From 109e00f8a2b5ec34855816beca6dd59a83eb4f2b Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期一, 21 四月 2025 08:40:05 +0800
Subject: [PATCH] *

---
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 1731 ++++++++++++++++++++++++++++++++++++++++++++--------------
 1 files changed, 1,302 insertions(+), 429 deletions(-)

diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index fe2a993..6972a29 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -6,16 +6,14 @@
 import com.core.common.Cools;
 import com.core.exception.CoolException;
 import com.zy.asrs.controller.CrnController;
-import com.zy.asrs.controller.OpenController;
-import com.zy.asrs.controller.SiteController;
 import com.zy.asrs.domain.enums.TaskStatusType;
 import com.zy.asrs.domain.enums.WorkNoType;
 import com.zy.asrs.domain.param.CrnOperatorParam;
 import com.zy.asrs.entity.*;
-import com.zy.asrs.entity.param.TaskOverToWms;
 import com.zy.asrs.mapper.*;
 import com.zy.asrs.service.*;
 import com.zy.asrs.utils.CommandUtils;
+import com.zy.asrs.utils.RouteUtils;
 import com.zy.asrs.utils.Utils;
 import com.zy.common.service.CommonService;
 import com.zy.common.utils.HttpHandler;
@@ -26,16 +24,17 @@
 import com.zy.core.enums.*;
 import com.zy.core.model.CrnSlave;
 import com.zy.core.model.DevpSlave;
+import com.zy.core.model.RgvSlave;
 import com.zy.core.model.Task;
-import com.zy.core.model.command.CommandPackage;
 import com.zy.core.model.command.CrnCommand;
+import com.zy.core.model.command.RgvCommand;
 import com.zy.core.model.protocol.CrnProtocol;
+import com.zy.core.model.protocol.RgvProtocol;
 import com.zy.core.model.protocol.StaProtocol;
 import com.zy.core.properties.SlaveProperties;
 import com.zy.core.thread.BarcodeThread;
+import com.zy.core.thread.RgvThread;
 import com.zy.core.thread.SiemensDevpThread;
-import com.zy.system.entity.Config;
-import com.zy.system.service.ConfigService;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
@@ -54,8 +53,6 @@
 @Service("mainService")
 @Transactional
 public class MainServiceImpl {
-
-    public static final long COMMAND_TIMEOUT = 5 * 1000;
 
     @Autowired
     private SlaveProperties slaveProperties;
@@ -76,14 +73,8 @@
     @Autowired
     private TaskWrkService taskWrkService;
     @Autowired
-    private ConfigService configService;
-    @Autowired
     private StaDescMapper staDescMapper;
-    @Autowired
-    private CommandInfoService commandInfoService;
 
-    @Autowired
-    private OpenServiceImpl openServiceImpl;
     @Autowired
     private StaDescService staDescService;
 
@@ -91,6 +82,12 @@
     private ApiLogService apiLogService;
     @Autowired
     private CommonService commonService;
+    @Autowired
+    private BasRgvService basRgvService;
+    @Autowired
+    private WrkMastStaMapper wrkMastStaMapper;
+    @Autowired
+    private BasRgvMapMapper basRgvMapMapper;
 
     @Value("${wms.url}")
     private String wmsUrl;
@@ -102,9 +99,9 @@
     private String taskStatusFeedbackPath;
     @Autowired
     private CrnController crnController;
-    @Autowired
-    private SiteController siteController;
 
+    @Value("${wms.rgvOpen}")
+    private boolean rgvOpen;
 
     public void generateStoreWrkFile() throws IOException, InterruptedException {
         try {
@@ -122,8 +119,8 @@
                     } else {
                         staProtocol = staProtocol.clone();
                     }
-                    Short workNo = staProtocol.getWorkNo();
-                    Short stano = staProtocol.getStaNo();
+                    Integer workNo = staProtocol.getWorkNo();
+                    Integer stano = staProtocol.getStaNo();
 
                     // 灏哄妫�娴嬪紓甯�
                     boolean back = false;
@@ -169,12 +166,13 @@
                         }
 //                        News.warn("鎵爜鍏ュ簱澶辫触锛寋}鍏ュ簱绔欏洜{}寮傚父锛屾墭鐩樺凡琚��鍥�", inSta.getStaNo(), errMsg);
                         staProtocol.setWorkNo(workNo);
-                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
+                        staProtocol.setStaNo(inSta.getStaNo());
                         devpThread.setPakMk(staProtocol.getSiteId(), false);
-                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
+                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                         TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
                         if (taskWrk != null) {
                             taskWrk.setMemo(errMsg);//灏嗛敊璇爜瀛樺叆澶囨敞瀛楁杩涜灞曠ず
+                            taskWrk.setModiTime(new Date());
                             taskWrkMapper.updateById(taskWrk);
                         }
                         continue;
@@ -182,7 +180,7 @@
                     // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
                     if (staProtocol.isAutoing() && staProtocol.isLoading()
                             && staProtocol.isInEnable()
-                            && !staProtocol.isEmptyMk() && (workNo >= 0)
+                            && !staProtocol.isEmptyMk() && (workNo == 9991 )
                             && staProtocol.isPakMk()) {
                         // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
                         BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
@@ -196,18 +194,57 @@
                             TaskWrk taskWrk1=taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode",barcode));
                             if(!Cools.isEmpty(taskWrk1)){
                                 log.info("鎵樼洏鐮侊細"+barcode+"浠诲姟妗ｅ瓨鍦�");
-                                continue;
+                                if (taskWrk1.getIoType()==1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())){
+                                    StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
+                                            .eq("crn_no", taskWrk1.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId()));
+                                    if (Cools.isEmpty(staDesc)){
+                                        log.info("鎵樼洏鐮侊細"+barcode+"浠诲姟妗ｅ瓨鍦�");
+                                        return;
+                                    }else {
+                                        staProtocol.setWorkNo(taskWrk1.getWrkNo());
+                                        staProtocol.setStaNo(staDesc.getCrnStn());
+                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+                                    }
+                                }
+                                return;
                             }
                             HashMap<String, Object> headParam = new HashMap<>();
                             headParam.put("Content-Type","application/json");
                             String response;
-                            response = new HttpHandler.Builder()
-                                   // .setHeaders(headParam)
-                                    .setUri(wmsUrl)
-                                    .setPath(inboundTaskApplyPath)
-                                    .setJson(JSON.toJSONString(toWmsDTO))
-                                    .build()
-                                    .doPost();
+                            try{
+                                response = new HttpHandler.Builder()
+                                        // .setHeaders(headParam)
+                                        .setUri(wmsUrl)
+                                        .setPath(inboundTaskApplyPath)
+                                        .setJson(JSON.toJSONString(toWmsDTO))
+                                        .build()
+                                        .doPost();
+                            }catch (Exception e){
+                                log.error("璇锋眰鍏ュ簱璋冪敤鎺ュ彛澶辫触");
+                                log.error("寮傚父淇℃伅鎵撳嵃锛�"+e);
+                                try{
+                                    BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
+                                    if (Cools.isEmpty(basDevp)){
+                                        log.error("绔欑偣鍙峰紓甯�"+inSta.getStaNo());
+                                    } else if (basDevp.getStaErr()!=0){
+                                        basDevp.setStaErr(2);
+                                        basDevpService.updateById(basDevp);
+                                    }
+                                }catch (Exception e1){
+                                    // 閫�鍥�
+                                    log.error("鎵爜妫�娴嬬▼搴忓紓甯�"+inSta.getStaNo()+"寮傚父淇℃伅"+e1);
+                                }
+                                staProtocol.setWorkNo(9999);
+                                staProtocol.setStaNo(inSta.getStaNo());
+                                devpThread.setPakMk(staProtocol.getSiteId(), false);
+                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//                                    TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
+//                                    if (taskWrk != null) {
+//                                        taskWrk.setMemo(errMsg);//灏嗛敊璇爜瀛樺叆澶囨敞瀛楁杩涜灞曠ず
+//                                        taskWrkMapper.updateById(taskWrk);
+//                                    }
+                                continue;
+                            }
 
                             JSONObject jsonObject = JSON.parseObject(response);
                             apiLogService.save("wms璇锋眰鍏ュ簱璐т綅鎺ュ彛"
@@ -219,9 +256,49 @@
                                     ,true
                             );
                             log.info("鍏ュ簱璇锋眰鍙傛暟{}" + JSON.toJSONString(toWmsDTO));
+                            log.info("鍏ュ簱璇锋眰杩斿洖鍙傛暟{}" + JSON.toJSONString(response));
                             if (jsonObject.getInteger("code").equals(200) && !Cools.isEmpty(jsonObject.get("data").toString())) {
                                 GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
+                                try{
+                                    BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
+                                    if (Cools.isEmpty(basDevp)){
+                                        log.error("绔欑偣鍙峰紓甯�1"+inSta.getStaNo());
+                                        throw new CoolException("绔欑偣鍙峰紓甯�1,鏈煡璇㈠埌绔欑偣淇℃伅"+inSta.getStaNo());
+                                    }
+                                    Integer staNoCrnNo = Utils.StaNoCrnNo(inSta.getStaNo());
+                                    if (staNoCrnNo==0){
+                                        basDevp.setStaErr(1);
+                                        basDevpService.updateById(basDevp);
+                                        log.error("绔欑偣鍙峰紓甯�2"+inSta.getStaNo());
+                                        throw new CoolException("绔欑偣鍙峰紓甯�2,绔欑偣鍙蜂笉瀛樺湪"+inSta.getStaNo());
+                                    }else {
+                                        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
+                                                .eq("crn_no", staNoCrnNo.longValue())
+                                                .eq("loc_no", getWmsDto.getLocNo()));
+                                        if (Cools.isEmpty(locMast)){
+                                            basDevp.setStaErr(1);
+                                            basDevpService.updateById(basDevp);
+                                            log.error("绔欑偣鍙峰紓甯�3"+inSta.getStaNo());
+                                            throw new CoolException("绔欑偣鍙峰紓甯�3锛氭宸烽亾涓嶅瓨鍦ㄧ洰鏍囧簱浣�"+inSta.getStaNo());
+                                        }
+                                    }
+                                } catch (Exception e){
+//                                    log.error("鎵爜妫�娴嬬▼搴忓紓甯�"+inSta.getStaNo()+"寮傚父淇℃伅"+e);
+                                    // 閫�鍥�
+                                    log.error("鎵爜妫�娴嬬▼搴忓紓甯�"+inSta.getStaNo()+errMsg);
+                                    log.error("鎵爜妫�娴嬬▼搴忓紓甯�,寮傚父淇℃伅"+e);
 
