From 26e01b3be27f13ee189c491e8d9ef333980a0c57 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期日, 16 三月 2025 12:42:08 +0800
Subject: [PATCH] *

---
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 1223 ++++++++++++++++++++++++++++++++++++++++++---------------
 1 files changed, 895 insertions(+), 328 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 7aeadc4..f54ae75 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -3,9 +3,9 @@
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.mapper.EntityWrapper;
-import com.baomidou.mybatisplus.mapper.Wrapper;
 import com.core.common.Cools;
 import com.core.common.DateUtils;
+import com.core.common.SpringUtils;
 import com.core.exception.CoolException;
 import com.zy.asrs.entity.*;
 import com.zy.asrs.mapper.*;
@@ -21,7 +21,6 @@
 import com.zy.common.utils.CollectionUtils;
 import com.zy.common.utils.HttpHandler;
 import com.zy.common.utils.RedisUtil;
-import com.zy.common.utils.RgvUtils;
 import com.zy.core.CrnThread;
 import com.zy.core.DevpThread;
 import com.zy.core.cache.MessageQueue;
@@ -47,6 +46,7 @@
 import org.springframework.transaction.interceptor.TransactionAspectSupport;
 
 import java.util.*;
+import java.util.concurrent.TimeUnit;
 import java.util.stream.Collectors;
 
 /**
@@ -73,8 +73,6 @@
     @Autowired
     private LocMastService locMastService;
     @Autowired
-    private StaDescService staDescService;
-    @Autowired
     private BasCrnpService basCrnpService;
     @Autowired
     private BasRgvService basRgvService;
@@ -93,14 +91,17 @@
     @Autowired
     private BasRgvPathService basRgvPathService;
     @Autowired
-    private RedisUtil redisUtil;
-    @Autowired
     private WrkMastStaMapper wrkMastStaMapper;
     @Autowired
     private BasRgvMapMapper basRgvMapMapper;
+    @Autowired
+    private RgvOneSignMapper rgvOneSignMapper;
 
     @Value("${wms.url}")
     private String wmsUrl;
+
+    @Value("${wms.rgvOpen}")
+    private boolean rgvOpen;
 
     /**
      * 缁勬墭
@@ -135,6 +136,47 @@
                     continue;
                 } else {
                     staProtocol = staProtocol.clone();
+                }
+
+                // 灏哄妫�娴嬪紓甯�
+                boolean back = false;
+                String errMsg = "寮傚父锛�";
+                if (staProtocol.isFrontErr()) {
+                    errMsg = errMsg+"鍓嶈秴闄愶紱";
+                    back = true;
+                }
+                if (staProtocol.isBackErr()) {
+                    errMsg = errMsg+"鍚庤秴闄�";
+                    back = true;
+                }
+                if (staProtocol.isHighErr()) {
+                    errMsg = errMsg+"楂樿秴闄�";
+                    back = true;
+                }
+                if (staProtocol.isLeftErr()) {
+                    errMsg = errMsg+"宸﹁秴闄�";
+                    back = true;
+                }
+                if (staProtocol.isRightErr()) {
+                    errMsg = errMsg+"鍙宠秴闄�";
+                    back = true;
+                }
+                if (staProtocol.isWeightErr()) {
+                    errMsg = errMsg+"瓒呴噸";
+                    back = true;
+                }
+                if (staProtocol.isBarcodeErr()) {
+                    errMsg = errMsg+"鎵爜澶辫触";
+                    back = true;
+                }
+                // 閫�鍥�
+                if (back) {
+                    // led 寮傚父鏄剧ず
+                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+                    if (ledThread != null) {
+                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
+                    }
+                    continue;
                 }
 
                 // 鍏ュ嚭搴撴ā寮忓垽鏂�
@@ -383,8 +425,9 @@
 //                // 鍏ュ嚭搴撴ā寮忓垽鏂�
 //                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
 
-                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
+                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && staProtocol.getWorkNo()!=0) {
 //                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
+//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"7");
                     WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
                     if (wrkMast == null) {
                         // 鏃犳嫞鏂欐暟鎹�
@@ -395,64 +438,67 @@
                         continue;
                     }
 
-                    // 鑾峰彇鐩爣绔�
-                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
-                            .eq("type_no", wrkMast.getIoType() - 50)
-                            .eq("stn_no", pickSta.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
-                            .eq("crn_no", wrkMast.getCrnNo()); // 鍫嗗灈鏈哄彿
-                    StaDesc staDesc = staDescService.selectOne(wrapper);
-                    if (Cools.isEmpty(staDesc)) {
-                        log.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
-                        continue;
-                    }
-
+                    //   鑾峰彇搴撲綅鍙�
                     try {
-                        // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
-                        if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
-                            throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
+                        SearchLocParam param = new SearchLocParam();
+                        param.setBarcode(wrkMast.getBarcode());
+                        param.setIoType(wrkMast.getIoType());
+                        param.setSourceStaNo(pickSta.getStaNo()); //浣滀笟绔欑偣
+                        param.setLocType1((short)1);
+                        String response = "";
+                        log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+                        try {
+                            response = new HttpHandler.Builder()
+                                    .setUri(wmsUrl)
+                                    .setPath("/rpc/pakin2/loc/v1")
+                                    .setJson(JSON.toJSONString(param))
+                                    .setTimeout(15, TimeUnit.SECONDS)
+                                    .build()
+                                    .doPost();
+                        } catch(Exception e){
+                            log.error("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+                            log.error("stnToCrnStnPick2===>>鐩樼偣鏌ュ簱浣嶅叆搴撴帴鍙ｅけ璐�", e);
+                            e.printStackTrace();
+                            continue;
                         }
-                        // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
-                        if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
-                            throw new CoolException("淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
+                        log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+                        log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"涓嬪彂鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS杩斿洖缁撴灉===>>" + response);
+                        if(response.equals("")) {
+                            continue;
                         }
-
-                        Date now = new Date();
-                        // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
-                        Integer staNo = staDesc.getCrnStn();
-                        // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
-                        wrkMast.setIoTime(now);
-                        wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
-                        wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
-                        wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 婧愮珯
-                        wrkMast.setStaNo(staNo); // 鐩爣绔�
-                        wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
-                        wrkMast.setSourceLocNo(""); // 婧愬簱浣嶆竻绌�
-                        wrkMast.setModiTime(now);
-                        if (wrkMastMapper.updateById(wrkMast) == 0) {
-                            throw new CoolException("鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
-                        }
-                        // 鏇存柊鏄庣粏妗o_time (鍘嗗彶妗ｅ叧鑱斾娇鐢級
-                        wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
-                        // 淇敼搴撲綅鐘舵�� Q.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴�
-                        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
-                        locMast.setLocSts("Q");
-                        locMast.setModiTime(new Date());
-                        if (!locMastService.updateById(locMast)) {
-                            throw new CoolException("淇敼搴撲綅鐘舵�佸け璐�");
+                        JSONObject jsonObject = JSON.parseObject(response);
+//                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+                        Integer code = jsonObject.getInteger("code");
+                        if (code == 200) {
+                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+                            if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
+                                log.error("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶅け璐�===>>" + jsonObject.toJSONString());
+                            } else {
+                                log.info("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶆垚鍔�===>>" + jsonObject.toJSONString());
+                                try {
+                                    // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+                                    staProtocol.setWorkNo(wrkMast.getWrkNo());
+                                    staProtocol.setStaNo(dto.getStaNo());
+                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
+//                                    ledThread.errorReset();
+                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
+                                    if (!result) {
+                                        log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+                                    }
+                                    log.info("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣/鎷ｆ枡鍐嶅叆搴撲换鍔′笅鍙戞垚鍔�===>>" + staProtocol);
+                                } catch (Exception e) {
+                                    log.error("鐩樼偣鍐嶅叆搴撳け璐�===>>" + e);
+                                    e.printStackTrace();
+                                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+                                }
+                            }
+                        } else {
+                            log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
                         }
                     } catch (Exception e) {
+                        log.error("stnToCrnStnPick2===>>fail", e);
                         e.printStackTrace();
                         TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
-                        continue;
-                    }
-
-                    // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
-                    staProtocol.setWorkNo(wrkMast.getWrkNo());
-                    staProtocol.setStaNo(wrkMast.getStaNo());
-                    devpThread.setPakMk(staProtocol.getSiteId(), false);
-                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-                    if (!result) {
-                        log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
                     }
 
