From 2b4b495c41695a21b10c548599a0af98e984eda5 Mon Sep 17 00:00:00 2001
From: yxFwq <1>
Date: 星期五, 19 七月 2024 15:16:45 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 2434 ++++++++++++++++++++++++++++++++++++++++++++++++-----------
 1 files changed, 1,976 insertions(+), 458 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 358e743..b6ce937 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -8,6 +8,7 @@
 import com.core.common.DateUtils;
 import com.core.common.R;
 import com.core.exception.CoolException;
+import com.zy.asrs.domain.enums.WorkNoType;
 import com.zy.asrs.entity.*;
 import com.zy.asrs.mapper.*;
 import com.zy.asrs.service.*;
@@ -23,6 +24,7 @@
 import com.zy.common.utils.RgvUtils;
 import com.zy.core.CrnThread;
 import com.zy.core.DevpThread;
+import com.zy.core.Slave;
 import com.zy.core.cache.MessageQueue;
 import com.zy.core.cache.SlaveConnection;
 import com.zy.core.enums.*;
@@ -54,7 +56,10 @@
 public class MainServiceImpl {
 
     public static final long COMMAND_TIMEOUT = 5 * 1000;
+//    private static final int[][] execute = new int[][]{{1,4},{2,4},{3,4},{4,4},{5,6},{6,6},{7,4},{8,4},{9,3},{10,4},{11,4}};
+    private static final int[][] execute = new int[][]{{1,4},{2,4},{3,4},{4,4},{5,6},{6,6},{7,4},{8,4},{9,3},{10,4},{11,4}};
 
+    private static final Integer jarMaxLoc = 6;
     @Autowired
     private CommonService commonService;
     @Autowired
@@ -221,8 +226,17 @@
                     // 鍒ゆ柇閲嶅宸ヤ綔妗�
                     WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                     if (wrkMast != null) {
-                        log.error("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
-                        continue;
+                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+                        barcodeThread.setBarcode("");
+                        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) {
+                            throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+                        }
+                        return;
                     }
 //                    // 鑾峰彇鍏ュ簱閫氱煡妗�
 //                    List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
@@ -257,7 +271,7 @@
                             staProtocol.setWorkNo(dto.getWorkNo());
 
                             if(Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) {
-                                staProtocol.setStaNo(dto.getStaNo());
+                                staProtocol.setStaNo(607);//607
                             } else {//濡傛灉瀛樺湪RGV缂栧彿锛岃鏄庨渶瑕丷GV鎺ラ┏锛屽厛涓嬪彂浠诲姟鍒癛GV婧愮珯
                                 staProtocol.setStaNo(dto.getRgvSstaNo());
                             }
@@ -385,6 +399,22 @@
 //                            throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
 //                        }
                         continue;
+                    }
+
+                    // 鍒ゆ柇閲嶅宸ヤ綔妗�
+                    WrkMast wrkMast111 = wrkMastMapper.selectPakInStep111(inSta.getStaNo(), barcode);
+                    if (wrkMast111 != null) {
+                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+                        barcodeThread.setBarcode("");
+                        staProtocol.setWorkNo(wrkMast111.getWrkNo());
+                        staProtocol.setStaNo(wrkMast111.getStaNo());
+
+                        devpThread.setPakMk(staProtocol.getSiteId(), false);
+                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+                        if (!result) {
+                            throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+                        }
+                        return;
                     }
 
                     // 鍒ゆ柇閲嶅宸ヤ綔妗�
@@ -555,12 +585,27 @@
 //                        }
                         continue;
                     }
-
+//
+//                    // 鍒ゆ柇閲嶅宸ヤ綔妗�
+//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
+//                    if (wrkMast != null) {
+//                        log.error("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
+//                        continue;
+//                    }
                     // 鍒ゆ柇閲嶅宸ヤ綔妗�
                     WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                     if (wrkMast != null) {
-                        log.error("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
-                        continue;
+                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+                        barcodeThread.setBarcode("");
+                        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) {
+                            throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+                        }
+                        return;
                     }
 //                    // 鑾峰彇鍏ュ簱閫氱煡妗�
 //                    List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
@@ -603,12 +648,27 @@
                                 throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
                             }
                         } 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/pakin/loc/v1", JSON.toJSONString(param), response);
+                            SearchLocParam param2 = new SearchLocParam();
+                            param2.setBarcode(barcode);
+                            param2.setSourceStaNo(inSta.getStaNo());
+                            param2.setLocType1(locTypeDto.getLocType1());
+                            String response2 = new HttpHandler.Builder()
+                                    .setUri(wmsUrl)
+                                    .setPath("/rpc/pakin/yx/loc/v33")
+                                    .setJson(JSON.toJSONString(param2))
+                                    .build()
+                                    .doPost();
+                            JSONObject jsonObject2 = JSON.parseObject(response2);
+                            if (jsonObject2.getInteger("code").equals(200)) {
+                                log.info("澶ф枡绠辫嚜鍔ㄧ粍鎵樻垚鍔燂紒锛�");
+                            } 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/pakin/loc/v1", JSON.toJSONString(param), response);
 
-                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+                                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
 
-                            if (ledThread != null) {
-                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, "鍏ュ簱澶辫触锛�"));
+                                if (ledThread != null) {
+                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, "鍏ュ簱澶辫触锛�"));
+                                }
                             }
                         }
 
@@ -1030,7 +1090,7 @@
                     case 3:
                     case 4:
                     case 5:
-                        crnStnToOutStnTwo(crnStn,1);
+                        crnStnToOutStnTwo(crnSlave.getId(),crnStn,1);
                         continue;
                     case 6:
                     case 7:
@@ -1163,7 +1223,7 @@
         return false;
     }
 