+                                    staProtocol.setWorkNo(9999);
+                                    staProtocol.setStaNo(inSta.getStaNo());
+                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
+                                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//                                    TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
+//                                    if (taskWrk != null) {
+//                                        taskWrk.setMemo(errMsg);//灏嗛敊璇爜瀛樺叆澶囨敞瀛楁杩涜灞曠ず
+//                                        taskWrkMapper.updateById(taskWrk);
+//                                    }
+                                    continue;
+                                }
                                 //鏌ョ湅璇ュ簱浣嶆槸鍚︿负绌哄簱浣�
                                 LocMast locMast=locMastService.selectOne(new EntityWrapper<LocMast>()
                                         .eq("loc_sts","O")
@@ -242,7 +319,7 @@
                                                 .build()
                                                 .doPost();
                                         JSONObject jsonObject1 = JSON.parseObject(response2);
-                                        apiLogService.save("wcs娲惧彂搴撲綅涓嶄负绌轰笂鎶ms"
+                                        apiLogService.save("wcs娲惧彂搴撲綅==銆嬩笉涓虹┖銆�==涓婃姤wms"
                                                 ,wmsUrl+taskStatusFeedbackPath
                                                 ,null
                                                 ,"127.0.0.1"
@@ -251,8 +328,8 @@
                                                 ,true
                                         );
                                     }catch (Exception e){
-                                        log.error("wcs娲惧彂搴撲綅涓嶄负绌轰笂鎶ms", getWmsDto.getWrkNo());
-                                        throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
+                                        log.error("wcs娲惧彂搴撲綅==銆嬩笉涓虹┖銆�==涓婃姤wms", getWmsDto.getWrkNo());
+                                        throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触,娲惧彂搴撲綅==銆嬩笉涓虹┖銆�==锛屽紓甯镐俊鎭細"+e);
                                     }
                                 }
 
@@ -266,8 +343,8 @@
                                         taskWrkService.insert(taskWrk);
                                         StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                                 .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId()));
-                                        staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
-                                        staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
+                                        staProtocol.setWorkNo(taskWrk.getWrkNo());
+                                        staProtocol.setStaNo(staDesc.getCrnStn());
                                         MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                     }
                                 }
@@ -276,79 +353,20 @@
                                 continue;
                             }
 
-//                        StaDescService staDescService = SpringUtils.getBean(StaDescService.class);
-//
-//                        ToWmsDTO toWmsDTO = new ToWmsDTO();
-//                        Map<String, Object> map = new HashMap<>();
-//                        map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
-//                        List<Integer> list = openServiceImpl.getInEnableRoadway();
-//                        TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
-//
-//                        if (Cools.isEmpty(taskWrk)){
-//                            continue;
-//                        }
-//                        //StaDesc staDesc1 = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_no",inSta.getBackSta()));
-//                        if (taskWrk.getTargetPoint() != null && taskWrk.getStartPoint() != null){
-//                            if ( taskWrk.getWrkNo() != null && taskWrk.getWrkNo().shortValue() == workNo ){
-//                                continue;
-//                            }
-//                            //鑾峰彇鍫嗗灈鏈虹珯鐐�
-//                            StaDesc staDesc = new StaDesc();
-//                            if (devp.getId() <= 1){
-//                                staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
-//                                        .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).lt("stn_no", 200));
-//                            }else {
-//                                staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
-//                                        .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).lt("stn_no", 400).ge("stn_no", 250));
-//                            }
-//                            staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
-//                            staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
-//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
-//                            Thread.sleep(500);
-//                        }else {
-//                            //TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
-//                            toWmsDTO.setWarehouseId("1688469798893297665");
-//                            toWmsDTO.setContainerCode(barcode);
-//                            toWmsDTO.setApplyType("TUNNEL_LOCATION");
-//                            toWmsDTO.setTaskTunnel(taskWrk.getCrnNo());
-//                            toWmsDTO.setCanInboundTunnels(list);
-//                            String response = null;
-//                            try {
-//                                response = new HttpHandler.Builder()
-//                                        .setHeaders(map)
-//                                        .setUri(wmsUrl)
-//                                        .setPath(inboundTaskApplyPath)
-//                                        .setJson(JSON.toJSONString(toWmsDTO))
-//                                        .build()
-//                                        .doPost();
-//                            }catch (Exception e){
-//                                log.error("wms閫氳澶辫触,"+e.getMessage());
-//                                continue;
-//                            }
-//                            apiLogService.save("wms璇锋眰鍏ュ簱璐т綅鎺ュ彛"
-//                                    ,wmsUrl+"wcsManager/wcsInterface/inboundTaskApply"
-//                                    ,null
-//                                    ,"127.0.0.1"
-//                                    ,JSON.toJSONString(toWmsDTO)
-//                                    ,response
-//                                    ,true
-//                            );
-//                            JSONObject jsonObject = JSON.parseObject(response);
-//                            if (jsonObject.getInteger("code").equals(200)) {
-//                                GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
-//                                taskWrk.setOriginTargetPoint(getWmsDto.getTargetLocationCode());
-//                                taskWrk.setTargetPoint(Utils.getWcsLocNo(getWmsDto.getTargetLocationCode()));
-//                                taskWrk.setStartPoint(String.valueOf(inSta.getBackSta()));
-//                                if (!taskWrkService.updateById(taskWrk)){
-//                                    log.error("淇濆瓨wms搴撲綅鍙峰け璐�");
-//                                }
-//
-//                            }else {
-//                                log.error("wms閫氳澶辫触,"+jsonObject.get("msg"));
-//
-//                            }
-//                        }
+                        } else {
+                            // 閫�鍥�
+                            log.error("鎵爜鍏ュ簱澶辫触锛寋}鍏ュ簱绔欏洜{}寮傚父锛屾墭鐩樺凡琚��鍥�", inSta.getStaNo(), errMsg);
 
+                            staProtocol.setWorkNo(9999);
+                            staProtocol.setStaNo(inSta.getStaNo());
+                            devpThread.setPakMk(staProtocol.getSiteId(), false);
+                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+                            TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
+                            if (taskWrk != null) {
+                                taskWrk.setMemo(errMsg);//灏嗛敊璇爜瀛樺叆澶囨敞瀛楁杩涜灞曠ず
+                                taskWrk.setModiTime(new Date());
+                                taskWrkMapper.updateById(taskWrk);
+                            }
                         }
                     }
 
@@ -371,24 +389,48 @@
             for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
                 List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo()));
                 for (StaDesc staDesc : staDescs){
-                    // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
-                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
-                    StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
-                    if (staProtocol == null) {
-                        continue;
-                    } else {
-                        staProtocol = staProtocol.clone();
-                    }
-                    if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
-                        // 鏌ヨ宸ヤ綔妗�
-                        TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
-                        if (taskWrk == null) {
+                    try{
+                        // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
+                        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+                        StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+                        if (staProtocol == null) {
                             continue;
+                        } else {
+                            staProtocol = staProtocol.clone();
                         }
-                        siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()),taskWrk.getWrkNo().shortValue(),(short)0,"Y",false,false);
-                        taskWrk.setStatus(5);
-                        taskWrk.setWrkSts(14);
-                        taskWrkService.updateById(taskWrk);
+                        if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
+                            // 鏌ヨ宸ヤ綔妗�
+                            TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
+                            if (taskWrk == null) {
+                                continue;
+                            }
+                            log.info("涓嬪彂杈撻�佺嚎浠诲姟锛歵askWrk:"+JSON.toJSONString(taskWrk));
+//                            R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
+                            staProtocol.setWorkNo(taskWrk.getWrkNo());
+                            staProtocol.setStaNo(staDesc.getCrnStn());
+                            boolean offer = false;
+                            try{
+                                offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
+                            }catch (Exception e){
+                                log.error("涓嬪彂杈撻�佺嚎浠诲姟澶辫触锛氬紓甯�:"+e);
+                                log.error("涓嬪彂杈撻�佺嚎浠诲姟澶辫触锛氬紓甯�:offer:"+offer);
+                            }
+//                            JSONObject jsonObject = JSON.parseObject(JSON.toJSONString(r));
+                            if (offer){
+                                log.info("涓嬪彂杈撻�佺嚎浠诲姟鎴愬姛锛歵askWrk:"+JSON.toJSONString(taskWrk));
+                                Date now = new Date();
+                                taskWrk.setStatus(5);
+                                taskWrk.setWrkSts(14);
+                                taskWrk.setModiTime(now);
+                                taskWrk.setCompleteTime(now);
+                                taskWrkService.updateById(taskWrk);
+                            }else {
+                                log.error("涓嬪彂杈撻�佺嚎浠诲姟澶辫触锛歵askWrk:"+JSON.toJSONString(taskWrk));
+//                                log.error("涓嬪彂杈撻�佺嚎浠诲姟澶辫触锛氬紓甯镐俊鎭�:"+JSON.toJSONString(r));
+                            }
+                        }
+                    }catch (Exception e){
+                        log.error("鍑哄簱鍒板嚭搴撶珯寮傚父:寮傚父淇℃伅锛�"+e);
                     }
                 }
 