                 }
@@ -483,23 +529,10 @@
                     continue;
                 }
 
-                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
-                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
+                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()!=0) {//&& staProtocol.isInEnable()
+                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
 
-                    if (wrkMast == null) {
-//                        WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
-//                        if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
-//                            WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 9999L);
-//                            if (Cools.isEmpty(wrkMastSta)){
-//                                WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
-//                                wrkMastSta1.setType(2);
-//                                wrkMastSta1.setWrkType(1);
-//                                wrkMastStaMapper.insert(wrkMastSta1);
-//                            }
-//                            continue;
-//                        }
-//                        log.error("绔欑偣鍙�"+staProtocol.getSiteId()+"鏈煡璇㈠埌宸ヤ綔妗ｆ锛�");
-                        // 鏃犳嫞鏂欐暟鎹�
+                    if (wrkMast == null || !wrkMast.getSheetNo().equals("3")) {
                         continue;
                     }
                     if (staProtocol.isEmptyMk()){
@@ -511,65 +544,137 @@
                         continue;
                     }
 
-                    // 鑾峰彇鐩爣绔�
-                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
-                            .eq("type_no", wrkMast.getIoType() - 50)
-                            .eq("stn_no", pickSta.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
-                            .eq("crn_no", wrkMast.getCrnNo()); // 鍫嗗灈鏈哄彿
-                    StaDesc staDesc = staDescService.selectOne(wrapper);
-                    if (Cools.isEmpty(staDesc)) {
-                        log.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
+                    String barcode = wrkMast.getBarcode();
+                    if(!Cools.isEmpty(barcode)) {
+                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
+                            continue;
+                        }
+                    } else {
                         continue;
                     }
 
+                    //   鑾峰彇搴撲綅鍙�
                     try {
-                        // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
-                        if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
-                            throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
+                        SearchLocParam param = new SearchLocParam();
+                        param.setBarcode(barcode);
+                        param.setIoType(wrkMast.getIoType());
+                        param.setSourceStaNo(pickSta.getStaNo()); //浣滀笟绔欑偣
+                        param.setLocType1((short)1);
+                        String response = "";
+                        log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+                        try {
+                            response = new HttpHandler.Builder()
+                                    .setUri(wmsUrl)
+                                    .setPath("/rpc/pakin2/loc/v1")
+                                    .setJson(JSON.toJSONString(param))
+                                    .setTimeout(15, TimeUnit.SECONDS)
+                                    .build()
+                                    .doPost();
+                        } catch(Exception e){
+                            log.error("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+//                            log.error("stnToCrnStnPick2===>>鐩樼偣鏌ュ簱浣嶅叆搴撴帴鍙ｅけ璐�", e);
+//                            e.printStackTrace();
+                            continue;
                         }
-                        // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
-                        if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
-                            throw new CoolException("淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
+//                        log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+//                        log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"涓嬪彂鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS杩斿洖缁撴灉===>>" + response);
+                        if(response.equals("")) {
+                            continue;
                         }
-
-                        Date now = new Date();
-                        // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
-                        Integer staNo = staDesc.getCrnStn();
-                        // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
-                        wrkMast.setIoTime(now);
-                        wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
-                        wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
-                        wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 婧愮珯
-                        wrkMast.setStaNo(staNo); // 鐩爣绔�
-                        wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
-                        wrkMast.setSourceLocNo(""); // 婧愬簱浣嶆竻绌�
-                        wrkMast.setModiTime(now);
-                        if (wrkMastMapper.updateById(wrkMast) == 0) {
-                            throw new CoolException("鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
-                        }
-                        // 鏇存柊鏄庣粏妗o_time (鍘嗗彶妗ｅ叧鑱斾娇鐢級
-                        wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
-                        // 淇敼搴撲綅鐘舵�� Q.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴�
-                        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
-                        locMast.setLocSts("Q");
-                        locMast.setModiTime(new Date());
-                        if (!locMastService.updateById(locMast)) {
-                            throw new CoolException("淇敼搴撲綅鐘舵�佸け璐�");
+                        JSONObject jsonObject = JSON.parseObject(response);
+//                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+                        Integer code = jsonObject.getInteger("code");
+                        if (code == 200) {
+//                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+//                            if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
+//                                log.error("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶅け璐�===>>" + jsonObject.toJSONString());
+//                            } else {
+                                log.info("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶆垚鍔�===>>" + jsonObject.toJSONString());
+//                                try {
+//                                    // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+//                                    staProtocol.setWorkNo(wrkMast.getWrkNo());
+//                                    staProtocol.setStaNo(dto.getStaNo());
+//                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
+////                                    ledThread.errorReset();
+//                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//                                    if (!result) {
+//                                        log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+//                                    }
+//                                    log.info("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣/鎷ｆ枡鍐嶅叆搴撲换鍔′笅鍙戞垚鍔�===>>" + staProtocol);
+//                                } catch (Exception e) {
+//                                    log.error("鐩樼偣鍐嶅叆搴撳け璐�===>>" + e);
+//                                    e.printStackTrace();
+//                                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+//                                }
+//                            }
+                        } else {
+                            log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
                         }
                     } catch (Exception e) {
-                        e.printStackTrace();
-                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
-                        continue;
+                        log.error("stnToCrnStnPick2===>>fail", e);
+//                        e.printStackTrace();
+//                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                     }
 