-    public synchronized boolean crnStnToOutStnTwo(CrnSlave.CrnStn crnStn ,Integer conStation) {
+    public synchronized boolean crnStnToOutStnTwo(Integer crnNo,CrnSlave.CrnStn crnStn ,Integer conStation) {
         try{
             Date now = new Date();
             // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
@@ -1174,20 +1234,22 @@
             } else {
                 staProtocol = staProtocol.clone();
             }
-            if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
-                // 鏌ヨ宸ヤ綔妗�
-                WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
-                if (wrkMast == null) {
-                    return false;
-                }
-                // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
-                if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
-                    return false;
-                }
+            if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == null || staProtocol.getWorkNo() == 0)) {
+
                 // 鍒ゆ柇鍚婅溅鏄惁瀹為檯宸插畬鎴愶紝涓旂數鑴戠姸鎬佸湪move涓紝浠ュ鐢佃剳杩涜鏇存柊宸ヤ綔妗�
-                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
+                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn,crnNo);
                 CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+
                 if (conStation==1){
+                    // 鏌ヨ宸ヤ綔妗�
+                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep2345(staProtocol.getSiteId(),crnProtocol.getTaskNo().intValue());
+                    if (wrkMast == null) {
+                        return false;
+                    }
+                    // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
+                    if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
+                        return false;
+                    }
                     if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
                         // 绉诲姩涓�
                         return false;
@@ -1233,6 +1295,18 @@
                         }
                     }
                 }else if (conStation==2){
+                    if (crnProtocol.statusType != CrnStatusType.IDLE){
+                        return false;
+                    }
+                    // 鏌ヨ宸ヤ綔妗�
+                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep2345(staProtocol.getSiteId(),crnProtocol.getTaskNoTwo().intValue());
+                    if (wrkMast == null) {
+                        return false;
+                    }
+                    // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
+                    if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
+                        return false;
+                    }
                     if (crnProtocol.statusTypeTwo == CrnStatusType.FETCHING || crnProtocol.statusTypeTwo == CrnStatusType.PUTTING) {
                         // 绉诲姩涓�
                         return false;
@@ -1353,7 +1427,7 @@
                     case 3:
                     case 4:
                     case 5:
-                        crnStnToOutStnTwo(crnStn,2);
+                        crnStnToOutStnTwo(crnSlave.getId(),crnStn,2);
                         continue;
                     default:
                         break;
@@ -1672,7 +1746,7 @@
             crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 鐩爣搴撲綅鍒�
             crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 鐩爣搴撲綅灞�
             if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
-                log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+                log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
             } else {
 
 //                long startTime = System.currentTimeMillis();
@@ -1831,6 +1905,145 @@
                 }
             }
 