@@ -410,6 +452,9 @@
                 log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
                 continue;
             }
+
+            // 搴撲綅绉昏浆
+            this.locToLoc(crn, crnProtocol);
 
             // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
             if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
@@ -435,8 +480,6 @@
                     }
                 }
             }
-            // 搴撲綅绉昏浆
-            this.locToLoc(crn, crnProtocol);
 
         }
     }
@@ -487,15 +530,16 @@
                     continue;
                 }
 
-                int workNo = commonService.getWorkNo(WorkNoType.PAKIN.type);//鑾峰彇鍏ュ簱宸ヤ綔鍙�
-                taskWrk.setWrkNo(workNo);//宸ヤ綔鍙�
+//                int workNo = commonService.getWorkNo(WorkNoType.PAKIN.type);//鑾峰彇鍏ュ簱宸ヤ綔鍙�
+//                taskWrk.setWrkNo(workNo);//宸ヤ綔鍙�
+                Date now = new Date();
                 taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//娲惧彂鐘舵��
-                taskWrk.setAssignTime(new Date());//娲惧彂鏃堕棿
+//                taskWrk.setAssignTime(now);//娲惧彂鏃堕棿
+                taskWrk.setExecuteTime(now);
                 taskWrk.setWrkSts(3);//宸ヤ綔鐘舵�� 3.鍚婅溅鍏ュ簱
                 taskWrk.setCrnNo(staDesc.getCrnNo());//鍫嗗灈鏈哄彿
-                taskWrk.setModiTime(new Date());
+                taskWrk.setModiTime(now);
                 taskWrk.setModiUser(9988L);
-                taskWrkService.updateById(taskWrk);
 
 //                //鍙栧嚭鍛戒护
 //                List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
@@ -546,6 +590,12 @@
                     throw new CoolException("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
                 }else{
                     try{
+                        taskWrkService.updateById(taskWrk);
+                    }catch (Exception e){
+                        log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+                        log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽紓甯革細"+e);
+                    }
+                    try{
                         HashMap<String, Object> headParam = new HashMap<>();
                         headParam.put("taskNo",taskWrk.getTaskNo());
                         headParam.put("status",taskWrk.getStatus());
@@ -568,9 +618,9 @@
                                 ,response
                                 ,true
                         );
-                    }catch (Exception e){
-                        log.error("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触", taskWrk);
-                        throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
+                    } catch (Exception e){
+                        log.error("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触", JSON.toJSONString(taskWrk));
+//                        throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
                     }
 
                 }
@@ -634,15 +684,6 @@
                             break;
                         }
 
-
-                        // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
-                        Date now = new Date();
-                        taskWrk.setWrkSts(12);
-                        taskWrk.setStatus(2);
-                        taskWrk.setModiTime(now);
-                        if (taskWrkMapper.updateById(taskWrk) == 0) {
-                            log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
-                        }
                         CrnCommand command = new CrnCommand();
                         command.setCrnNo(taskWrk.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
                         command.setTaskNo(taskWrk.getWrkNo().shortValue()); // 宸ヤ綔鍙�
@@ -660,6 +701,20 @@
                             throw new CoolException("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
                         }else{
                             try{
+                                // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
+                                Date now = new Date();
+                                taskWrk.setWrkSts(12);
+                                taskWrk.setStatus(2);
+                                taskWrk.setModiTime(now);
+                                taskWrk.setExecuteTime(now);
+                                if (taskWrkMapper.updateById(taskWrk) == 0) {
+                                    log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+                                }
+                            }catch (Exception e){
+                                log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+                                log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽紓甯革細"+e);
+                            }
+                            try{
                                 HashMap<String, Object> headParam = new HashMap<>();
                                 headParam.put("taskNo",taskWrk.getTaskNo());
                                 headParam.put("status",taskWrk.getStatus());
@@ -674,7 +729,7 @@
                                         .build()
                                         .doPost();
                                 JSONObject jsonObject = JSON.parseObject(response);
-                                apiLogService.save("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms"
+                                apiLogService.save("wcs娲惧彂鍑哄簱浠诲姟涓婃姤wms"
                                         ,wmsUrl+taskStatusFeedbackPath
                                         ,null
                                         ,"127.0.0.1"
@@ -683,60 +738,10 @@
                                         ,true
                                 );
                             }catch (Exception e){
-                                log.error("wcs娲惧彂鍑哄簱浠诲姟涓婃姤wms澶辫触", taskWrk);
-                                throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
+                                log.error("wcs娲惧彂鍑哄簱浠诲姟涓婃姤wms澶辫触", JSON.toJSONString(taskWrk));
+//                                throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
                             }
-
                         }
-
-//                        // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
-//                        if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
-//
-//                            taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
-//
-//                            List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
-//                            if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
-//                                continue;
-//                            }
-//                            String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
-//                            TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
-//                            if (!Cools.isEmpty(hallowLocNoTask)){
-//                                continue;
-//                            }
-//                        }
-//
-//                        //鍙栧嚭鍛戒护
-//                        List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
-//                        Integer commandStep = taskWrk.getCommandStep();
-//                        if (commandInfos.isEmpty()) {
-//                            continue;//鍛戒护绌�
-//                        }
-//
-//                        //鍒ゆ柇鏈鍛戒护鏄惁鎵ц
-//                        CommandInfo commandInfo2 = commandInfos.get(commandInfos.size() - 1);
-//                        if (commandInfo2.getCommandStatus() != CommandStatusType.CREATE.id) {
-//                            continue;//鎸囦护宸叉墽琛�
-//                        }
-//
-//                        CommandInfo commandInfo = commandInfos.get(commandStep);
-//                        CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//鍙栧嚭鍛戒护鎶ユ枃
-//                        CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
-//
-//                        if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
-//                            log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
-//                        } else {
-//
-//                            //寮�濮嬭繍琛�
-//                            String response = CrnStartRunning(taskWrk);
-//                            JSONObject jsonObject = JSON.parseObject(response);
-//                            if (jsonObject.getInteger("code").equals(200)) {
-//
-//                            }else {
-//                                log.error("鍑哄簱寮�濮嬭繍琛岄�氳澶辫触,"+jsonObject.get("msg"));
-//
-//                            }
-//                        }
-
                     }
                 }
             }
@@ -749,10 +754,12 @@
     public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
         for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
             // 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑绉诲簱宸ヤ綔妗�
-            List<TaskWrk> taskWrks = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>()
-                    .eq("crn_no",slave.getId())
-                    .eq("wrk_sts",11)
-                    .eq("io_type",3));
+            List<TaskWrk> taskWrks = taskWrkMapper.selectList(
+                    new EntityWrapper<TaskWrk>()
+                    .eq("CRN_NO",slave.getId())
+                    .eq("WRK_STS",11)
+                    .eq("IO_TYPE",3)
+                    .orderBy("IO_PRI",false));
             for (TaskWrk taskWrk : taskWrks){
 
                 // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
@@ -808,6 +815,7 @@
                     taskWrk.setWrkSts(12);
                     taskWrk.setStatus(2);
                     taskWrk.setModiTime(now);
+                    taskWrk.setExecuteTime(now);
                     if (taskWrkMapper.updateById(taskWrk) == 0) {
                         log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
                     }
@@ -835,8 +843,8 @@
                                 ,true
                         );
                     }catch (Exception e){
-                        log.error("wcs娲惧彂鍑哄簱浠诲姟涓婃姤wms澶辫触", taskWrk);
-                        throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
+                        log.error("wcs娲惧彂绉诲簱搴撲换鍔′笂鎶ms澶辫触", taskWrk);
+//                        throw new CoolException("wcs娲惧彂绉诲簱搴撲换鍔′笂鎶ms澶辫触");
                     }
 