-                    // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
-                    staProtocol.setWorkNo(wrkMast.getWrkNo());
-                    staProtocol.setStaNo(wrkMast.getStaNo());
-                    devpThread.setPakMk(staProtocol.getSiteId(), false);
-                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-                    if (!result) {
-                        log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
-                    }
+//                    // 鑾峰彇鐩爣绔�
+//                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
+//                            .eq("type_no", wrkMast.getIoType() - 50)
+//                            .eq("stn_no", pickSta.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
+//                            .eq("crn_no", wrkMast.getCrnNo()); // 鍫嗗灈鏈哄彿
+//                    StaDesc staDesc = staDescService.selectOne(wrapper);
+//                    if (Cools.isEmpty(staDesc)) {
+//                        log.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
+//                        continue;
+//                    }
+//
+//                    try {
+//                        // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
+//                        if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
+//                            throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
+//                        }
+//                        // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
+//                        if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
+//                            throw new CoolException("淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
+//                        }
+//
+//                        Date now = new Date();
+//                        // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
+//                        Integer staNo = staDesc.getCrnStn();
+//                        // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
+//                        wrkMast.setIoTime(now);
+//                        wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
+//                        wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
+//                        wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 婧愮珯
+//                        wrkMast.setStaNo(staNo); // 鐩爣绔�
+//                        wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
+//                        wrkMast.setSourceLocNo(""); // 婧愬簱浣嶆竻绌�
+//                        wrkMast.setModiTime(now);
+//                        if (wrkMastMapper.updateById(wrkMast) == 0) {
+//                            throw new CoolException("鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
+//                        }
+//                        // 鏇存柊鏄庣粏妗o_time (鍘嗗彶妗ｅ叧鑱斾娇鐢級
+//                        wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
+//                        // 淇敼搴撲綅鐘舵�� Q.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴�
+//                        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
+//                        locMast.setLocSts("Q");
+//                        locMast.setModiTime(new Date());
+//                        if (!locMastService.updateById(locMast)) {
+//                            throw new CoolException("淇敼搴撲綅鐘舵�佸け璐�");
+//                        }
+//                    } catch (Exception e) {
+//                        e.printStackTrace();
+//                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+//                        continue;
+//                    }
+//
+//                    // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+//                    staProtocol.setWorkNo(wrkMast.getWrkNo());
+//                    staProtocol.setStaNo(wrkMast.getStaNo());
+//                    devpThread.setPakMk(staProtocol.getSiteId(), false);
+//                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//                    if (!result) {
+//                        log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+//                    }
 
                 }
 
@@ -602,6 +707,11 @@
                     case 5://鏀�//鎷嗙洏
                         stnToCrnStnPick4();
                         return;
+                    default:
+                        return;
+                }
+            } else if (staProtocol.isAutoing() && staProtocol.isLoading()){
+                switch (sign){
                     case 3://婊℃斁
                     case 6://婊℃斁
                         stnToCrnStnPick5();
@@ -618,8 +728,7 @@
      * 2妤�212鍛煎彨绌烘澘
      */
     public synchronized void stnToCrnStnPick3() {
-        int workNo = 20211;
-        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(workNo);
+        WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
         if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts()!=61){//61銆佺瓑寰呯┖鏉�
             return;
         }
@@ -640,7 +749,7 @@
                         || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000)) ){
                     boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
 
-                    staProtocol.setWorkNo(workNo-1);
+                    staProtocol.setWorkNo(wrkMast.getWrkNo()-1);
                     staProtocol.setStaNo(driveSta.getStaNo()==215? 217:221);
                     boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                     if (!result2) {
@@ -660,8 +769,7 @@
      * 2妤�212鍛煎彨绌烘澘
      */
     public synchronized void stnToCrnStnPick4() {
-        int workNo = 20211;
-        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(workNo);
+        WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
         if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts()!=62){//62銆佺瓑寰呭皬杞︽惉杩�
             return;
         }
@@ -686,10 +794,10 @@
                 }
                 if (staProtocol212.isAutoing() && !staProtocol212.isLoading() && staProtocol212.getWorkNo()==0){
                     if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo()==0
-                            || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) || staProtocol.getWorkNo()==20210) ){
-                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
+                            || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) || staProtocol.getWorkNo()==wrkMast.getWrkNo()-1) ){
+//                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
 
-                        staProtocol.setWorkNo(workNo-1);
+                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                         staProtocol.setStaNo(212);
                         boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                         if (!result2) {
@@ -698,7 +806,7 @@
                         wrkMast.setWrkSts(63L);
                         wrkMastMapper.updateById(wrkMast);
 
-                        boolean result3 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
+//                        boolean result3 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
                         return;
                     }
                 }
@@ -710,8 +818,7 @@
      * 2妤�212鍛煎彨绌烘澘
      */
     public synchronized void stnToCrnStnPick5() {
-        int workNo = 20211;
-        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(workNo);
+        WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
         if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts()!=63){//63銆佺瓑寰呭畬鎴�
             return;
         }
@@ -724,13 +831,13 @@
         } else {
             staProtocol = staProtocol.clone();
         }
-        if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo()==workNo ){
-            boolean result1 = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, staProtocol));
+        if (staProtocol.isAutoing() && staProtocol.isLoading()){
+//            boolean result1 = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, staProtocol));
 
             wrkMast.setWrkSts(64L);
             wrkMastMapper.updateById(wrkMast);
 
-            boolean result3 = MessageQueue.offer(SlaveType.Devp, 2, new Task(4, staProtocol));
+//            boolean result3 = MessageQueue.offer(SlaveType.Devp, 2, new Task(4, staProtocol));
             return;
         }
     }
@@ -755,9 +862,25 @@
                     continue;
                 }
 