+            StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
+            if (staProtocolOther == null) {
+                continue;
+            } else {
+                staProtocolOther = staProtocolOther.clone();
+            }
+
+            // 鏌ヨ绔欑偣璇︾粏淇℃伅
+            BasDevp staDetlOther = basDevpService.selectById(crnStn.getStaNoOther());
+            if (staDetlOther == null) {
+                log.error("鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNoOther());
+                continue;
+            }
+            if (staProtocolOther.getWorkNo()!=0){
+                WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(staProtocolOther.getWorkNo());
+                if (Cools.isEmpty(wrkMastOther)){
+                    log.error("Other鏌ヨ宸ヤ綔妗ｆ鏃犳暟鎹�--宸ヤ綔鍙穥},绔欑偣鍙凤細{}", staProtocolOther.getWorkNo(),staProtocolOther.getSiteId());
+                    continue;
+                }
+                // 鑾峰彇搴撲綅淇℃伅
+                LocMast locMastOther = locMastService.selectById(wrkMastOther.getLocNo());
+                if (locMastOther == null) {
+                    log.error("鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", locMastOther.getLocNo());
+                    continue;
+                }
+                if (!locMastOther.getLocSts().equals("S") && !locMastOther.getLocSts().equals("Q")) {
+                    log.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMastOther.getLocNo(), locMastOther.getLocSts());
+                    continue;
+                }
+                if (locMastOther.getBay1()!=81){
+                    if (staProtocolOther.isAutoing() && staProtocolOther.isLoading()
+                            && staProtocolOther.isInEnable() && staDetlOther.getCanining() != null && staDetlOther.getCanining().equals("Y")) {
+                        // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+                        CrnCommandParam crnCommandParam = new CrnCommandParam();
+                        crnCommandParam.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+
+                        crnCommandParam.setTaskNo2(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+                        crnCommandParam.setAckFinish2((short) 0);  // 浠诲姟瀹屾垚纭浣�
+                        crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_TAKE); // 浠诲姟妯″紡:  鍗曞彇璐�
+                        crnCommandParam.setSourcePosX2(crnStn.getRow().shortValue());     // 婧愬簱浣嶆帓
+                        crnCommandParam.setSourcePosY2(crnStn.getBay().shortValue());     // 婧愬簱浣嶅垪
+                        crnCommandParam.setSourcePosZ2(crnStn.getLev().shortValue());     // 婧愬簱浣嶅眰
+                        crnCommandParam.setDestinationPosX2((short)0);     // 鐩爣搴撲綅鎺�
+                        crnCommandParam.setDestinationPosY2((short)0);     // 鐩爣搴撲綅鍒�
+                        crnCommandParam.setDestinationPosZ2((short)0);     // 鐩爣搴撲綅灞�
+
+                        crnCommandParam.setTaskNo(wrkMastOther.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+                        crnCommandParam.setAckFinish((short) 0);  // 浠诲姟瀹屾垚纭浣�
+                        crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 浠诲姟妯″紡:  鍗曞彇璐�
+                        crnCommandParam.setSourcePosX(crnStn.getRow().shortValue());     // 婧愬簱浣嶆帓
+                        crnCommandParam.setSourcePosY(crnStn.getBay().shortValue());     // 婧愬簱浣嶅垪
+                        crnCommandParam.setSourcePosZ(crnStn.getLev().shortValue());     // 婧愬簱浣嶅眰
+                        crnCommandParam.setDestinationPosX((short)0);     // 鐩爣搴撲綅鎺�
+                        crnCommandParam.setDestinationPosY((short)0);     // 鐩爣搴撲綅鍒�
+                        crnCommandParam.setDestinationPosZ((short)0);     // 鐩爣搴撲綅灞�
+                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(99, crnCommandParam.getCrnNo()-2))) {
+                            log.error("杈撻�佺嚎閿佸畾鍛戒护涓嬪彂澶辫触锛屽爢鍨涙満鍙�={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), crnCommandParam.getCrnNo()-2);
+                            continue;
+                        }
+                        if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
+                            log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommandParam));
+                        } else {
+                            // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
+                            Date now = new Date();
+                            wrkMast.setWrkSts(3L);
+                            wrkMast.setCrnStrTime(now);
+                            wrkMast.setModiTime(now);
+                            WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,2,now);
+                            wrkMastSplitTwin.setWrkSts(1);
+                            wrkMastSplitTwin.setWrkStart(wrkMast.getStaNo().toString());
+                            wrkMastSplitTwin.setWrkEnd(wrkMast.getLocNo());
+                            wrkMastSplitTwin.setStartRow(crnStn.getRow());
+                            wrkMastSplitTwin.setStartBay(crnStn.getBay());
+                            wrkMastSplitTwin.setStartLev(crnStn.getLev());
+                            wrkMastSplitTwin.setEndRow(locMast.getRow1());
+                            wrkMastSplitTwin.setEndBay(locMast.getBay1());
+                            wrkMastSplitTwin.setEndLev(locMast.getLev1());
+                            wrkMastSplitTwin.setWrkType(1);
+                            wrkMastSplitTwin.setIoType(1);
+
+                            wrkMastOther.setWrkSts(3L);
+                            wrkMastOther.setCrnStrTime(now);
+                            wrkMastOther.setModiTime(now);
+                            WrkMastSplitTwin wrkMastSplitTwinOther = new WrkMastSplitTwin(wrkMastOther,1,now);
+                            wrkMastSplitTwinOther.setWrkSts(1);
+                            wrkMastSplitTwinOther.setWrkStart(wrkMastOther.getStaNo().toString());
+                            wrkMastSplitTwinOther.setWrkEnd(wrkMastOther.getLocNo());
+                            wrkMastSplitTwinOther.setStartRow(crnStn.getRow());
+                            wrkMastSplitTwinOther.setStartBay(crnStn.getBay());
+                            wrkMastSplitTwinOther.setStartLev(crnStn.getLev());
+                            wrkMastSplitTwinOther.setEndRow(locMastOther.getRow1());
+                            wrkMastSplitTwinOther.setEndBay(locMastOther.getBay1());
+                            wrkMastSplitTwinOther.setEndLev(locMastOther.getLev1());
+                            wrkMastSplitTwinOther.setWrkType(1);
+                            wrkMastSplitTwinOther.setIoType(1);
+
+                            if (wrkMastMapper.updateById(wrkMast) == 0) {
+                                log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+                            }
+
+                            if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
+                                log.error("鍒涘缓 鍫嗗灈鏈烘墽琛屼换鍔� 澶辫触锛侊紒锛屽伐浣滃彿={}锛屽爢鍨涙満鍙�={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
+                            }
+
+                            if (wrkMastMapper.updateById(wrkMastOther) == 0) {
+                                log.error("Other淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+                            }
+
+                            if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwinOther)==0){
+                                log.error("Other鍒涘缓 鍫嗗灈鏈烘墽琛屼换鍔� 澶辫触锛侊紒锛屽伐浣滃彿={}锛屽爢鍨涙満鍙�={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
+                            }
+                            return;
+                        }
+                    }
+                }
+                return;
+            }
+            StaProtocol staProtocolOther1 = devpThread.getStation().get(crnStn.getStaNoOther1());
+            if (staProtocolOther1 == null) {
+                continue;
+            } else {
+                staProtocolOther1 = staProtocolOther1.clone();
+            }
+
+            if (staProtocolOther1.isAutoing() && staProtocolOther1.getWorkNo()!=0){
+                return;
+            }
+
+
+            StaProtocol staProtocolOther2 = devpThread.getStation().get(crnStn.getStaNoOther2());
+            if (staProtocolOther2 == null) {
+                continue;
+            } else {
+                staProtocolOther2 = staProtocolOther2.clone();
+            }
+            if (staProtocolOther2.isAutoing() && staProtocolOther2.getWorkNo()!=0){