                 }
@@ -849,54 +857,6 @@
     /**
      * 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
      */
-//    public void storeFinished() {
-//        for (CrnSlave crn : slaveProperties.getCrn()) {
-//            // 鑾峰彇鍫嗗灈鏈轰俊鎭�
-//            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
-//            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
-//            if (crnProtocol == null) { continue; }
-//
-//            //  鐘舵�侊細绛夊緟纭 骞朵笖  浠诲姟瀹屾垚浣� = 1
-//            if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
-//                //鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
-//                TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
-//                if (Cools.isEmpty(taskWrk)) {
-////                    log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
-//                    continue;
-//                }
-//
-//                //鑾峰彇鎸囦护ID
-//                Integer commandId = crnProtocol.getCommandId();
-//                CommandInfo commandInfo = new CommandInfo();
-//                if (Cools.isEmpty(commandId)){
-//                    commandInfo = commandInfoService.selectOne(new EntityWrapper<CommandInfo>()
-//                            .eq("wrk_no",crnProtocol.getTaskNo())
-//                            .eq("device","Crn"));
-//                }else {
-//                    commandInfo = commandInfoService.selectById(commandId);
-//                }
-//
-//
-//                if (commandInfo == null) {
-//                    //鎸囦护涓嶅瓨鍦�
-//                    continue;
-//                }
-//                if (commandInfo.getCommandStatus() == 3){
-//                    continue;
-//                }
-//                commandInfo.setCommandStatus(CommandStatusType.COMPLETE.id);//鎸囦护瀹屾垚
-//                commandInfo.setCompleteTime(new Date());//鎸囦护瀹屾垚鏃堕棿
-//                if (commandInfoService.updateById(commandInfo)) {//淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
-//                    // 鍫嗗灈鏈哄浣�
-//                    crnThread.setResetFlag(true);
-//                }
-//            }
-//        }
-//    }
-
-    /**
-     * 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
-     */
     public void storeFinished() throws InterruptedException {
         for (CrnSlave crn : slaveProperties.getCrn()) {
             // 鑾峰彇鍫嗗灈鏈轰俊鎭�
@@ -905,7 +865,7 @@
             if (crnProtocol == null) { continue; }
 
             //  鐘舵�侊細绛夊緟纭 骞朵笖  浠诲姟瀹屾垚浣� = 1
-            if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
+            if (!Cools.isEmpty(crnProtocol.getTaskFinish()) && crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                 //鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
                 TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
                 if (Cools.isEmpty(taskWrk)&&crnProtocol.getTaskNo() !=999) {
@@ -916,17 +876,18 @@
                 //纭瀹屾垚淇″彿
                 CrnOperatorParam crnOperatorParam=new CrnOperatorParam();
                 crnOperatorParam.setCrnNo(crn.getId());
+                Date now = new Date();
 
                 crnController.crnTaskComplete(crnOperatorParam);
                 if(!Cools.isEmpty(taskWrk)){
-                    if(taskWrk.getIoType()==1&&taskWrk.getWrkSts()==3){
+                    if(taskWrk.getIoType()==1 && taskWrk.getWrkSts()==3){
                         taskWrk.setWrkSts(4);//鍏ュ簱瀹屾垚
                         taskWrk.setStatus(5);//瀹岀粨
                         //鏇存柊搴撲綅鐘舵��
                         LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
                         locMast.setLocSts("F");//F.鍦ㄥ簱
                         locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
-                        locMast.setModiTime(new Date());
+                        locMast.setModiTime(now);
                         locMast.setModiUser(9999L);
                         locMastService.updateById(locMast);
                     }else if(taskWrk.getIoType()==2&&taskWrk.getWrkSts()==12){
@@ -936,7 +897,7 @@
                         LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
                         locMast.setLocSts("O");//O.绌哄簱浣�
                         locMast.setBarcode("");//鎵樼洏鐮�
-                        locMast.setModiTime(new Date());
+                        locMast.setModiTime(now);
                         locMast.setModiUser(9999L);
                         locMastService.updateById(locMast);
                     }else if(taskWrk.getIoType()==3&&taskWrk.getWrkSts()==12){
@@ -946,17 +907,19 @@
                         LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
                         locMast.setLocSts("F");//F.鍦ㄥ簱
                         locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
-                        locMast.setModiTime(new Date());
+                        locMast.setModiTime(now);
                         locMast.setModiUser(9999L);
                         locMastService.updateById(locMast);
 
                         LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
                         locMast1.setLocSts("O");//O.绌哄簱浣�
                         locMast1.setBarcode("");//鎵樼洏鐮�
-                        locMast1.setModiTime(new Date());
+                        locMast1.setModiTime(now);
                         locMast1.setModiUser(9999L);
                         locMastService.updateById(locMast1);
                     }
+                    taskWrk.setModiTime(now);
+                    taskWrk.setCompleteTime(now);
                     taskWrkService.updateById(taskWrk);
 
 
@@ -967,6 +930,8 @@
                         headParam.put("ioType",taskWrk.getIoType());
                         headParam.put("barcode",taskWrk.getBarcode());
                         String response;
+                        log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", headParam);
+
                         response = new HttpHandler.Builder()
                                 // .setHeaders(headParam)
                                 .setUri(wmsUrl)
@@ -974,7 +939,11 @@
                                 .setJson(JSON.toJSONString(headParam))
                                 .build()
                                 .doPost();
-                        JSONObject jsonObject = JSON.parseObject(response);
+                        log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", response);
+
+//                        JSONObject jsonObject = JSON.parseObject(response);
+//                        log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", jsonObject);
+
                         apiLogService.save("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms"
                                 ,wmsUrl+taskStatusFeedbackPath
                                 ,null
@@ -985,7 +954,8 @@
                         );
                     }catch (Exception e){
                         log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触", taskWrk);
-                        throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
+                        log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触,鎶ラ敊淇℃伅锛�", e);
+//                        throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
                     }
                 }
 
@@ -1033,7 +1003,7 @@
                                     wrkMast.getSourceStaNo(),    // 婧愮珯
                                     wrkMast.getSourceLocNo(),    // 婧愬簱浣�
                                     wrkMast.getBarcode(),    // 鏉＄爜
-                                    (int) crnProtocol.getAlarm1(),    // 寮傚父鐮�
+                                    (int) crnProtocol.getAlarm(),    // 寮傚父鐮�
                                     errName,    // 寮傚父
                                     1,    // 寮傚父鎯呭喌
                                     now,    // 娣诲姞鏃堕棿
@@ -1048,7 +1018,7 @@
                         }
                     } else {
                         // 寮傚父淇
-                        if (crnProtocol.getAlarm1() == null || crnProtocol.getAlarm1() == 0) {
+                        if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
                             latest.setEndTime(now);
                             latest.setUpdateTime(now);
                             latest.setStatus(2);
@@ -1061,7 +1031,7 @@
                 } else {
                     BasErrLog latest = basErrLogService.findLatest(crn.getId());
                     // 鏈夊紓甯�
-                    if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm() > 0) {
+                    if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
                         // 璁板綍鏂板紓甯�
                         if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
                             BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
@@ -1080,7 +1050,7 @@
                                     null,    // 婧愮珯
                                     null,    // 婧愬簱浣�
                                     null,    // 鏉＄爜
-                                    (int)crnProtocol.getAlarm1(),    // 寮傚父鐮�
+                                    (int)crnProtocol.getAlarm(),    // 寮傚父鐮�
                                     errName,    // 寮傚父
                                     1,    // 寮傚父鎯呭喌
                                     now,    // 娣诲姞鏃堕棿
@@ -1111,175 +1081,6 @@
         }
     }
 