-                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
-                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
-                    if (wrkMast == null) {
+//                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0) {
+//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
+//                    if (wrkMast == null) {
+//                        WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
+//                        if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
+//                            WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
+//                            if (Cools.isEmpty(wrkMastSta)){
+//                                WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
+//                                wrkMastSta1.setType(2);
+//                                wrkMastSta1.setWrkType(1);
+//                                wrkMastStaMapper.insert(wrkMastSta1);
+//                            }
+//                        }
+//                    }
+//                } else
+                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()>0) {
+//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
+                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
+                    if (wrkMast == null || wrkMast.getSheetNo().equals("3")) {
                         WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
                         if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
                             WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
@@ -1088,11 +1211,16 @@
                 } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                     // 姝ゆ爣璁伴伩鍏嶅娆℃墽琛岀Щ搴撲换鍔�
                     if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
-                        wrkMast.setUpdMk("Y");
-                        wrkMast.setIoPri(14D);
-                        wrkMastMapper.updateById(wrkMast);
-                        // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
-                        moveLocForDeepLoc(slave, shallowLoc);
+//                        wrkMast.setUpdMk("Y");
+//                        wrkMast.setIoPri(14D);
+//                        wrkMastMapper.updateById(wrkMast);
+//                        // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
+//                        moveLocForDeepLoc(slave, shallowLoc);
+                        if (moveLocForDeepLoc(slave, shallowLoc)){
+                            wrkMast.setUpdMk("Y");
+                            wrkMast.setIoPri(14D);
+                            wrkMastMapper.updateById(wrkMast);
+                        }
                         // 鐢熸垚宸ヤ綔妗ｃ�佹敼鍙樻祬搴撲綅鐨勬簮搴�/鐩爣搴� 搴撲綅鐘舵�併�佷笅鍙戝爢鍨涙満鍛戒护锛堢珛椹墽琛�)
 //                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
                     }
@@ -1183,7 +1311,7 @@
                 continue;
             }
             if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
-                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
+                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y") && staDetl.getWrkNo().equals(wrkMast.getWrkNo())) {
                 flag = true;
             }
             if (!flag) {
@@ -1232,11 +1360,17 @@
                 } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                     // 姝ゆ爣璁伴伩鍏嶅娆℃墽琛岀Щ搴撲换鍔�
                     if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
-                        wrkMast.setUpdMk("Y");
-                        wrkMast.setIoPri(14D);
-                        wrkMastMapper.updateById(wrkMast);
-                        // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
-                        moveLocForDeepLoc(slave, shallowLoc);
+//                        wrkMast.setUpdMk("Y");
+//                        wrkMast.setIoPri(14D);
+//                        wrkMastMapper.updateById(wrkMast);
+//                        // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
+//                        moveLocForDeepLoc(slave, shallowLoc);
+
+                        if (moveLocForDeepLoc(slave, shallowLoc)){
+                            wrkMast.setUpdMk("Y");
+                            wrkMast.setIoPri(14D);
+                            wrkMastMapper.updateById(wrkMast);
+                        }
                         // 鐢熸垚宸ヤ綔妗ｃ�佹敼鍙樻祬搴撲綅鐨勬簮搴�/鐩爣搴� 搴撲綅鐘舵�併�佷笅鍙戝爢鍨涙満鍛戒护锛堢珛椹墽琛�)
 //                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
                     }
@@ -1364,10 +1498,16 @@
 //                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
 //                                || Cools.isEmpty(waitWrkMast)) {
                             if (Cools.isEmpty(waitWrkMast)) {
-                                wrkMast.setUpdMk("Y");
-                                wrkMastMapper.updateById(wrkMast);
-                                // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
-                                moveLocForDeepLoc(slave, shallowLoc);
+//                                wrkMast.setUpdMk("Y");
+//                                wrkMastMapper.updateById(wrkMast);
+//                                // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
+//                                moveLocForDeepLoc(slave, shallowLoc);
+
+                                if (moveLocForDeepLoc(slave, shallowLoc)){
+                                    wrkMast.setUpdMk("Y");
+//                                    wrkMast.setIoPri(14D);
+                                    wrkMastMapper.updateById(wrkMast);
+                                }
                             }
                             log.error("{}浠诲姟鍑哄簱澶辫触锛屾祬搴撲綅鍫靛锛佹祬搴撲綅鍙�:{}", wrkMast.getWrkNo(), shallowLocNo);
                             continue;
@@ -1442,6 +1582,13 @@
                 log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                 continue;
             }
+            //閫�搴撴ā寮忚烦杩�118銆�119鍑哄簱浠诲姟
+            if (wrkMast.getStaNo()==118 || wrkMast.getStaNo()==119){
+                RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign("oneSign");
+                if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
+                    continue;
+                }
+            }
             // 鑾峰彇婧愬簱浣嶄俊鎭�
             LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
             if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
@@ -1511,10 +1658,16 @@
 //                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
 //                                || Cools.isEmpty(waitWrkMast)) {
                         if (Cools.isEmpty(waitWrkMast)) {
-                            wrkMast.setUpdMk("Y");
-                            wrkMastMapper.updateById(wrkMast);
-                            // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
-                            moveLocForDeepLoc(slave, shallowLoc);
+//                            wrkMast.setUpdMk("Y");
+//                            wrkMastMapper.updateById(wrkMast);
+//                            // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
+//                            moveLocForDeepLoc(slave, shallowLoc);
+
+                            if (moveLocForDeepLoc(slave, shallowLoc)){
+                                wrkMast.setUpdMk("Y");
+//                                wrkMast.setIoPri(14D);
+                                wrkMastMapper.updateById(wrkMast);
+                            }
                         }
                         log.error("{}浠诲姟鍑哄簱澶辫触锛屾祬搴撲綅鍫靛锛佹祬搴撲綅鍙�:{}", wrkMast.getWrkNo(), shallowLocNo);
                         continue;
@@ -2167,6 +2320,10 @@
      */
     public synchronized void storeEmptyPlt3() {
         try{
+            RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign("oneSign");
+            if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
+                return;
+            }
             for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                 RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
@@ -2185,7 +2342,8 @@
                         && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                         && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                         && 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
+//                        &&  (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
+                        &&  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
                 ) {
                     try {
                         WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122);
@@ -2198,6 +2356,7 @@
                         param.setIoType(10);
                         param.setSourceStaNo(122);
                         param.setLocType1((short)1);
+                        param.setRgvNo(rgvProtocol.getRgvNo());
                         String response = new HttpHandler.Builder()
                                 .setUri(wmsUrl)
                                 .setPath("/rpc/pakin/empty/loc/v1")
@@ -2243,7 +2402,8 @@
             DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
             // 鍛戒护闆嗗悎
             List<LedCommand> commands = new ArrayList<>();
-            // 宸ヤ綔妗ｉ泦鍚�
+            String orderNo = null;
+                    // 宸ヤ綔妗ｉ泦鍚�
             List<WrkMast> wrkMasts = new ArrayList<>();
             for (Integer staNo : led.getStaArr()) {
                 // 鑾峰彇鍙夎溅绔欑偣
@@ -2289,6 +2449,10 @@
                         ledCommand.setTitle("绌烘澘鍑哄簱");
                         ledCommand.setEmptyMk(true);
                         break;
+                    case 212:
+                        ledCommand.setTitle("绌烘澘鍑哄簱");
+                        ledCommand.setEmptyMk(true);
+                        break;
                     default:
                         log.error("浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                         break;
@@ -2299,7 +2463,13 @@
 //                ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
                 if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                     List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
-                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl)));
+                    if (Cools.isEmpty(wrkDetls)){
+                        continue;
+                    }
+                    Integer count1 = wrkDetlService.count1();
+                    Integer count2 = wrkDetlService.count2(wrkDetls.get(0).getOrderNo());
+                    Integer count3 = wrkDetlService.count3();
+                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl,count1,count2,count3)));
                 }
                 commands.add(ledCommand);
             }
@@ -2475,7 +2645,7 @@
      * 鍥犲弻娣卞簱浣嶉樆濉烇紝瀵规祬搴撲綅杩涜绉昏浆锛堢珛鍗虫墽琛岀増)
      * tip锛氬悓姝�
      */
-    private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
+    private synchronized boolean moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
         try {
             List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
             LocMast loc = null;
@@ -2519,74 +2689,90 @@
 