+                return;
+            }
+            crnStation = 2;
             // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
             CrnCommand crnCommand = new CrnCommand();
             crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
@@ -1843,8 +2056,18 @@
             crnCommand.setDestinationPosX((short)0);     // 鐩爣搴撲綅鎺�
             crnCommand.setDestinationPosY((short)0);     // 鐩爣搴撲綅鍒�
             crnCommand.setDestinationPosZ((short)0);     // 鐩爣搴撲綅灞�
-            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
-                log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+
+            staProtocol.setWorkNo(wrkMast.getWrkNo());
+            staProtocol.setStaNo(wrkMast.getStaNo());
+
+            devpThread.setPakMk(staProtocol.getSiteId(), false);
+
+            if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(99, crnCommand.getCrnNo()-2))) {
+                log.error("杈撻�佺嚎閿佸畾鍛戒护涓嬪彂澶辫触锛屽爢鍨涙満鍙�={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), crnCommand.getCrnNo()-2);
+                continue;
+            }
+            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(5, crnCommand))) {
+                log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
             } else {
                 // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
                 Date now = new Date();
@@ -1985,7 +2208,7 @@
             crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 鐩爣搴撲綅鍒�
             crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 鐩爣搴撲綅灞�
             if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
-                log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+                log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
             } else {
                 // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
                 Date now = new Date();
@@ -2142,7 +2365,7 @@
             crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 鐩爣搴撲綅鍒�
             crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 鐩爣搴撲綅灞�
             if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
-                log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+                log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
             } else {
                 // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
                 Date now = new Date();
@@ -2277,7 +2500,7 @@
                     crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 鐩爣搴撲綅鍒�
                     crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 鐩爣搴撲綅灞�
                     if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
-                        log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+                        log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
                     } else {
                         // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
                         Date now = new Date();
@@ -2443,7 +2666,7 @@
                 crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 鐩爣搴撲綅鍒�
                 crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 鐩爣搴撲綅灞�
                 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
-                    log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+                    log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
                 } else {
                     // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
                     Date now = new Date();
@@ -2563,7 +2786,7 @@
                     crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 鐩爣搴撲綅鍒�
                     crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 鐩爣搴撲綅灞�
                     if (!MessageQueue.offer(SlaveType.Crn, wrkMastCrn.getCrnNo(), new Task(2, crnCommand))) {
-                        log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMastCrn.getCrnNo(), JSON.toJSON(crnCommand));
+                        log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMastCrn.getCrnNo(), JSON.toJSONString(crnCommand));
                     } else {
                         // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
                         Date now = new Date();
@@ -2764,7 +2987,7 @@
                     crnCommand.setDestinationPosY((short)0);     // 鐩爣搴撲綅鍒�
                     crnCommand.setDestinationPosZ((short)0);     // 鐩爣搴撲綅灞�
                     if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
-                        log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+                        log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
                     } else {
                         // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
                         Date now = new Date();
@@ -2808,7 +3031,7 @@
 //                    crnCommand.setDestinationPosY((short)0);     // 鐩爣搴撲綅鍒�
 //                    crnCommand.setDestinationPosZ((short)0);     // 鐩爣搴撲綅灞�
 //                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
-//                        log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+//                        log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
 //                    } else {
 //                        // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
 //                        Date now = new Date();
@@ -2896,7 +3119,7 @@
         crnCommand.setDestinationPosY(sta.getBay1().shortValue());     // 鐩爣搴撲綅鍒�
         crnCommand.setDestinationPosZ(sta.getLev1().shortValue());     // 鐩爣搴撲綅灞�
         if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
-            log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+            log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
         } else {
             // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
             Date now = new Date();
@@ -3514,6 +3737,46 @@
                     continue;
                 } else {
                     staProtocol = staProtocol.clone();
+                }
+                if (emptyInSta.getStaNo()==607 && staProtocol.getStaNo()==607 && staProtocol.getWorkNo()>20000 && staProtocol.isLoading() && staProtocol.isAutoing()){
+                    try {
+                        BasDevp basDevp = basDevpService.selectById(staProtocol.getStaNo());
+                        if (basDevp.getReportSign()==0){
+                            LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+
+                            SearchLocParam param = new SearchLocParam();
+                            param.setIoType(10);
+                            param.setSourceStaNo(emptyInSta.getStaNo());
+                            param.setLocType1(locTypeDto.getLocType1());
+                            String response = new HttpHandler.Builder()
+                                    .setUri(wmsUrl)
+                                    .setPath("/rpc/pakin/loc/v1")
+                                    .setJson(JSON.toJSONString(param))
+                                    .build()
+                                    .doPost();
+                            JSONObject jsonObject = JSON.parseObject(response);
+                            if (jsonObject.getInteger("code").equals(200)) {
+                                basDevp.setReportSign(1);
+                                basDevpService.updateById(basDevp);
+                                StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+
+                                // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+                                staProtocol.setWorkNo(dto.getWorkNo());
+                                staProtocol.setStaNo(607);
+                                devpThread.setPakMk(staProtocol.getSiteId(), false);
+                                boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
+                                if (!result) {
+                                    throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+                                }
+                            } 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/pakin/loc/v1", JSON.toJSONString(param), response);
+                            }
+                        }
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+                    }
+                    return;
                 }
 