-    //鑷姩娲惧彂浠诲姟
-    public void autoDistribute() {
-        Config config = configService.selectByCode("autoDistribute");
-        if (config == null) {
-            return;
-        }
-
-        if (config.getValue().equals("false")) {//鍒ゆ柇鏄惁寮�鍚嚜鍔ㄦ淳鍙戜换鍔�
-            return;
-        }
-
-        for (TaskWrk taskWrk : taskWrkService.selectReceive()) {
-
-            try {
-                taskWrkService.distribute(taskWrk.getTaskNo(), 9527L);
-            } catch (CoolException e) {
-                log.info(e.getMessage());
-            }
-        }
-    }
-
-    //agv鍙栨斁璐т换鍔″畬鎴�
-    public synchronized void autoCompleteAGV() {
-        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
-        for (BasDevp basDevp:basDevps){
-            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
-            StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
-            if (staProtocol == null) {
-                continue;
-            } else {
-                staProtocol = staProtocol.clone();
-            }
-            if (basDevp.getWrkNo()!=0){
-                if (basDevp.getAgvTargetPick()!=0){//鍙栬揣
-                    staProtocol.setAgvTypeSign((short)0);
-                    staProtocol.setStaNo(basDevp.getDevNo().shortValue());
-                    MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
-                }
-                if (basDevp.getAgvTargetPlace()!=0){
-                    basDevp.setAgvStartPlace(0);
-                    basDevpService.updateById(basDevp);
-                }
-            }else {
-                if (basDevp.getAgvTargetPlace()!=0){
-                    staProtocol.setAgvTypeSign((short)1);
-                    staProtocol.setStaNo(basDevp.getDevNo().shortValue());
-                    MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
-                }
-                if (basDevp.getAgvTargetPick()!=0){
-                    basDevp.setAgvStartPick(0);
-                    basDevpService.updateById(basDevp);
-                }
-            }
-        }
-    }
-    public synchronized void autoCompleteTask() {
-        List<TaskWrk> taskWrks = taskWrkMapper.selectWorkingTask();
-        for (TaskWrk taskWrk : taskWrks) {
-            //鑾峰彇鍛戒护闆嗗悎
-            List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
-            if (taskWrk.getCommandStep() < commandInfos.size()) {
-                continue;//褰撳墠姝ュ簭娌℃湁鍒拌揪鏈�鍚庝竴鏉″懡浠�
-            }
-
-            //鍒ゆ柇鏈鍛戒护鏄惁鎵ц瀹屾垚
-            CommandInfo commandInfo = commandInfos.get(commandInfos.size() - 1);
-            if (commandInfo.getCommandStatus() != CommandStatusType.COMPLETE.id) {
-                continue;//鎸囦护鏈畬鎴�
-            }
-
-            Date now = new Date();
-            //鎸囦护宸插畬鎴愶紝鏇存柊浠诲姟
-            if (taskWrk.getIoType() == 1) {
-                //鍏ュ簱浠诲姟
-                taskWrk.setWrkSts(4);//3.鍚婅溅鍏ュ簱涓� => 4.鍏ュ簱瀹屾垚
-                //taskWrk.setStatus(TaskStatusType.COMPLETE.id);
-                taskWrk.setModiTime(now);
-                taskWrkService.updateById(taskWrk);
-
-                //鏇存柊搴撲綅鐘舵��
-                LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
-                locMast.setLocSts("F");//F.鍦ㄥ簱
-                locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
-                locMast.setModiTime(now);
-                locMast.setModiUser(9999L);
-                locMastService.updateById(locMast);
-            } else if (taskWrk.getIoType() == 2) {
-                //鍑哄簱浠诲姟
-                taskWrk.setWrkSts(14);//12.鍚婅溅鍑哄簱涓� => 14.鍑哄簱瀹屾垚
-//                taskWrk.setStatus(TaskStatusType.COMPLETE.id);
-                taskWrk.setModiTime(now);
-                taskWrkService.updateById(taskWrk);
-
-                //鏇存柊搴撲綅鐘舵��
-                LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
-                locMast.setLocSts("O");//O.绌哄簱浣�
-                locMast.setBarcode("");//鎵樼洏鐮�
-                locMast.setModiTime(now);
-                locMast.setModiUser(9999L);
-                locMastService.updateById(locMast);
-            }
-        }
-    }
-
-
-    public synchronized String CrnStartRunning(TaskWrk taskWrk){
-        String tasktype = null;
-        switch (taskWrk.getIoType()){
-            case 1:
-                tasktype= "RK";
-                break;
-            case 2:
-                tasktype= "CK";
-                break;
-            case 3:
-                tasktype= "YK";
-                break;
-            default:
-                tasktype= "鏈煡";
-        }
-        Map<String, Object> map = new HashMap<>();
-        map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
-        TaskOverToWms taskOverToWms = new TaskOverToWms();
-        taskOverToWms.setFeedbackFrom("WCS"); //鏉ユ簮
-        taskOverToWms.setWarehouseId("1688469798893297665"); //浠撳簱鏍囪瘑
-        taskOverToWms.setTaskNo(taskWrk.getTaskNo()); //浠诲姟鍙�
-        taskOverToWms.setTaskType(tasktype); // 浠诲姟绫诲瀷
-        taskOverToWms.setContainerCode(taskWrk.getBarcode()); // 瀹瑰櫒缂栫爜
-        if (taskWrk.getIoType() ==1 || taskWrk.getIoType() == 3){
-            taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //璁惧缂栫爜
-            taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //鐩爣搴撲綅
-        }else if (taskWrk.getIoType() ==2){
-            Map<Integer,String> map1 = new HashMap<>();
-            map1.put(102,"J-1101");
-            map1.put(106,"J-1103");
-            map1.put(110,"J-1105");
-            map1.put(114,"J-1107");
-            map1.put(118,"J-1109");
-            map1.put(122,"J-1111");
-            map1.put(305,"H-1101");
-            map1.put(405,"G-1101");
-            taskOverToWms.setEquipmentCode(map1.get(taskWrk.getTargetPoint())); //璁惧缂栫爜
-            taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint()); //婧愬簱浣�
-        }
-
-        taskOverToWms.setTaskStatus("executing"); //浠诲姟鐘舵��
-        String response = null;
-        try {
-            response = new HttpHandler.Builder()
-                    .setHeaders(map)
-                    .setUri(wmsUrl)
-                    .setPath("wcsManager/wcsInterface/taskStatusFeedback")
-                    .setJson(JSON.toJSONString(taskOverToWms))
-                    .build()
-                    .doPost();
-        }catch (Exception e){
-            log.error("鍫嗗灈鏈轰换鍔″畬鎴愶紝璇锋眰wms浠诲姟瀹屾垚鎺ュ彛澶辫触");
-        }
-        apiLogService.save("鍫嗗灈鏈哄紑濮嬭繍琛�"
-                ,wmsUrl+"wcsManager/wcsInterface/taskStatusFeedback"
-                ,null
-                ,"127.0.0.1"
-                ,JSON.toJSONString(taskOverToWms)
-                ,response
-                ,true
-        );
-        return response;
-    }
-
     private TaskWrk createTask(GetWmsDto dto, String barcode){
         String wcsLocNo = dto.getLocNo();
         if(Cools.isEmpty(wcsLocNo)){
@@ -1292,6 +1093,9 @@
         taskWrk.setWrkNo(workNo1);
         taskWrk.setStatus(TaskStatusType.RECEIVE.id);//浠诲姟鐘舵�侊細鎺ユ敹
         taskWrk.setCreateTime(now);
+        taskWrk.setAssignTime(now);
+        taskWrk.setModiTime(now);
+        taskWrk.setModiUser(5555L);
         taskWrk.setIoType(1);//浠诲姟绫诲瀷
         taskWrk.setIoPri(Cools.isEmpty(dto.getTaskPriority()) ? 300 : Integer.parseInt(dto.getTaskPriority()));//浼樺厛绾�
         taskWrk.setBarcode(barcode);//鏉＄爜
@@ -1321,6 +1125,1075 @@
         }
         return taskWrk;
     }
+    /**
+     *  瀹屾垚灏忚溅浠诲姟
+     */
+    public synchronized void rgvCompleteWrkMastSta() {
+        try{
+            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+                if (rgvProtocol == null) {
+                    continue;
+                }
+                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+                if (basRgv == null) {
+                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+                    continue;
+                }
 