             if (null == loc) {
                 log.error("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
-                throw new CoolException("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
-            }
-
-            // 鑾峰彇宸ヤ綔鍙�
-            int workNo = commonService.getWorkNo(0);
-            // 淇濆瓨宸ヤ綔妗�
-            WrkMast wrkMast = new WrkMast();
-            wrkMast.setWrkNo(workNo);
-            wrkMast.setIoTime(new Date());
-            wrkMast.setWrkSts(11L); // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
-            wrkMast.setIoType(11); // 鍏ュ嚭搴撶姸鎬侊細 11.搴撴牸绉昏浇
-            wrkMast.setIoPri(13D);
-            wrkMast.setCrnNo(crn.getId());
-            wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 婧愬簱浣�
-            wrkMast.setLocNo(loc.getLocNo()); // 鐩爣搴撲綅
-            wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 婊℃澘
-            wrkMast.setPicking("N"); // 鎷ｆ枡
-            wrkMast.setExitMk("N"); // 閫�鍑�
-            wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 绌烘澘
-            wrkMast.setBarcode(shallowLoc.getBarcode()); // 鎵樼洏鐮�
-            wrkMast.setLinkMis("N");
-            wrkMast.setAppeTime(new Date());
-            wrkMast.setModiTime(new Date());
-            int res = wrkMastMapper.insert(wrkMast);
-            if (res == 0) {
-                throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
-            }
-            // 宸ヤ綔妗ｆ槑缁嗕繚瀛�
-            if (shallowLoc.getLocSts().equals("F")) {
-                List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
-                for (LocDetl locDetl : locDetls) {
-                    WrkDetl wrkDetl = new WrkDetl();
-                    wrkDetl.setWrkNo(workNo);
-                    wrkDetl.setIoTime(new Date());
-                    wrkDetl.setAnfme(locDetl.getAnfme());
-                    VersionUtils.setWrkDetl(wrkDetl, locDetl); // 鐗堟湰鎺у埗
-                    wrkDetl.setAppeTime(new Date());
-                    wrkDetl.setModiTime(new Date());
-                    if (!wrkDetlService.insert(wrkDetl)) {
-                        throw new CoolException("淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
+                return false;
+//                throw new CoolException("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
+            } else {
+                // 鑾峰彇宸ヤ綔鍙�
+                int workNo = commonService.getWorkNo(0);
+                // 淇濆瓨宸ヤ綔妗�
+                WrkMast wrkMast = new WrkMast();
+                wrkMast.setWrkNo(workNo);
+                wrkMast.setIoTime(new Date());
+                wrkMast.setWrkSts(11L); // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
+                wrkMast.setIoType(11); // 鍏ュ嚭搴撶姸鎬侊細 11.搴撴牸绉昏浇
+                wrkMast.setIoPri(13D);
+                wrkMast.setCrnNo(crn.getId());
+                wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 婧愬簱浣�
+                wrkMast.setLocNo(loc.getLocNo()); // 鐩爣搴撲綅
+                wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 婊℃澘
+                wrkMast.setPicking("N"); // 鎷ｆ枡
+                wrkMast.setExitMk("N"); // 閫�鍑�
+                wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 绌烘澘
+                wrkMast.setBarcode(shallowLoc.getBarcode()); // 鎵樼洏鐮�
+                wrkMast.setLinkMis("N");
+                wrkMast.setAppeTime(new Date());
+                wrkMast.setModiTime(new Date());
+                int res = wrkMastMapper.insert(wrkMast);
+                if (res == 0) {
+                    log.error("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 ====>淇濆瓨宸ヤ綔妗ｅけ璐�");
+                    return true;
+//                    throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
+                }
+                // 宸ヤ綔妗ｆ槑缁嗕繚瀛�
+                if (shallowLoc.getLocSts().equals("F")) {
+                    List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
+                    for (LocDetl locDetl : locDetls) {
+                        WrkDetl wrkDetl = new WrkDetl();
+                        wrkDetl.setWrkNo(workNo);
+                        wrkDetl.setIoTime(new Date());
+                        wrkDetl.setAnfme(locDetl.getAnfme());
+                        VersionUtils.setWrkDetl(wrkDetl, locDetl); // 鐗堟湰鎺у埗
+                        wrkDetl.setAppeTime(new Date());
+                        wrkDetl.setModiTime(new Date());
+                        if (!wrkDetlService.insert(wrkDetl)) {
+                            log.error("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 ====>淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
+                            return true;
+//                            throw new CoolException("淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
+                        }
                     }
                 }
-            }
-            // 淇敼婧愬簱浣嶇姸鎬�
-            if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
-                shallowLoc.setLocSts("R"); // R.鍑哄簱棰勭害
-                shallowLoc.setModiTime(new Date());
-                if (!locMastService.updateById(shallowLoc)) {
-                    throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
+                // 淇敼婧愬簱浣嶇姸鎬�
+                if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
+                    shallowLoc.setLocSts("R"); // R.鍑哄簱棰勭害
+                    shallowLoc.setModiTime(new Date());
+                    if (!locMastService.updateById(shallowLoc)) {
+                        log.error("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 ====>鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
+                        return true;
+//                        throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
+                    }
+                } else {
+                    log.error("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 ====>婧愬簱浣嶅嚭搴撳け璐�");
+                    return true;
+//                    throw new CoolException("婧愬簱浣嶅嚭搴撳け璐�");
                 }
-            } else {
-                throw new CoolException("婧愬簱浣嶅嚭搴撳け璐�");
-            }
-            // 淇敼鐩爣搴撲綅鐘舵��
-            if (loc.getLocSts().equals("O")) {
-                loc.setLocSts("S"); // S.鍏ュ簱棰勭害
-                loc.setModiTime(new Date());
-                if (!locMastService.updateById(loc)) {
-                    throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
+                // 淇敼鐩爣搴撲綅鐘舵��
+                if (loc.getLocSts().equals("O")) {
+                    loc.setLocSts("S"); // S.鍏ュ簱棰勭害
+                    loc.setModiTime(new Date());
+                    if (!locMastService.updateById(loc)) {
+                        log.error("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 ====>鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
+                        return true;
+//                        throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
+                    }
+                } else {
+                    log.error("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 ====>绉昏浆澶辫触");
+                    return true;
+//                    throw new CoolException("绉昏浆澶辫触");
                 }
-            } else {
-                throw new CoolException("绉昏浆澶辫触");
             }
+
         } catch (Exception e) {
             log.error("鍙屾繁搴撲綅闃诲锛屽娴呭簱浣嶈繘琛岀Щ杞け璐�", e);
-            e.printStackTrace();
-            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+            return true;
+//            e.printStackTrace();
+//            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
         }
+        return true;
     }
 