                 // 绔欑偣鏉′欢鍒ゆ柇
@@ -4291,6 +4554,39 @@
             int[] sign = new int[]{0,0};
             // 鍙湁褰撳爢鍨涙満鑷姩鏃舵墠缁х画鎵ц
             if (crnProtocol.getModeType() == CrnModeType.AUTO) {
+                //鍙�
+                if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE
+                        && crnProtocol.getTaskNo() == 0
+                        && crnProtocol.getLoaded() == 1
+                        && crnProtocol.getForkPos() == 0) {
+                    if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE
+                            && crnProtocol.getTaskNoTwo() == 0
+                            && crnProtocol.getLoadedTwo() == 1
+                            && crnProtocol.getForkPosTwo() == 0){
+                        List<WrkMastSplitTwin> wrkMastSplitTwinList1 = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),1,2,2,0);
+                        List<WrkMastSplitTwin> wrkMastSplitTwinList2 = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),2,2,2,0);
+                        if (!wrkMastSplitTwinList1.isEmpty() && !wrkMastSplitTwinList2.isEmpty() ){
+                            if (wrkMastSplitTwinList1.size()>1 || wrkMastSplitTwinList2.size()>1 ){
+                                log.error("Pair鍫嗗灈鏈哄嚭鍏ュ簱涓嬪彂寮傚父,鍫嗗灈鏈哄彿={},寮傚父淇℃伅={},宸ヤ綅鍙�={},宸ヤ綔绫诲瀷={}",crn.getId(),"瀛樺湪澶氱瑪鍙墽琛屼綔涓氾紝璇峰垹闄ゆ棤鏁堜綔涓氾紒锛侊紒",sign[1],sign[0]);
+                                return false;
+                            }
+                            WrkMastSplitTwin wrkMastSplitTwin1 = wrkMastSplitTwinList1.get(0);
+                            WrkMastSplitTwin wrkMastSplitTwin2 = wrkMastSplitTwinList2.get(0);
+                            boolean ack =  crnExecutePutFullPair(crn.getId(), wrkMastSplitTwin1,wrkMastSplitTwin2, sign[1]);
+                            if (ack){
+                                wrkMastSplitTwin1.setWrkSts(wrkMastSplitTwin1.getWrkType()==1? 1:3);
+                                wrkMastSplitTwinService.updateById(wrkMastSplitTwin1);
+                                wrkMastSplitTwin2.setWrkSts(wrkMastSplitTwin2.getWrkType()==1? 1:3);
+                                wrkMastSplitTwinService.updateById(wrkMastSplitTwin2);
+                            }else {
+                                log.error("鍫嗗灈鏈哄嚭鍏ュ簱涓嬪彂鎶ラ敊,鍫嗗灈鏈哄彿={},寮傚父淇℃伅={}",crn.getId(),"涓嬪彂浠诲姟杩斿洖鍊间负锛�"+ack);
+                            }
+
+                            return false;
+                        }
+
+                    }
+                }
                 // 鍙湁褰撳爢鍨涙満宸ヤ綅1鍙栬揣鎴栬�呮湁鐗� 骞朵笖 宸ヤ綅2鏃犱换鍔℃椂鎵嶇户缁墽琛�
                 switch (i){
                     case 1:
@@ -4374,7 +4670,7 @@
             crnCommand.setDestinationPosY((short)0);     // 鐩爣搴撲綅鍒�
             crnCommand.setDestinationPosZ((short)0);     // 鐩爣搴撲綅灞�
             if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
-                log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSON(crnCommand));
+                log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSONString(crnCommand));
                 return false;
             } else {
                 return true;
@@ -4403,7 +4699,85 @@
             crnCommand.setDestinationPosY(wrkMastSplitTwin.getEndBay().shortValue());     // 鐩爣搴撲綅鍒�
             crnCommand.setDestinationPosZ(wrkMastSplitTwin.getEndLev().shortValue());     // 鐩爣搴撲綅灞�
             if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
-                log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSON(crnCommand));
+                log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSONString(crnCommand));
+                return false;
+            } else {
+                return true;
+            }
+        }catch (Exception e){
+            return false;
+        }
+    }
+
+    /*
+     * 鍫嗗灈鏈哄彇璐ц嚦宸ヤ綅浠诲姟
+     * */
+    public synchronized boolean crnExecuteTakeFullPair(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwinOne,WrkMastSplitTwin wrkMastSplitTwinTwo, Integer crnStation){
+        try{
+            //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+            // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
+            CrnCommandParam crnCommandParam = new CrnCommandParam();
+            crnCommandParam.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
+            crnCommandParam.setTaskNo(wrkMastSplitTwinOne.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+            crnCommandParam.setAckFinish((short) 0);  // 浠诲姟瀹屾垚纭浣�
+            crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 浠诲姟妯″紡:  鍗曞彇璐�
+            crnCommandParam.setSourcePosX(wrkMastSplitTwinOne.getStartRow().shortValue());     // 婧愬簱浣嶆帓
+            crnCommandParam.setSourcePosY(wrkMastSplitTwinOne.getStartBay().shortValue());     // 婧愬簱浣嶅垪
+            crnCommandParam.setSourcePosZ(wrkMastSplitTwinOne.getStartLev().shortValue());     // 婧愬簱浣嶅眰
+            crnCommandParam.setDestinationPosX((short)0);     // 鐩爣搴撲綅鎺�
+            crnCommandParam.setDestinationPosY((short)0);     // 鐩爣搴撲綅鍒�
+            crnCommandParam.setDestinationPosZ((short)0);     // 鐩爣搴撲綅灞�
+
+            crnCommandParam.setTaskNo2(wrkMastSplitTwinTwo.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+            crnCommandParam.setAckFinish2((short) 0);  // 浠诲姟瀹屾垚纭浣�
+            crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_TAKE); // 浠诲姟妯″紡:  鍗曞彇璐�
+            crnCommandParam.setSourcePosX2(wrkMastSplitTwinTwo.getStartRow().shortValue());     // 婧愬簱浣嶆帓
+            crnCommandParam.setSourcePosY2(wrkMastSplitTwinTwo.getStartBay().shortValue());     // 婧愬簱浣嶅垪
+            crnCommandParam.setSourcePosZ2(wrkMastSplitTwinTwo.getStartLev().shortValue());     // 婧愬簱浣嶅眰
+            crnCommandParam.setDestinationPosX2((short)0);     // 鐩爣搴撲綅鎺�
+            crnCommandParam.setDestinationPosY2((short)0);     // 鐩爣搴撲綅鍒�
+            crnCommandParam.setDestinationPosZ2((short)0);     // 鐩爣搴撲綅灞�
+            if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
+                log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", crnCommandParam.getCrnNo(), JSON.toJSONString(crnCommandParam));
+                return false;
+            } else {
+                return true;
+            }
+        }catch (Exception e){
+            return false;
+        }
+    }
+
+    /*
+     * 鍫嗗灈鏈烘斁璐ц揣鑷冲嚭搴撶珯鐐逛换鍔�
+     * */
+    public synchronized boolean crnExecutePutFullPair(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwinOne,WrkMastSplitTwin wrkMastSplitTwinTwo, Integer crnStation){
+        try{
+            //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+            // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
+            CrnCommandParam crnCommandParam = new CrnCommandParam();
+            crnCommandParam.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
+            crnCommandParam.setTaskNo(wrkMastSplitTwinOne.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+            crnCommandParam.setAckFinish((short) 0);  // 浠诲姟瀹屾垚纭浣�
+            crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_PUT); // 浠诲姟妯″紡:  鍗曟斁璐�
+            crnCommandParam.setSourcePosX((short)0);     // 婧愬簱浣嶆帓
+            crnCommandParam.setSourcePosY((short)0);     // 婧愬簱浣嶅垪
+            crnCommandParam.setSourcePosZ((short)0);     // 婧愬簱浣嶅眰
+            crnCommandParam.setDestinationPosX(wrkMastSplitTwinOne.getEndRow().shortValue());     // 鐩爣搴撲綅鎺�
+            crnCommandParam.setDestinationPosY(wrkMastSplitTwinOne.getEndBay().shortValue());     // 鐩爣搴撲綅鍒�
+            crnCommandParam.setDestinationPosZ(wrkMastSplitTwinOne.getEndLev().shortValue());     // 鐩爣搴撲綅灞�
+
+            crnCommandParam.setTaskNo2(wrkMastSplitTwinTwo.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+            crnCommandParam.setAckFinish2((short) 0);  // 浠诲姟瀹屾垚纭浣�
+            crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_PUT); // 浠诲姟妯″紡:  鍗曟斁璐�
+            crnCommandParam.setSourcePosX2((short)0);     // 婧愬簱浣嶆帓
+            crnCommandParam.setSourcePosY2((short)0);     // 婧愬簱浣嶅垪
+            crnCommandParam.setSourcePosZ2((short)0);     // 婧愬簱浣嶅眰
+            crnCommandParam.setDestinationPosX2(wrkMastSplitTwinTwo.getEndRow().shortValue());     // 鐩爣搴撲綅鎺�
+            crnCommandParam.setDestinationPosY2(wrkMastSplitTwinTwo.getEndBay().shortValue());     // 鐩爣搴撲綅鍒�
+            crnCommandParam.setDestinationPosZ2(wrkMastSplitTwinTwo.getEndLev().shortValue());     // 鐩爣搴撲綅灞�
+            if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
+                log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", crnCommandParam.getCrnNo(), JSON.toJSONString(crnCommandParam));
                 return false;
             } else {
                 return true;
@@ -4418,6 +4792,9 @@
      */
     public synchronized void jarMastGenerate() {
         for (JarSlave jarSlave : slaveProperties.getJar()) {
+            if (jarSlave.getId()>4){
+                continue;
+            }
             try{
                 if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
                     continue;
@@ -4439,10 +4816,10 @@
                             if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),3)!=0){
                                 break;
                             }
-                            if (basJarMastService.getJarMastByJarIdCount(jarSlave.getId())>=14){
+                            if (basJarMastService.getJarMastByJarIdCount(jarSlave.getId())>=jarMaxLoc*2){
                                 break;
                             }
-                            if (basJarMastService.selectJarMastOperation(jarSlave.getId(),0,9)>=7){
+                            if (basJarMastService.selectJarMastOperation(jarSlave.getId(),0,9)>=jarMaxLoc){
                                 break;
                             }
                             if (!Objects.equals
@@ -4461,7 +4838,7 @@
                                     break;
                                 }
                                 jarLocDigit = 1;
-                            } else if (jarMastByJarIdMax.getJarLocDigit()<7){
+                            } else if (jarMastByJarIdMax.getJarLocDigit()<jarMaxLoc){
                                 jarLocDigit = jarMastByJarIdMax.getJarLocDigit()+1;
                             } else {
                                 continue;
@@ -4478,11 +4855,12 @@
                             if (!Cools.isEmpty(wrkMastExecute)){
                                 continue;
                             }
+                            log.error("Jar浠诲姟鍒涘缓  鍒濆===>琛�={}",4484);
                             if (jarMastGenerateExecute(jarSlave,wrkMast,jarLocDigit,staStn.getStaNo())){
                                 return;
                             }
                         }catch (Exception e){
-                            log.error(jarSlave.getId()+"鍙峰皬杞﹀浣嶇嚎绋嬫姤閿欙紒"+e);
+                            log.error(jarSlave.getId()+"鍙风～鍖栫綈Jar浠诲姟鍒涘缓寮傚父锛�"+e);
                         }
                         break;
                     }
@@ -4507,6 +4885,14 @@
             if (jarProtocol.modeType != JarModeType.AUTO){
                 return false;
             }
+            if (jarProtocol.statusType .equals(JarStatusType.SOS)){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧姝ｅ湪纭寲涓紝浠诲姟寮傚父锛侊紒锛�",jarProtocol.getJarNo());
+                return false;
+            }
+            if (jarProtocol.getJarTemperature()>50){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
+                return false;
+            }
 
             JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
             JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
@@ -4529,7 +4915,8 @@
             //鑷姩銆佺┖闂层�佸彸闂ㄥ叧闂��   Other宸﹂棬鍏抽棴
             if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
                     && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0){
-                if (jarProtocol.statusType == JarStatusType.IDLE || jarProtocol.statusType == JarStatusType.MOVING){
+                if (jarProtocol.statusType != JarStatusType.SOS){
+                    log.error("Jar浠诲姟鍒涘缓===銆嬫墽琛�===>琛�={}",4537);
                     BasJarMast basJarMast = new BasJarMast(basJar, wrkMast, jarLocDigit);
                     basJarMast.setJarEnterStaNo(staNo);//鍏ョ～鍖栫綈绔欑偣
                     basJarMastService.insert(basJarMast);
@@ -4544,35 +4931,51 @@
     }
 
     /**
-     *  Jar浠诲姟瀹屾垚   //鏈畬鎴�
+     *  Jar浠诲姟瀹屾垚   //瀹屾垚
      */
-    public synchronized boolean jarMastGenerateComplete(JarSlave jarSlave) {
+    public synchronized boolean jarMastGenerateComplete() {
         try{
-            // 鑾峰彇鍫嗗灈鏈轰俊鎭�
-            JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
-            JarProtocol jarProtocol = jarThread.getJarProtocol();
-            if (jarProtocol == null) {
-                return false;
-            }
-            if (jarProtocol.modeType != JarModeType.AUTO){
-                return false;
-            }
-
-            JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
-            JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
-            if (jarOtherProtocol == null) {
-                return false;
-            }
-            if (jarOtherProtocol.modeType != JarModeType.AUTO){
-                return false;
-            }
-
-            //鑷姩銆佺┖闂层�佸彸闂ㄥ叧闂��
-            if (jarProtocol.isAutoing() && !jarProtocol.isRightDoor() && jarProtocol.jarErr==0 && !jarOtherProtocol.isLeftDoor() && jarOtherProtocol.jarErr==0){
-
+            for (int[] ex : execute){
+                try{
+                    WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
+                    wrkMastExecuteSou.setIoType(ex[0]);
+                    wrkMastExecuteSou.setWrkSts(ex[1]);
+                    wrkMastExecuteSou.setWrkType(1);
+                    List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
+                    for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
+                        log.error("Jar浠诲姟瀹屾垚===>琛�={}",4564);
+                        if (wrkMastExecute.getIoType()<7 || wrkMastExecute.getIoType()==9){
+                            BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
+                            jarMastByWrkNo.setStatus(jarMastByWrkNo.getStatusComplete(wrkMastExecute.getIoType()));
+                            if (wrkMastExecute.getIoType()==3 && jarMastByWrkNo.getStatus()==8){
+                                List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarMastByWrkNo.getJarId(), new ArrayList<Integer>() {{
+                                    add(6);//纭寲瀹屾垚
+                                }});
+                                if (basJarMastList.isEmpty()){
+                                    continue;
+                                }
+                                Integer integer = basJarMastService.updateStatus(jarMastByWrkNo.getJarId(), 6, 8);
+                                if (basJarMastList.size()!=integer){
+                                    log.error("{}鍙风～鍖栫綈纭寲瀹屾垚鍚庡紑闂ㄥ畬鎴愪慨鏀圭～鍖栨。妗堢姸鎬佺粨鏋滄暟閲忎笉涓�鑷达紒锛侊紒鏌ヨ璧勬枡鏁伴噺={}锛屾洿鏂拌繑鍥炴暟閲�={}",jarMastByWrkNo.getJarId(),basJarMastList.size(),integer);
+                                }
+                            } else {
+                                if (!basJarMastService.updateById(jarMastByWrkNo)){
+                                    log.error("纭寲鍖哄煙鍒嗘浠诲姟瀹屾垚寮傚父,BasJarMast={},寮傚父淇℃伅={}",JSON.toJSONString(jarMastByWrkNo),"鏇存柊basJarMast澶辫触");
+                                }
+                            }
+                        }
+                        wrkMastExecute.setWrkSts(wrkMastExecute.getWrkStsComplete());
+                        wrkMastExecute.setWrkType(2);
+                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
+                            log.error("纭寲鍖哄煙鍒嗘浠诲姟瀹屾垚寮傚父,wrkMastExecute={},寮傚父淇℃伅={}",JSON.toJSONString(wrkMastExecute),"鏇存柊wrkMastExecute澶辫触");
+                        }
+                    }
+                }catch (Exception e){
+                    log.error("纭寲鍖哄煙鍒嗘浠诲姟瀹屾垚寮傚父,execute={},寮傚父淇℃伅={}",JSON.toJSONString(ex),e.getMessage());
+                }
             }
         } catch (Exception e){
-//            log.error("鍫嗗灈鏈哄伐浣嶄簩瀹屾垚绛夊緟纭寮傚父,鍫嗗灈鏈哄彿={},寮傚父淇℃伅={},宸ヤ綅鍙�={}",crn.getId(),e.getMessage(),2);
+            log.error("纭寲鍖哄煙鍒嗘浠诲姟瀹屾垚寮傚父,寮傚父淇℃伅={}",e.getMessage());
         }
         return false;
     }
@@ -4594,10 +4997,13 @@
                 default:
                     jarWrkMastExecuteGenerateSte(signExecute,sign);//灏忚溅绉诲姩
             }
+            if (!signExecute[0] && !signExecute[1]){
+                //Ste绉诲姩
+                jarMastMove();
+            }
         } catch (Exception e){
-
+            log.error("纭寲鍖哄煙鍒嗘浠诲姟鍒涘缓寮傚父,寮傚父淇℃伅={}",e.getMessage());
         }
-
     }
 