+                // 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
+                if (rgvProtocol.getStatusType() == RgvStatusType.WORKING
+                        && rgvProtocol.getModeType() == RgvModeType.AUTO
+                        && ((rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.WAITING ) ||
+                        (rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING ))
+                ) {
+                    log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
+                    if (rgvProtocol.getTaskNo1()!=0 && (rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)){
+                        if (rgvProtocol.getTaskNo1()==(short)32222){
+                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
+                            if (!rgvComplete){
+                                log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+                            }
+                            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+                            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+                            break;
+                        }
+                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue());
+                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=1 || wrkMastSta.getWrkSts()!=1){
+                            log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�"+wrkMastSta);
+                            continue;
+                        }
+                       /* WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
+                        if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
+                            Thread.sleep(200);
+                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+                            StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
+                            if (staProtocol == null) {
+                                continue;
+                            } else {
+                                staProtocol = staProtocol.clone();
+                            }
+                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
+                                continue;
+                            }
+                            // 涓嬪彂绔欑偣淇℃伅
+                            staProtocol.setWorkNo(wrkMast.getWrkNo());
+                            staProtocol.setStaNo(wrkMast.getStaNo());
+                            if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
+                                continue;
+                            }
+                            log.error("灏忚溅浠诲姟瀹屾垚涓嬪彂杈撻�佺嚎浠诲姟锛�"+staProtocol);
+//                            try{
+//                                Thread.sleep(1000);
+//                                DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+//                                StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
+//                                log.error("灏忚溅浠诲姟瀹屾垚璇诲彇杈撻�佺嚎浠诲姟锛�"+staProtocolEnd);
+//                                if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
+//                                    staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
+//                                    staProtocolEnd.setStaNo(wrkMast.getStaNo());
+//                                    if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
+//                                        continue;
+//                                    }
+//                                    log.error("灏忚溅浠诲姟瀹屾垚涓嬪彂杈撻�佺嚎浠诲姟绗簩娆★細"+staProtocolEnd);
+//                                }
+//                            }catch (Exception e){
+//
+//                            }
+                        }*/
+                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
+                        if (!rgvComplete){
+                            log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+                            break;
+                        }
+                        wrkMastSta.setWrkSts(3);
+                        wrkMastStaMapper.updateById(wrkMastSta);
+                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+                    }else if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){
+                        if (rgvProtocol.getTaskNo2()==(short)32222){
+                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
+                            if (!rgvComplete){
+                                log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+                            }
+                            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+                            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+                            break;
+                        }
+                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().longValue());
+                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=2){
+                            log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�"+wrkMastSta);
+                            continue;
+                        }
+                        /*WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
+                        if (!Cools.isEmpty(wrkMast)  && wrkMastSta.getWrkType()!=5){
+                            Thread.sleep(200);
+                            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+                            StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
+                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
+                                continue;
+                            }
+                            // 涓嬪彂绔欑偣淇℃伅
+                            staProtocol.setWorkNo(wrkMast.getWrkNo());
+                            staProtocol.setStaNo(wrkMast.getStaNo());
+                            if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
+                                continue;
+                            }
+                            log.error("灏忚溅浠诲姟瀹屾垚涓嬪彂杈撻�佺嚎浠诲姟锛�"+staProtocol);
+//                            try{
+//                                Thread.sleep(1000);
+//                                DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+//                                StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
+//                                log.error("灏忚溅浠诲姟瀹屾垚璇诲彇杈撻�佺嚎浠诲姟锛�"+staProtocolEnd);
+//                                if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
+//                                    staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
+//                                    staProtocolEnd.setStaNo(wrkMast.getStaNo());
+//                                    if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
+//                                        continue;
+//                                    }
+//                                    log.error("灏忚溅浠诲姟瀹屾垚涓嬪彂杈撻�佺嚎浠诲姟绗簩娆★細"+staProtocolEnd);
+//                                }
+//                            }catch (Exception e){
+//
+//                            }
+                        }*/
+                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
+                        if (!rgvComplete){
+                            log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+                            break;
+                        }
+                        wrkMastSta.setWrkSts(3);
+                        wrkMastStaMapper.updateById(wrkMastSta);
+                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+                    }else {
+                        log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{},绛夊緟wcs纭浣嗘槸娌℃湁宸ヤ綔鍙凤紒",rgvProtocol.getRgvNo());
+                    }
+                }
+            }
+        }catch (Exception e){
+            log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
+        }
+    }
+    /**
+     * 鍏ュ嚭搴�  ===>>  灏忚溅浣滀笟涓嬪彂
+     */
+    public synchronized boolean rgvIoExecute(Integer sign) {
+        boolean rgvIoExecuteSign = false;
+        try{
+            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+                // 鑾峰彇灏忚溅淇℃伅
+                boolean signWork = false;
+                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+                if (rgvProtocol == null) {
+                    continue;
+                }
+                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+                if (basRgv == null) {
+                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+                    continue;
+                }
+
+                // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+                        && rgvProtocol.getModeType() == RgvModeType.AUTO
+                        && rgvProtocol.getLoaded1()==0
+                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
+                ) {
+                    switch (sign){
+                        //鎵ц灏忚溅璐х墿鎼繍浠诲姟
+                        case 1:
+                            signWork = rgvRunWrkMastFullSta(rgvSlave);
+                            break;
+                        //鎵ц灏忚溅绌烘澘鎼繍浠诲姟
+                        case 2://鏀�//鎷嗙洏
+                            signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
+                            break;
+                        case 3://婊℃斁
+                            signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
+                            break;
+                        case 4://鍙栧彔鐩�
+                            signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
+                            break;
+                        case 6:////鎻愬崌
+//                            signWork = qwe();
+                            break;
+                        default:
+                            break;
+                    }
+                    for (int signCount = 1;!signWork && signCount<7;signCount++){
+                        switch (signCount){
+                            case 1://鎵ц灏忚溅璐х墿鎼繍浠诲姟
+                                signWork = rgvRunWrkMastFullSta(rgvSlave);
+                                break;
+                            case 2://鏀�//鎷嗙洏
+                                signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
+                                break;
+                            case 3://婊℃斁
+                                signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
+                                break;
+                            case 4://鍙栧彔鐩�
+                                signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
+                                break;
+                            case 6:////鎻愬崌
+//                            signWork = rgvRunWrkMastEmptyStaPut();
+                                break;
+                            default:
+                                break;
+                        }
+                    }
+                }else {
+                    continue;
+                }
+                if (!rgvIoExecuteSign){
+                    rgvIoExecuteSign = signWork;
+                }
+            }
+//            if (!rgvIoExecuteSign){
+//                if (sign>6){
+//
+//                }
+//            }
+        }catch (Exception e){
+            log.error("RGV灏忚溅浠诲姟涓嬪彂鎶ラ敊"+e);
+        }
+        return rgvIoExecuteSign;
+    }
+
+    /**
+     * 鎵ц灏忚溅鎼繍浠诲姟
+     */
+    public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) {
+        try{
+//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+            if (rgvProtocol == null) {
+                return false;
+            }
+            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+            if (basRgv == null) {
+                log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+                return false;
+            }
+
+            // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+                    && rgvProtocol.getModeType() == RgvModeType.AUTO
+                    && rgvProtocol.getLoaded1()==0
+                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
+            ) {
+                BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
+                if (basRgvMap == null) {
+                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+                    return false;
+                }
+                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
+                for (WrkMastSta wrkMastSta : wrkMastStaList){
+                    if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:婊＄増   3锛氬彇鏀�
+                        continue;
+                    }
+                    BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
+                    if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
+                        continue;
+                    }
+                    Date date = new Date();
+
+                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
+                    StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
+                    if (staProtocol == null) {
+                        log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氭湭鏌ヨ鍒扮珯鐐逛俊鎭細"+wrkMastSta);
+                        continue;
+                    }
+                    if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
+                        continue;
+                    }
+                    if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
+                        if (staProtocol.isLoadingSuper()){
+                            continue;
+                        }
+                    }
+                    if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+                        if (!staProtocol.isEmptyMk()){
+                            continue;
+                        }
+                    }
+                    BasDevp basDevpS = basDevpService.selectById(wrkMastSta.getStaStart());
+                    if (!basDevpS.getAutoing().equals("Y") || !basDevpS.getLoading().equals("Y") || basDevpS.getWrkNo()!=wrkMastSta.getWrkNo().intValue()){
+                        continue;
+                    }
+                    StaProtocol staProtocols = devpThread.getStation().get(basDevpS.getDevNo());
+                    if (staProtocols == null) {
+                        log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氭湭鏌ヨ鍒扮珯鐐逛俊鎭細"+wrkMastSta);
+                        continue;
+                    }
+                    if (!staProtocols.isAutoing() || !staProtocols.isLoading() || staProtocols.getWorkNo() != wrkMastSta.getWrkNo().intValue()){
+                        continue;
+                    }
+
+
+                    log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+                    log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
+                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
+                    if (sign){
+                        boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
+                        if (signMap){
+                            wrkMastSta.setWrkSts(1);
+                            try{
+                                wrkMastStaMapper.updateById(wrkMastSta);
+                            }catch (Exception e){
+                                log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+                            }
+                            return true;
+                        }else {
+                            log.error("3864琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+                        }
+                    }else {
+                        log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+                    }
+                    break;
+                }
+            }
+//            }
+        }catch (Exception e){
+            log.error("3875琛屾墽琛屽皬杞︽惉杩愪换鍔′笅鍙戝け璐�");
+            log.error("3875琛�"+e);
+        }
+        return false;
+    }
+    /**
+     * 鎵ц灏忚溅鎼繍浠诲姟//鎷嗙洏
+     */
+    public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//鎷嗙洏
+        try{
+//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+            if (rgvProtocol == null) {
+                return false;
+            }
