.IsSuccess) {
            BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo((int) siemensS7Net.getByteTransform().TransInt16(result5.Content, 0));
            if (!Cools.isEmpty(basRgvMap)){
                Integer siteId = 3;
                StaProtocol staProtocol = station.get(siteId);
                if (null == staProtocol) {
                    staProtocol = new StaProtocol();
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setAutoing(true);
                staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result5.Content, 8)));
            }
        }

        //条码扫描器
        ArrayList<Integer> barcodeList = BarcodeList;
        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.840", (short) (barcodeList.size() * 8));
        if (result2.IsSuccess) {
            for (int i = 0; i < barcodeList.size(); i++) {
                Integer barcodeId = barcodeList.get(i);
                String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "UTF-8");
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId + 1);
                if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
                    barcodeThread.setBarcode(barcode);
                }
            }
        }
        //条码扫描器
        ArrayList<Integer> barcodeListMat = BarcodeListMat;
        OperateResultExOne<byte[]> result2Mat = siemensS7Net.Read("DB103.0", (short) (barcodeListMat.size() * 30));
        if (result2Mat.IsSuccess) {
            for (int i = 0; i < barcodeListMat.size(); i++) {
                Integer barcodeId = barcodeListMat.get(i);
                String barcode = siemensS7Net.getByteTransform().TransString(result2Mat.Content,i*30,30, "UTF-8");
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId + 1);
                if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
                    barcodeThread.setBarcode(barcode);
                }
            }
        }
        //外形检测
        ArrayList<Integer> staNoErrs = staNosErrList;
        int staNoErrsSize = staNoErrs.size();
        OperateResultExOne<byte[]> resultErr = siemensS7Net.Read("DB101.800", (short) (staNoErrsSize*8));
        if (resultErr.IsSuccess){
            for (int i = 0;i<3;i++){
                Integer siteId = staNoErrs.get(i); // 站点编号
                boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr.Content, i*4+2, 1);
                StaProtocol staProtocol = station.get(siteId);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);
            }
        }

        OperateResultExOne<byte[]> resultErr2 = siemensS7Net.Read("DB13.2", (short) (staNoSize*4));
        if (resultErr2.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
                Integer siteId = staNos.get(i); // 站点编号
                boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr2.Content, i*4, 1);
                StaProtocol staProtocol = station.get(siteId);
                staProtocol.setBreakerErr(status[0]);
                staProtocol.setInfraredErr(status[1]);
                staProtocol.setOutTimeErr(status[2]);
                staProtocol.setSeizeSeatErr(status[3]);
                staProtocol.setWrkYgoodsN(status[4]);
                staProtocol.setInverterErr(status[5]);
                staProtocol.setContactErr(status[6]);
                staProtocol.setUpcontactErr(status[7]);

            }
        }
        OperateResultExOne<byte[]> resultErr3 = siemensS7Net.Read("DB13.400", (short) 3);
        if (resultErr3.IsSuccess) {
            if (staError1 == null){
                staError1 = new StaError1();
            }
            boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr3.Content, 0, 3);
            staError1.setEMERGENCY_Stop_Core(status[0]);
            staError1.setEMERGENCY_STOP1(status[1]);
            staError1.setEMERGENCY_STOP2(status[2]);
            staError1.setEMERGENCY_STOP3(status[3]);
            staError1.setEMERGENCY_STOP4(status[4]);

            staError1.setDoor_EMERGENCY_STOP1(status[5]);
            staError1.setDoor_EMERGENCY_STOP2(status[6]);
            staError1.setDoor_EMERGENCY_STOP3(status[7]);
            staError1.setDoor_EMERGENCY_STOP4(status[8]);
            staError1.setDoor_EMERGENCY_STOP5(status[9]);
            staError1.setDoor_EMERGENCY_STOP6(status[10]);

            staError1.setDoor_Open_Err1(status[11]);
            staError1.setDoor_Open_Err1(status[12]);
            staError1.setDoor_Open_Err1(status[13]);
            staError1.setDoor_Open_Err1(status[14]);
            staError1.setDoor_Open_Err1(status[15]);
            staError1.setDoor_Open_Err1(status[16]);