     public synchronized boolean[] jarWrkMastExecuteGenerateJar(boolean[] signExecute,Integer sign) {
@@ -4615,6 +5021,10 @@
                     continue;
                 }
                 if (jarProtocol.modeType != JarModeType.AUTO){
+                    continue;
+                }
+                if (jarProtocol.getJarTemperature()>50){
+                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
                     continue;
                 }
 
@@ -4692,6 +5102,10 @@
                     signExecute[jarSlave.getId()-5] = true;
                     continue;
                 }
+                if (jarProtocol.getJarTemperature()>50){
+                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
+                    continue;
+                }
 
                 BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
                 if (Cools.isEmpty(basJar)){
@@ -4701,13 +5115,11 @@
                 //闂ㄤ綔涓�  鏃�
                 //鑷姩銆佺┖闂层�佸彸闂ㄥ叧闂��   Other宸﹂棬鍏抽棴
                 if (jarProtocol.isAutoing() && jarProtocol.jarErr==0){
-                    switch (sign){
-                        case 5:
-                            if (jarWrkMastExecuteGenerate5(jarSlave,sign)){
-                                signExecute[jarSlave.getId()-5] = true;
-                                break;//鍑虹～鍖栫綈 ===銆� 鍏ュ喎鍗存Ы
-                            }
+                    if (jarWrkMastExecuteGenerate5(jarSlave,sign)){
+                        signExecute[jarSlave.getId()-5] = true;
+                        //鍑虹～鍖栫綈 ===銆� 鍏ュ喎鍗存Ы
                     }
+                    return signExecute;
                 }
             } catch (Exception e){
                 log.error("{}鍙风～鍖栫綈JarWrkMastExecute浠诲姟鍒涘缓寮傚父,寮傚父鍘熷洜={}",jarSlave.getId(),e.getMessage());
@@ -4736,6 +5148,10 @@
                     continue;
                 }
                 if (jarProtocol.modeType != JarModeType.AUTO){
+                    continue;
+                }
+                if (jarProtocol.getJarTemperature()>50){
+                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
                     continue;
                 }
 
@@ -4787,10 +5203,10 @@
                 add(2);
             }});
 