+            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+            if (basRgv == null) {
+                log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+                return false;
+            }
+
+            // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤//鎷嗙洏
+            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+                    && rgvProtocol.getModeType() == RgvModeType.AUTO
+                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
+                    && (rgvProtocol.getLoaded2()==3  || rgvProtocol.getLoaded2()==1 || rgvProtocol.getLoaded2()==4)////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗� 锛堝彧鑳芥媶鍙狅級 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗�() 锛�3  1銆�2灞傞兘鏈夌墿  4锛氾紙锛夊彧鍏佽鎷嗙洏
+            ) {
+                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+                if (basRgvMap == null) {
+                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+                    return false;
+                }
+                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
+                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//鏌ヨ鍙墽琛屼换鍔�
+                for (WrkMastSta wrkMastSta : wrkMastStaList){
+                    if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=2){// 2:绌烘澘  || 宸ヤ綔绫诲瀷  1:鍙栵紙鍙犵洏锛�  2锛氭媶鐩�  5锛氭弧鍙�  6锛氭弧鏀�
+                        continue;
+                    }
+                    boolean sign = false;
+                    if ( wrkMastSta.getStaEnd()!=0){//鏀�
+                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
+                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
+                            continue;
+                        }
+                        Date date = new Date();
+
+                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
+                        StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
+                        if (staProtocol == null) {
+                            log.info(date+"鎷嗙洏浠诲姟涓嬪彂锛氭湭鏌ヨ鍒扮珯鐐逛俊鎭細"+wrkMastSta);
+                            continue;
+                        }
+                        if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
+                            continue;
+                        }
+                        if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
+                            if (staProtocol.isLoadingSuper()){
+                                continue;
+                            }
+                        }
+                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+                            if (!staProtocol.isEmptyMk()){
+                                continue;
+                            }
+                        }
+
+                        log.info(date+"鎷嗙洏浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+                        log.info(date+"鎷嗙洏浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
+                        sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//鎷嗙洏
+                    }else {
+                        continue;
+                    }
+                    if (sign){
+                        boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
+                        if (signMap){
+                            wrkMastSta.setWrkSts(2);
+                            try{
+                                wrkMastStaMapper.updateById(wrkMastSta);
+                            }catch (Exception e){
+                                log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+                            }
+                            return true;
+                        }else {
+                            log.error("3857琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+                        }
+                    }else {
+                        log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+                    }
+                    break;
+                }
+            }
+//            }
+        }catch (Exception e){
+            log.error("3933琛屾墽琛屽皬杞︽斁绌烘澘浠诲姟涓嬪彂澶辫触");
+            log.error("3933琛�"+e);
+        }
+        return false;
+    }
+
+    /**
+     * 鎵ц灏忚溅鎼繍浠诲姟
+     */
+    public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//婊℃斁
+        try{
+//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+            if (rgvProtocol == null) {
+                return false;
+            }
+            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+            if (basRgv == null) {
+                log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+                return false;
+            }
+
+            // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤
+            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+                    && rgvProtocol.getModeType() == RgvModeType.AUTO
+                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
+                    &&  (rgvProtocol.getLoaded2()==2  || rgvProtocol.getLoaded2()==3 ) ////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗�  锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3  1銆�2灞傞兘鏈夌墿  4锛氾紙锛夊彧鍏佽鎷嗙洏
+            ) {
+                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+                if (basRgvMap == null) {
+                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+                    return false;
+                }
+                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
+                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//鏌ヨ鍙墽琛屼换鍔�
+                for (WrkMastSta wrkMastSta : wrkMastStaList){
+                    if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=6){// 2:绌烘澘  || 宸ヤ綔绫诲瀷  1:鍙栵紙鍙犵洏锛�  2锛氭媶鐩�  5锛氭弧鍙�  6锛氭弧鏀�  7:鎻愬崌
+                        continue;
+                    }
+                    boolean sign = false;
+                    if ( wrkMastSta.getStaEnd()!=0){//婊℃斁
+                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
+                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
+                            continue;
+                        }
+                        Date date = new Date();
+
+                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
+                        StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
+                        if (staProtocol == null) {
+                            log.info(date+"婊℃斁浠诲姟涓嬪彂锛氭湭鏌ヨ鍒扮珯鐐逛俊鎭細"+wrkMastSta);
+                            continue;
+                        }
+                        if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
+                            continue;
+                        }
+                        if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
+                            if (staProtocol.isLoadingSuper()){
+                                continue;
+                            }
+                        }
+                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+                            if (!staProtocol.isEmptyMk()){
+                                continue;
+                            }
+                        }
+
+                        log.info(date+"婊℃斁浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+                        log.info(date+"婊℃斁浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
+                        sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
+                    }else {
+                        continue;
+                    }
+                    if (sign){
+                        boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
+                        if (signMap){
+                            wrkMastSta.setWrkSts(2);
+                            try{
+                                wrkMastStaMapper.updateById(wrkMastSta);
+                            }catch (Exception e){
+                                log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+                            }
+                            return true;
+                        }else {
+                            log.error("3857琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+                        }
+                    }else {
+                        log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+                    }
+                    break;
+                }
+            }
+//            }
+        }catch (Exception e){
+            log.error("3933琛屾墽琛屽皬杞︽斁绌烘澘浠诲姟涓嬪彂澶辫触");
+            log.error("3933琛�"+e);
+        }
+        return false;
+    }
+
+    public synchronized boolean rgvRunWrkMastEmptyStaTake(RgvSlave rgvSlave) {//鍙犵洏
+        try{
+//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+            if (rgvProtocol == null) {
+                return false;
+            }
+            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+            if (basRgv == null) {
+                log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+                return false;
+            }
+
+            // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾棤鐗�//rgv鍙敤
+            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+                    && rgvProtocol.getModeType() == RgvModeType.AUTO
+                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
+                    &&  (rgvProtocol.getLoaded2()==0  || rgvProtocol.getLoaded2()==1 ) //鐜板満淇敼锛氬彔鐩樻満锛�////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗╋紙鍙兘鎷嗗彔锛�   锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3  1銆�2灞傞兘鏈夌墿  4锛氾紙锛夊彧鍏佽鎷嗙洏
+            ) {
+                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+                if (basRgvMap == null) {
+                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+                    return false;
+                }
+                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
+                for (WrkMastSta wrkMastSta : wrkMastStaList){
+                    if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=1){// 2:绌烘澘  || 宸ヤ綔绫诲瀷  1:鍙栵紙鍙犵洏锛�  2锛氭媶鐩�  5锛氭弧鍙�  6锛氭弧鏀�
+                        continue;
+                    }
+                    boolean sign = false;
+                    if ( wrkMastSta.getStaStart()!=0){//鍙�
+                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
+                        if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
+                            continue;
+                        }
+                        Date date = new Date();
+
+                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
+                        StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
+                        if (staProtocol == null) {
+                            log.info(date+"鍙犵洏浠诲姟涓嬪彂锛氭湭鏌ヨ鍒扮珯鐐逛俊鎭細"+wrkMastSta);
+                            continue;
+                        }
+                        if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
+                            continue;
+                        }
+                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+                            if (!staProtocol.isEmptyMk()){
+                                continue;
+                            }
+                        }
+
+                        log.info(date+"鍙犵洏浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+                        log.info(date+"鍙犵洏浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
+                        sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//鍙犵洏
+                    }else {
+                        continue;
+                    }
+                    if (sign){
+                        boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
+                        if (signMap){
+                            wrkMastSta.setWrkSts(1);
+                            try{
+                                wrkMastStaMapper.updateById(wrkMastSta);
+                            }catch (Exception e){
+                                log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+                            }
+                            return true;
+                        }else {
+                            log.error("3879琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+                        }
+                    }else {
+                        log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+                    }
+                    break;
+                }
+            }
+//            }
+        }catch (Exception e){
+            log.error("3989琛屾墽琛屽皬杞﹀彇绌烘澘浠诲姟涓嬪彂澶辫触");
+            log.error("3989琛�"+e);
+        }
+        return false;
+    }
+
+    /*
+     * 鏈変换鍔′絾鏈墽琛�  姝ゆ椂闇�瑕佽皟鏁村皬杞︿綅缃�
+     * */
+    public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
+        try{
+//            Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔�
+//            if (integer==0){
+//                return;
+//            }
+            WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0);
+            if (Cools.isEmpty(wrkMastSta)){
+                return;
+            }
+            boolean signRgv = true;
+            boolean signRgv1 = true;
+            boolean signRgv2 = true;
+            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+                if (rgvProtocol == null) {
+                    continue;
+                }
+                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+                if (basRgv == null) {
+                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+                    continue;
+                }
+
+                // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+                        && rgvProtocol.getModeType() == RgvModeType.AUTO
+                        && rgvProtocol.getLoaded1()==0  //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+                        && rgvProtocol.getTaskNo1()==0
+                        && rgvProtocol.getTaskNo2()==0
+                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+                ) {
+                    if (rgvProtocol.getRgvNo()!=1){
+                        if (!rgvProtocol.getRgvPosI().equals(120) && !rgvProtocol.getRgvPosI().equals(110)){
+                            continue;
+                        }
+                        rgvAvoidanceXY(rgvProtocol.getRgvNo());
+//                        return;
+                        continue;
+                    }
+                    if (!rgvProtocol.getRgvPosI().equals(110) && !rgvProtocol.getRgvPosI().equals(108) &&  !rgvProtocol.getRgvPosI().equals(119)){
+                        continue;
+                    }
+                    Integer count108Y = wrkMastStaMapper.selectAllWrkCount108Y();
+                    if (count108Y!=0){
+                        continue;
+                    }
+//                    Integer count108 = wrkMastStaMapper.selectAllWrkCount108();
+//                    if (count108!=0){
+//                        continue;
+//                    }
+                    rgvAvoidanceXY(rgvProtocol.getRgvNo());
+                    continue;
+//                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+//                    Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMap.getRgvNo(), basRgvMap.getEndRoute()); //鑾峰彇鍚堝苟骞叉秹椤�
+//                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(),fallMerge);
+//                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route ,route);
+//                    if (!wrkMastStaList.isEmpty()){
+//                        log.info("灏忚溅瀛樺湪鍙墽琛屼换鍔★紝璺宠繃閬胯锛侊紒4214");
+//                        return;
+//                    }
+//                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
+////                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
+////                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
+//                        if (rgvProtocol.getRgvNo()==1){
+//                            signRgv1 = false;
+//                        }else {
+//                            signRgv2 = false;
+//                        }
+//                    }
+//                    if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