        }


        if (result.IsSuccess) {

            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

            // 根据实时信息更新数据库
            try {
                List<BasDevp> basDevps = new ArrayList<>();
@@ -391,7 +227,6 @@
                    StaProtocol staProtocol = station.get(siteId);
                    basDevps.add(staProtocol.toSqlModel());
                }

                BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
                if (null != basDevpService && !basDevpService.updateBatchById(basDevps)) {
                    throw new Exception("更新数据库数据失败");
@@ -420,14 +255,14 @@
        int index = staNos.indexOf(staProtocol.getSiteId());
        OperateResult write = null;
        OperateResult write1 = null;
        OperateResult write2 = null;
        //任务下发次数
        int writeCount = 0;
        do {
            write = siemensS7Net.Write("DB100." + index*6, staProtocol.getWorkNo());    // 工作号
            write = siemensS7Net.Write("DB100." + index*66, staProtocol.getWorkNo());    // 工作号
            Thread.sleep(200);
            write1 = siemensS7Net.Write("DB100." + (index*6+4), staProtocol.getStaNo().shortValue());    // 目标站
            write1 = siemensS7Net.Write("DB100." + (index*66+4), staProtocol.getStaNo());    // 目标站
            if(write.IsSuccess && write1.IsSuccess){
                log.error("写入输送线命令成功。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                break;
            }
            else {
@@ -449,6 +284,56 @@
        }
    }

    private void writeD(StaProtocol staProtocol,Integer count)throws InterruptedException{
        if (null == staProtocol) {
            return;
        }
        Integer oriWrkNo = staProtocol.getWorkNo();
        short oriStaNo = staProtocol.getStaNo();

        ArrayList<Integer> staNos = getStaNo();
        int index = staNos.indexOf(staProtocol.getSiteId());

        OperateResult write1 = siemensS7Net.Write("DB100." + index*66, staProtocol.getWorkNo());    // 工作号
        Thread.sleep(200);
        OperateResult write2 = siemensS7Net.Write("DB100." + (index*66+4), staProtocol.getStaNo());    // 目标站
        if(write1.IsSuccess && write2.IsSuccess){
            OperateResultExOne<byte[]> result = siemensS7Net.Read("DB100."+(index*66), (short) 6);
            Integer wrkNo = siemensS7Net.getByteTransform().TransInt32(result.Content, 0);
            short staNo = siemensS7Net.getByteTransform().TransInt16(result.Content, 4);
            if (!oriWrkNo.equals(wrkNo)  || oriStaNo != staNo){
                if (count >= 5){
                    log.error("写入输送线命令失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), count);
                    return;
                }
                count++;
                writeD(staProtocol,count);
            }
            int whileCount = 0;
            OperateResult write3 = siemensS7Net.Write("DB100." + (index*66+6), (short) 1);
            if (write3.IsSuccess){
                Thread.sleep(200);
                do {
                    OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB100."+(index*66 +6), (short) 2);
                    short mk = siemensS7Net.getByteTransform().TransInt16(result2.Content, 0);
                    if (mk == 2){
                        OperateResult write4 = siemensS7Net.Write("DB100." + (index*66+6), 0);
                        if (write4.IsSuccess){
                            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
                            News.info("SiemensDevp"+" - 5"+" - 输送线命令下发 [id:{}] >>>>> 命令下发： {}",  slave.getId(), JSON.toJSON(staProtocol));
                            break;
                        }
                    }else {
                        whileCount++;
                    }
                }while (whileCount <5);
            }
        }



    }

    // 更新入出库模式
    private void updateIoMode() throws InterruptedException {
        if (this.ioModeOf2F != IoModeType.NONE) {

 src/main/resources/application.yml

@@ -1,5 +1,5 @@
server:
  port: 8080
  port: 8088
  servlet:
    context-path: /@pom.build.finalName@

@@ -228,7 +228,7 @@
  # 输送线1
  devp[0]:
    id: 1
    ip: 10.10.10.50
    ip: 10.200.50.10
    port: 102
    rack: 0
    slot: 0

 src/main/webapp/views/pipeline.html

@@ -432,7 +432,7 @@
    });

    $(document).on('click ','#save', function () {
        http.post(baseUrl+ "/site//detl/update", {
        http.post(baseUrl+ "/site/detl/update", {
            siteId: $('#siteId').val(),
            workNo: $('#workNo').val(),
            staNo:  $('#staNo').val(),