 //    /**
@@ -2894,10 +3080,10 @@
      */
     public synchronized void stackingCompletionDriveTray() {
         try {
-            int[] staNos=new int[]{216,220,123};//(3涓叆搴撶珯鐐癸紝1妤�1涓��璐х爜鍨涚珯锛�2妤间袱涓叆搴撶爜鍨涚珯)
+            int[] staNos=new int[]{215,219};//(2妤间袱涓叆搴撶爜鍨涚珯)
             for (int staNo : staNos){
                 BasDevp basDevp = basDevpService.selectById(staNo);
-                if (basDevp.getWrkNo()!=9992 || Cools.isEmpty(basDevp.getBarcode())){
+                if ((basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 || basDevp.getWrkNo()>9999)) || Cools.isEmpty(basDevp.getBarcode())){
                     continue;
                 }
                 Integer zpallet = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet", basDevp.getBarcode()).eq("status","N"));
@@ -2928,11 +3114,11 @@
                         && staProtocol.isLoading()
                         && staProtocol.isInEnable()
                         && !staProtocol.isEmptyMk()
-                        && staProtocol.getWorkNo() == 9992
+                        && (basDevp.getWrkNo()==0 || (basDevp.getWrkNo()>=9900 && basDevp.getWrkNo()<=9999))
                 ) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
-
-                    staProtocol.setWorkNo(9999);
-                    staProtocol.setStaNo(staNo + 1);
+                    int workNo = commonService.getWorkNo(5);
+                    staProtocol.setWorkNo(workNo);
+                    staProtocol.setStaNo(staNo + 2);
                     devpThread.setPakMk(staProtocol.getSiteId(), false);
                     boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
                     if (!result) {
@@ -3019,7 +3205,7 @@
     }
 
     /**
-     * 鍏朵粬  ===>> 鐮佸灈瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝�
+     * 鍏朵粬  ===>> 鐮佸灈瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝�  2===銆�3
      */
     public synchronized void stackingCompletionDriveTrayOk2() {
         for (DevpSlave devp : slaveProperties.getDevp()) {
@@ -3035,7 +3221,7 @@
                     staProtocol = staProtocol.clone();
                 }
 
-                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk()  && staProtocol.getWorkNo()!=0 && staProtocol.isOutEnable()) {//
+                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk()  && staProtocol.getWorkNo()!=0) {//
                     WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
 
                     if (wrkMast == null) {
@@ -3043,12 +3229,12 @@
                         // 鏃犳嫞鏂欐暟鎹�
                         continue;
                     }
-                    if (!wrkMast.getSheetNo().equals("2") || wrkMast.getIoType()<100 || wrkMast.getWrkSts()!=14){
+                    if (Cools.isEmpty(wrkMast.getSheetNo()) || !wrkMast.getSheetNo().equals("2") || wrkMast.getIoType()<100 || wrkMast.getWrkSts()!=14){
                         continue;
                     }
                     if (wrkMast.getIoType()==101){
                         //浠诲姟瀹屾垚
-                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
+//                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
                         wrkMast.setSheetNo("3");
                         wrkMastMapper.updateById(wrkMast);
                     }else {
@@ -3057,17 +3243,17 @@
                             continue;
                         }
                         //浠诲姟瀹屾垚
-                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
+//                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
                         wrkMast.setSheetNo("3");
                         wrkMastMapper.updateById(wrkMast);
 
-                        try{
-                            Thread.sleep(100);
-                        }catch (Exception e){
+//                        try{
+//                            Thread.sleep(100);
+//                        }catch (Exception e){
+//
+//                        }
 
-                        }
-
-                        boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol));
+//                        boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol));
 
                     }
                 }
@@ -3159,8 +3345,20 @@
                     staProtocol = staProtocol.clone();
                 }
 
+                StaProtocol staProtocol147 = devpThread.getStation().get(147);
+                if (staProtocol147 == null) {
+                    continue;
+                } else {
+                    staProtocol147 = staProtocol147.clone();
+                }
+
                 if (!staProtocol.isLoading()){
                     log.info("{}绔欑偣鏃犵墿锛屽紓甯革紒",staNo);
+                    continue;
+                }
+
+                if (staProtocol147.isLoading()){
+                    log.info("{}绔欑偣鏈夌墿锛�",staProtocol147.getSiteId());
                     continue;
                 }
                 // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
@@ -3168,6 +3366,9 @@
                         && staProtocol.isLoading()
                         && !staProtocol.isEmptyMk()
                 ) {
+
+                    boolean result3 = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol147));
+
                     staProtocol.setWorkNo(wrkMast.getWrkNo());
                     staProtocol.setStaNo(wrkMast.getStaNo());
                     devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -3175,8 +3376,12 @@
                     if (!result) {
                         throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触==>椹卞姩鐮佸灈浣嶆墭鐩樺墠杩涘け璐ワ紒");
                     }
+
                     wrkMast.setSheetNo("5");
                     wrkMastMapper.updateById(wrkMast);
+
+                    boolean result4 = MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol147));
+
                 }
             }
         }catch (Exception e){
@@ -3199,6 +3404,14 @@
                     continue;
                 }
                 if (basDevp135.getReportSign()!=0){
+                    continue;
+                }
+                BasDevp basDevp121 = basDevpService.selectById(121);
+                if (basDevp121.getReportSign()!=0){
+                    continue;
+                }
+                BasDevp basDevp120 = basDevpService.selectById(120);
+                if (basDevp120.getReportSign()!=0){
                     continue;
                 }
                 WrkMast wrkMast131 = wrkMastMapper.selectWrkMastUnstackingOne202Two(131);
@@ -3227,6 +3440,26 @@
                 if (!staProtocol.isLoading()){
                     continue;
                 }
+                StaProtocol staProtocol120 = devpThread.getStation().get(120);
+                if (staProtocol120 == null) {
+                    continue;
+                } else {
+                    staProtocol120 = staProtocol120.clone();
+                }
+
+                if (staProtocol120.isLoading()){
+                    continue;
+                }
+                StaProtocol staProtocol121 = devpThread.getStation().get(121);
+                if (staProtocol121 == null) {
+                    continue;
+                } else {
+                    staProtocol121 = staProtocol121.clone();
+                }
+
+                if (staProtocol121.isLoading()){
+                    continue;
+                }
 //                if (!staProtocol.getWorkNo().equals(wrkMast131.getWrkNo())){
 //                    log.info("绔欑偣宸ヤ綔鍙�={} 涓庤创鏍囧伐浣滃彿={} 涓嶄竴鑷达紝寮傚父锛�",staProtocol.getWorkNo(),wrkMast131.getWrkNo().shortValue());
 //                }
@@ -3235,9 +3468,9 @@
                         && staProtocol.isLoading()
                         && basDevp.getReportSign()==0
                 ) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
-                    if (true){
-                        return;
-                    }
+//                    if (true){
+//                        return;
+//                    }
 