+//                        signRgv1 = false;
+//                        continue;
+//                    } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
+//                        signRgv2 = false;
+//                        continue;
+//                    }
+                }else {
+                    signRgv = false;
+                    break;
+                }
+            }
+//            if (signRgv &&  (signRgv1 || signRgv2)){
+//                for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+//                    RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+//                    RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+//                    if (rgvProtocol == null) {
+//                        continue;
+//                    }
+//
+//                    // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+//                    if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+//                            && rgvProtocol.getModeType() == RgvModeType.AUTO
+//                            && rgvProtocol.getLoaded1()==0  //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+//                            && rgvProtocol.getTaskNo1()==0
+//                            && rgvProtocol.getTaskNo2()==0
+//                            && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+//                            && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+//                    ) {
+//                        if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
+//                            continue;
+//                        } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
+//                            continue;
+//                        }
+//                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+//                        rgvAvoidanceXY(rgvProtocol.getRgvNo());
+//                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+//
+//                    }
+//                }
+//            }
+        }catch (Exception e){
+            log.error("4109琛屾墽琛屽皬杞﹀垵濮嬪寲浠诲姟涓嬪彂澶辫触");
+            log.error("4109琛�"+e);
+        }
+    }
+
+    /*
+     * 鍒锋柊鍦板浘鏁版嵁
+     * */
+    public synchronized void refreshRgvMap() {
+        try{
+            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+                if (rgvProtocol == null) {
+                    continue;
+                }
+                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+                if (basRgv == null) {
+                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+                    continue;
+                }
+
+                // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+                        && rgvProtocol.getModeType() == RgvModeType.AUTO
+                        && rgvProtocol.getLoaded1()==0  //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+                        && rgvProtocol.getTaskNo1()==0
+                        && rgvProtocol.getTaskNo2()==0
+                ) {
+                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvSlave.getId());
+                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+                }
+            }
+        }catch (Exception e){
+            log.error("4109琛屾墽琛屽皬杞﹀垵濮嬪寲浠诲姟涓嬪彂澶辫触");
+            log.error("4109琛�"+e);
+        }
+    }
+
+    /*
+     * 灏忚溅XY绉诲姩  閬胯
+     * */
+    public synchronized boolean rgvAvoidanceXY(Integer rgvId){
+        if (rgvId==1){
+            try{
+                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
+                //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+                RgvCommand rgvCommand = new RgvCommand();
+                rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+                rgvCommand.setAckFinish1((short) 0);  // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+                rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
+                rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡:  鍥炲師鐐�
+                //basRgvMap.getLockStartRoute().shortValue()
+                rgvCommand.setSourceStaNo1( (short)104);
+                rgvCommand.setCommand((short) 1);   //宸ヤ綅1浠诲姟纭
+                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+                    //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱   step=4锛屽伐浣�1鍐欎换鍔★紱     step=5锛屽伐浣�2鍐欎换鍔�   step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
+                    log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+                    return false;
+                } else {
+                    return true;
+                }
+            }catch (Exception e){
+                return false;
+
+            }
+        }else {
+            try{
+                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
+                //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+                RgvCommand rgvCommand = new RgvCommand();
+                rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+                rgvCommand.setAckFinish2((short) 0);  // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+                rgvCommand.setTaskNo2((short)32222); // 宸ヤ綅2宸ヤ綔鍙�
+                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 宸ヤ綅2浠诲姟妯″紡:  鍥炲師鐐�
+                rgvCommand.setSourceStaNo2((short)114);
+                rgvCommand.setCommand((short) 2);   //宸ヤ綅2浠诲姟纭
+                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+                    //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱   step=4锛屽伐浣�1鍐欎换鍔★紱     step=5锛屽伐浣�2鍐欎换鍔�   step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
+                    log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+                    return false;
+                } else {
+                    return true;
+                }
+            }catch (Exception e){
+                return false;
+
+            }
+        }
+    }
+
+
+    /*
+     * 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
+     * */
+    public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
+        try{
+            //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+            RgvCommand rgvCommand = new RgvCommand();
+            rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+            rgvCommand.setAckFinish1((short) 0);  // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
+            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡:  鍙栨斁璐�
+            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //宸ヤ綅1璧风偣
+            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //宸ヤ綅1鐩爣绔欑偣
+            rgvCommand.setCommand((short) 1);   //宸ヤ綅1浠诲姟纭
+            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+                //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱   step=4锛屽伐浣�1鍐欎换鍔★紱     step=5锛屽伐浣�2鍐欎换鍔�
+                log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+                return false;
+            } else {
+                return true;
+            }
+        }catch (Exception e){
+            return false;
+        }
+    }
+
+    /*
+     * 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
+     * */
+    public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
+        try{
+            //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+            RgvCommand rgvCommand = new RgvCommand();
+            rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+            rgvCommand.setAckFinish1((short) 0);  // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
+            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 宸ヤ綅1浠诲姟妯″紡:  鍙栬揣
+            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //宸ヤ綅1璧风偣
+            rgvCommand.setCommand((short) 1);   //宸ヤ綅1浠诲姟纭
+            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+                //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱   step=4锛屽伐浣�1鍐欎换鍔★紱     step=5锛屽伐浣�2鍐欎换鍔�
+                log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+                return false;
+            } else {
+                return true;
+            }
+        }catch (Exception e){
+            return false;
+        }
+    }
+
+    /*
+     * 灏忚溅鏀捐揣鑷宠緭閫佺嚎浠诲姟
+     * */
+    public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
+        try{
+            //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+            RgvCommand rgvCommand = new RgvCommand();
+            rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+            rgvCommand.setAckFinish1((short) 0);  // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
+            rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 宸ヤ綅1浠诲姟妯″紡:  鏀捐揣
+            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //宸ヤ綅1鐩爣绔欑偣
+            rgvCommand.setCommand((short) 1);   //宸ヤ綅1浠诲姟纭
+            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+                //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱   step=4锛屽伐浣�1鍐欎换鍔★紱     step=5锛屽伐浣�2鍐欎换鍔�
+                log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+                return false;
+            } else {
+                return true;
+            }
+        }catch (Exception e){
+            return false;
+        }
+    }
+
+    /*
+     * 灏忚溅鍙栫┖鏉胯嚦宸ヤ綅浠诲姟  鍙犵洏
+     * */
+    public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
+        try{
+            //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+            RgvCommand rgvCommand = new RgvCommand();
+            rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+            rgvCommand.setAckFinish2((short) 0);  // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+            rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
+            rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 宸ヤ綅2浠诲姟妯″紡:  鍙栬揣
+            rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue());   //宸ヤ綅2璧风偣
+            rgvCommand.setCommand((short) 2);   //宸ヤ綅2浠诲姟纭
+            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+                //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱   step=4锛屽伐浣�1鍐欎换鍔★紱     step=5锛屽伐浣�2鍐欎换鍔�
+                log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+                return false;
+            } else {
+                return true;
+            }
+        }catch (Exception e){
+            return false;
+        }
+    }
+
+    /*
+     * 灏忚溅鏀剧┖鏉胯嚦杈撻�佺嚎浠诲姟   //鎷嗙洏
+     * */
+    public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
+        try{
+            //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+            RgvCommand rgvCommand = new RgvCommand();
+            rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+            rgvCommand.setAckFinish2((short) 0);  // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+            rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
+            rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 宸ヤ綅2浠诲姟妯″紡:  鏀捐揣
+            rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue());   //宸ヤ綅2鐩爣绔欑偣
+            rgvCommand.setCommand((short) 2);   //宸ヤ綅2浠诲姟纭
+            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+                //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱   step=4锛屽伐浣�1鍐欎换鍔★紱     step=5锛屽伐浣�2鍐欎换鍔�
+                log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+                return false;
+            } else {
+                return true;
+            }
+        }catch (Exception e){
+            return false;
+        }
+    }
+
+    /*
+     * 灏忚溅鍙栫┖鏉胯嚦宸ヤ綅浠诲姟  婊″彇
+     * */
+    public synchronized boolean rgvTakeEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
+        try{
+            //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+            RgvCommand rgvCommand = new RgvCommand();
+            rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+            rgvCommand.setAckFinish2((short) 0);  // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+            rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
+            rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_5); // 宸ヤ綅2浠诲姟妯″紡:  婊″彇
+            rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue());   //宸ヤ綅2璧风偣
+            rgvCommand.setCommand((short) 2);   //宸ヤ綅2浠诲姟纭
+            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+                //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱   step=4锛屽伐浣�1鍐欎换鍔★紱     step=5锛屽伐浣�2鍐欎换鍔�
+                log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+                return false;
+            } else {
+                return true;
+            }
+        }catch (Exception e){
+            return false;
+        }
+    }
+
+    /*
+     * 灏忚溅鏀剧┖鏉胯嚦杈撻�佺嚎浠诲姟   //婊℃斁
+     * */
+    public synchronized boolean rgvPutEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
+        try{
+            //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+            RgvCommand rgvCommand = new RgvCommand();
+            rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+            rgvCommand.setAckFinish2((short) 0);  // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+            rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
+            rgvCommand.setTaskMode2(RgvTaskModeType.PUT_6); // 宸ヤ綅2浠诲姟妯″紡:  婊℃斁
+            rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue());   //宸ヤ綅2鐩爣绔欑偣
+            rgvCommand.setCommand((short) 2);   //宸ヤ綅2浠诲姟纭
+            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+                //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱   step=4锛屽伐浣�1鍐欎换鍔★紱     step=5锛屽伐浣�2鍐欎换鍔�
+                log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+                return false;
+            } else {
+                return true;
+            }
+        }catch (Exception e){
+            return false;
+        }
+    }
+
+    /*
+     * 灏忚溅澶嶄綅
+     * */
+    public synchronized boolean rgvComplete(Integer rgvId){
+        try{
+            //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
+                //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱   step=4锛屽伐浣�1鍐欎换鍔★紱     step=5锛屽伐浣�2鍐欎换鍔�
+                log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}",rgvId);
+                return false;
+            } else {
+                log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}",rgvId);
+                return true;
+            }
+        }catch (Exception e){
+            log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}銆傚紓甯革細"+e,rgvId);
+            return false;
+        }
+    }
+
+    /*
+     * 灏忚溅鍦板浘鏇存柊  鏇存柊閿�
+     * */
+    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
+        if (rgvOpen){
+            return true;
+        }
+
+//        List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
+        //鏇存柊褰撳墠灏忚溅閿�
+        try{
+            Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//鑾峰彇鏈�杩滅珯鐐�
+//            Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(staEnd, staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//鑾峰彇鏈�杩滅珯鐐�
+            Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //鑾峰彇鍚堝苟骞叉秹椤�
+            basRgvMapCurrent.setLockEndRoute(fallMerge);
+            basRgvMapMapper.updateById(basRgvMapCurrent);
+
+            //鏇存柊鍙︿竴鍙板皬杞﹀湴鍥�
+            Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther();
+            BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
+            List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
+            Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//鍙︿竴鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�
+            Integer lockEndRouteL = RouteUtils.RouteIndexFarMasL(rgvNoOther, lockEndRoute);//鍙︿竴鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�
+            basRgvMapOther.setEndRoute(lockEndRouteL);
+            basRgvMapMapper.updateById(basRgvMapOther);
+            return true;
+        }catch (Exception e){
+            log.error("灏忚溅鍦板浘鏇存柊鍑洪敊锛�");
+            return false;
+        }
+    }
 
 }

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