                     //浠诲姟瀹屾垚
                     boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol135));
@@ -3246,7 +3479,8 @@
                     }catch (Exception e){ }
                     basDevp135.setReportSign(2);
                     basDevpService.updateById(basDevp135);
-                    staProtocol135.setWorkNo(32222);
+                    int workNo = commonService.getWorkNo(5);
+                    staProtocol135.setWorkNo(workNo);
                     staProtocol135.setStaNo(144);
                     devpThread.setPakMk(staProtocol135.getSiteId(), false);
                     boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol135));
@@ -3304,11 +3538,16 @@
                             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)){
+                       /* 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);
+                            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;
                             }
@@ -3335,7 +3574,7 @@
 //                            }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());
@@ -3362,8 +3601,8 @@
                             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)){
+                        /*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());
@@ -3393,7 +3632,7 @@
 //                            }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());
@@ -3416,7 +3655,8 @@
     /**
      * 鍏ュ嚭搴�  ===>>  灏忚溅浣滀笟涓嬪彂
      */
-    public synchronized void rgvIoExecute(Integer sign) {
+    public synchronized boolean rgvIoExecute(Integer sign) {
+        boolean rgvIoExecuteSign = false;
         try{
             for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                 // 鑾峰彇灏忚溅淇℃伅
@@ -3443,20 +3683,20 @@
                     switch (sign){
                         //鎵ц灏忚溅璐х墿鎼繍浠诲姟
                         case 1:
-                            signWork = rgvRunWrkMastFullSta();
+                            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();
+                            signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
                             break;
                         case 3://婊℃斁
-                            signWork = rgvRunWrkMastEmptyStaPutFull();
+                            signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
                             break;
                         case 4://鍙栧彔鐩�
-                            signWork = rgvRunWrkMastEmptyStaTake();
+                            signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
                             break;
                         case 5:////婊″彇
-                            signWork = rgvRunWrkMastEmptyStaTakeFull();
+                            signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
                             break;
                         case 6:////鎻愬崌
 //                            signWork = qwe();
@@ -3464,56 +3704,62 @@
                         default:
                             break;
                     }
-                }
-                for (int signCount = 1;!signWork && signCount<8;signCount++){
-                    switch (signCount){
-                        case 1://鎵ц灏忚溅璐х墿鎼繍浠诲姟
-                            signWork = rgvRunWrkMastFullSta();
-                            break;
-                        case 2://鏀�//鎷嗙洏
-                            signWork = rgvRunWrkMastEmptyStaPut();
-                            break;
-                        case 3://婊℃斁
-                            signWork = rgvRunWrkMastEmptyStaPutFull();
-                            break;
-                        case 4://鍙栧彔鐩�
-                            signWork = rgvRunWrkMastEmptyStaTake();
-                            break;
-                        case 5:////婊″彇
-                            signWork = rgvRunWrkMastEmptyStaTakeFull();
-                            break;
-                        case 6:////鎻愬崌
+                    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 5:////婊″彇
+                                signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
+                                break;
+                            case 6:////鎻愬崌
 //                            signWork = rgvRunWrkMastEmptyStaPut();
-                            break;
-                        default:
-                            if (sign>6){
-                                rgvRunWrkMastEmptyStaAvoidance();//閬胯
-                                signWork = true;
-                            }
-                            break;
+                                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() {
+    public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) {
         try{
-            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                 RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                 if (rgvProtocol == null) {
-                    continue;
+                    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());
-                    continue;
+                    return false;
                 }
 
                 // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
@@ -3527,7 +3773,7 @@
                     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());
-                        continue;
+                        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�
@@ -3537,9 +3783,56 @@
                             continue;
                         }
                         BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
-                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
+                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                             continue;
                         }
+                        if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
+                            if (basDevp.getLoadingSuper().equals("Y")){
+                                continue;
+                            }
+                        }
+                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+                            if (!basDevp.getEmptyMk().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());
@@ -3560,7 +3853,7 @@
                         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);
@@ -3570,18 +3863,18 @@
     /**
      * 鎵ц灏忚溅鎼繍浠诲姟//鎷嗙洏
      */
-    public synchronized boolean rgvRunWrkMastEmptyStaPut() {//鎷嗙洏
+    public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//鎷嗙洏
         try{
-            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                 RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                 if (rgvProtocol == null) {
-                    continue;
+                    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());
-                    continue;
+                    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
@@ -3595,7 +3888,7 @@
                     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());
-                        continue;
+                        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
@@ -3607,9 +3900,43 @@
                         boolean sign = false;
                         if ( wrkMastSta.getStaEnd()!=0){//鏀�
                             BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
-                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
+                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                                 continue;
                             }
+                            if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
+                                if (basDevp.getLoadingSuper().equals("Y")){
+                                    continue;
+                                }
+                            }
+                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+                                if (!basDevp.getEmptyMk().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+"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;
@@ -3633,7 +3960,7 @@
                         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);
@@ -3644,18 +3971,18 @@
     /**
      * 鎵ц灏忚溅鎼繍浠诲姟
      */
-    public synchronized boolean rgvRunWrkMastEmptyStaPutFull() {//婊℃斁
+    public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//婊℃斁
         try{
-            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                 RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                 if (rgvProtocol == null) {
-                    continue;
+                    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());
-                    continue;
+                    return false;
                 }
 
                 // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤
@@ -3669,7 +3996,7 @@
                     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());
-                        continue;
+                        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
@@ -3681,9 +4008,43 @@
                         boolean sign = false;
                         if ( wrkMastSta.getStaEnd()!=0){//婊℃斁
                             BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
-                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
+                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                                 continue;
                             }
+                            if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
+                                if (basDevp.getLoadingSuper().equals("Y")){
+                                    continue;
+                                }
+                            }
+                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+                                if (!basDevp.getEmptyMk().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+"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;
@@ -3707,7 +4068,7 @@
                         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);
@@ -3715,18 +4076,18 @@
         return false;
     }
 
-    public synchronized boolean rgvRunWrkMastEmptyStaTake() {//鍙犵洏
+    public synchronized boolean rgvRunWrkMastEmptyStaTake(RgvSlave rgvSlave) {//鍙犵洏
         try{
-            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                 RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                 if (rgvProtocol == null) {
-                    continue;
+                    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());
-                    continue;
+                    return false;
                 }
 
                 // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾棤鐗�//rgv鍙敤
@@ -3740,7 +4101,7 @@
                     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());
-                        continue;
+                        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�
@@ -3755,6 +4116,30 @@
                             if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
                                 continue;
                             }
+                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+                                if (!basDevp.getEmptyMk().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;
@@ -3778,7 +4163,7 @@
                         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);
@@ -3786,18 +4171,18 @@
         return false;
     }
 
-    public synchronized boolean rgvRunWrkMastEmptyStaTakeFull() {//婊″彇
+    public synchronized boolean rgvRunWrkMastEmptyStaTakeFull(RgvSlave rgvSlave) {//婊″彇
         try{
-            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                 RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                 if (rgvProtocol == null) {
-                    continue;
+                    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());
-                    continue;
+                    return false;
                 }
 
                 // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾棤鐗�//rgv鍙敤
@@ -3811,11 +4196,18 @@
                     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());
-                        continue;
+                        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);
+                    WrkMast wrkMast = wrkMastMapper.selectBy122ManQu(122,110,15L);
+                    if (!Cools.isEmpty(wrkMast)){
+                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
+                        if (!Cools.isEmpty(wrkMastSta) && wrkMastSta.getType()==2 && wrkMastSta.getWrkType()==5 ){
+                            wrkMastStaList.add(wrkMastSta);
+                        }
+                    }
                     for (WrkMastSta wrkMastSta : wrkMastStaList){
                         if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=5){// 2: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;
@@ -3826,6 +4218,20 @@
                             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+"婊″彇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;
+                            }
+
+                            log.info(date+"婊″彇浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+                            log.info(date+"婊″彇浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
                             sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
                         }else {
                             continue;
@@ -3849,7 +4255,7 @@
                         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);
@@ -3862,10 +4268,17 @@
     * */
     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){
+//            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();
@@ -3887,19 +4300,85 @@
                         && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                         && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                 ) {
-                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
+                    if (rgvProtocol.getRgvNo()!=1){
+                        if (!rgvProtocol.getRgvPosI().equals(120) && !rgvProtocol.getRgvPosI().equals(110)){
+                            continue;
+                        }
+                        rgvAvoidanceXY(rgvProtocol.getRgvNo());
+//                        return;
                         continue;
                     }
-                    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) ) ){
+                    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());
-                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+                    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);
@@ -3955,7 +4434,7 @@
                 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)101);
+                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�
@@ -3977,7 +4456,7 @@
                 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)117);
+                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�
@@ -4194,11 +4673,15 @@
      * 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);
@@ -4208,7 +4691,8 @@
             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�
-            basRgvMapOther.setEndRoute(lockEndRoute);
+            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){
@@ -4217,4 +4701,87 @@
         }
     }
 
+
+    /**
+     *  ste鍏呯數浠诲姟鍒涘缓   //瀹屾垚
+     */
+    public synchronized void armNoStartTwoLo() {
+        int[] staNos =new int[]{215,219};
+        for (int staNo : staNos){
+            try{
+                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+                StaProtocol staProtocol = devpThread.getStation().get(staNo);
+                if (staProtocol == null) {
+                    continue;
+                } else {
+                    staProtocol = staProtocol.clone();
+                }
+
+                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk()){
+                    RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign("armNo"+staNo);
+                    if (!Cools.isEmpty(rgvOneSign) && rgvOneSign.getRgvOneSign() == 1){
+                        int workNo = commonService.getWorkNo(6);
+
+                        StaProtocol staProtocolnew = new StaProtocol();
+                        staProtocolnew.setSiteId(staNo);
+                        staProtocolnew.setWorkNo(workNo);
+                        staProtocolnew.setStaNo(staNo==215? 217:221);
+                        boolean result1 = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, staProtocolnew));
+
+                        devpThread.setPakMk(staProtocolnew.getSiteId(), false);
+
+                        boolean result2 = MessageQueue.offer(SlaveType.Devp, 2, new Task(2, staProtocolnew));
+                        if (!result2) {
+                            log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", 2);
+                        }
+                        if (!staProtocol.isLoading()){
+                            updateRgvOneSign("armNo"+staNo,0);
+                        }
+
+
+                        boolean result3 = MessageQueue.offer(SlaveType.Devp, 2, new Task(4, staProtocolnew));
+                    }
+                }
+            }catch (Exception e){
+                log.error("绔欑偣"+staNo+"2妤兼満姊拌噦鐮佸灈鍚庢爣璁版竻闄ゅけ璐ワ紝寮傚父淇℃伅锛�"+e);
+            }
+        }
+    }
+
+    public synchronized void armNoCleanUpTwoLo() {
+        int[] staNos =new int[]{215,219};
+        for (int staNo : staNos){
+            try{
+                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+                StaProtocol staProtocol = devpThread.getStation().get(staNo);
+                if (staProtocol == null) {
+                    continue;
+                } else {
+                    staProtocol = staProtocol.clone();
+                }
+                if (!staProtocol.isLoading()){
+                    updateRgvOneSign("armNo"+staNo,0);
+                }
+            }catch (Exception e){
+                log.error("绔欑偣"+staNo+"2妤兼満姊拌噦鐮佸灈鍚庢爣璁版竻闄ゅけ璐ワ紝寮傚父淇℃伅锛�"+e);
+            }
+        }
+    }
+
+    public void updateRgvOneSign(String signType,Integer oneSign){
+        try{
+            RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign(signType);
+            if (!Cools.isEmpty(rgvOneSign)){
+                rgvOneSign.setRgvOneSign(oneSign);
+                rgvOneSignMapper.updateById(rgvOneSign);
+            }
+        } catch (Exception e){
+            RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign(signType);
+            if (!Cools.isEmpty(rgvOneSign)){
+                rgvOneSign.setRgvOneSign(999);
+                rgvOneSignMapper.updateById(rgvOneSign);
+            }
+        }
+    }
+
 }

--
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