-            //鍒ゆ柇灏忚溅鐘舵��
-            if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarInSte().get(0).getSteNo(),1,SteStatusType.IDLE)){
-                return false;
-            }
+//            //鍒ゆ柇灏忚溅鐘舵��
+//            if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarInSte().get(0).getSteNo(),1,SteStatusType.IDLE)){
+//                return false;
+//            }
 
             for (BasJarMast basJarMast : basJarMastList){
                 JarSlave.StaStn staStn = null;
@@ -4829,7 +5245,13 @@
                         if (jarProtocol.modeType != JarModeType.AUTO){
                             return false;
                         }
-
+                        if (jarProtocol.statusType .equals(JarStatusType.WAITING2) || jarProtocol.statusType .equals(JarStatusType.SOS)){
+                            return false;
+                        }
+                        if (jarProtocol.getJarTemperature()>50){
+                            log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
+                            continue;
+                        }
                         JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
                         JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
                         if (jarOtherProtocol == null) {
@@ -4855,15 +5277,16 @@
                                     log.error("JarWrkMastExecute浠诲姟鍒涘缓===>鎵ц寮傚父===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
                                 }
                                 return true;
-                            } else if ((jarProtocol.statusType == JarStatusType.WAITING3 || jarProtocol.statusType == JarStatusType.MOVING) && jarProtocol.isLeftDoor()){
+                            } else if (jarProtocol.isLeftDoor()){
                                 //鐢熸垚鍏ョ～鍖栫綈浠诲姟
                                 if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,basJar.getJarNo(),new int[]{basJar.getEnterSteNo(),basJar.getEnterRgvNo(),5,1})){
                                     log.error("JarWrkMastExecute浠诲姟鍒涘缓===>鎵ц寮傚父===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
                                 }
                                 return true;
-                            } else if (jarProtocol.statusType == JarStatusType.IDLE && jarProtocol.isLeftDoor()){
-                                log.error("JarWrkMastExecute浠诲姟鍒涘缓===>鎵ц寮傚父===銆嬬～鍖栫綈绌洪棽浣嗘槸闂ㄦ湭鍏�===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
                             }
+//                            else if (jarProtocol.statusType == JarStatusType.IDLE && jarProtocol.isLeftDoor()){
+//                                log.error("JarWrkMastExecute浠诲姟鍒涘缓===>鎵ц寮傚父===銆嬬～鍖栫綈绌洪棽浣嗘槸闂ㄦ湭鍏�===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
+//                            }
                         }
                         return false;
                     } else {
@@ -4891,7 +5314,7 @@
             List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
                 add(4);
             }});
-            if (basJarMastList.size() != 7){
+            if (basJarMastList.size() != jarMaxLoc){
                 return false;
             }
 
@@ -4899,10 +5322,10 @@
             if (Cools.isEmpty(basJarMastSign)){
                 return false;
             }
-            //鍒ゆ柇灏忚溅鐘舵��
-            if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarInSte().get(0).getSteNo(),1,SteStatusType.IDLE)){
-                return false;
-            }
+//            //鍒ゆ柇灏忚溅鐘舵��
+//            if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarInSte().get(0).getSteNo(),1,SteStatusType.IDLE)){
+//                return false;
+//            }
 
             JarSlave.RgvStn rgvStn = jarSlave.getJarInRgv().get(0);
 
@@ -4917,18 +5340,26 @@
                     return false;
                 }
 
+                if (jarProtocol.statusType .equals(JarStatusType.WAITING2) || jarProtocol.statusType .equals(JarStatusType.SOS)){
+                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧姝ｅ湪纭寲涓紝浠诲姟寮傚父锛侊紒锛�",jarProtocol.getJarNo());
+                    return false;
+                }
+                if (jarProtocol.getJarTemperature()>50){
+                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
+                    return false;
+                }
                 BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
                 if (Cools.isEmpty(basJar)){
                     log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",jarProtocol.getJarNo());
                     return false;
                 }
-                if (basJar.getJarCount()!=7){
+                if (!basJar.getJarCount().equals(jarMaxLoc)){
                     log.error("{}鍙风～鍖栫綈鏌ヨ璁惧搴撳瓨鏁板紓甯革紒锛侊紒搴撳瓨寰呭叆鏁帮細{}",jarProtocol.getJarNo(),basJar.getJarCount());
                     return false;
                 }
 
                 //闂ㄤ綔涓�  鏃�
-                if (jarProtocol.isAutoing() && jarProtocol.statusType == JarStatusType.WAITING3 && jarProtocol.jarErr==0
+                if (jarProtocol.isAutoing() && jarProtocol.statusType != JarStatusType.SOS && jarProtocol.jarErr==0
                         && jarProtocol.isRightDoor() && jarProtocol.isLeftDoor()
                         && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0){
                     //鍏宠繘鏂欓棬
@@ -4960,7 +5391,7 @@
             List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
                 add(6);
             }});
-            if (basJarMastList.size() != 7){
+            if (basJarMastList.size() != jarMaxLoc){
                 return false;
             }
             if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),5)!=0){
@@ -4971,10 +5402,10 @@
             if (Cools.isEmpty(basJarMastSign)){
                 return false;
             }
-            //鍒ゆ柇灏忚溅鐘舵��
-            if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarInSte().get(0).getSteNo(),2,SteStatusType.IDLE)){
-                return false;
-            }
+//            //鍒ゆ柇灏忚溅鐘舵��
+//            if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarInSte().get(0).getSteNo(),2,SteStatusType.IDLE)){
+//                return false;
+//            }
 
             //鍒ゆ柇RGV鐘舵��
             JarSlave.RgvStn rgvStn = jarSlave.getJarOutRgv().get(0);
@@ -4990,6 +5421,14 @@
                     return false;
                 }
 
+                if (jarProtocol.statusType .equals(JarStatusType.SOS)){
+                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧姝ｅ湪纭寲涓紝浠诲姟寮傚父锛侊紒锛�",jarProtocol.getJarNo());
+                    return false;
+                }
+                if (jarProtocol.getJarTemperature()>50){
+                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
+                    return false;
+                }
                 BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
                 if (Cools.isEmpty(basJar)){
                     log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",jarProtocol.getJarNo());
@@ -5037,14 +5476,14 @@
                 return false;
             }
 
-            BasJarMast jarMastByJarIdMin = basJarMastService.getJarMastByJarIdMax(jarSlave.getId(),8,8);
+            BasJarMast jarMastByJarIdMin = basJarMastService.getJarMastByJarIdMin(jarSlave.getId(),8,8);
             if (Cools.isEmpty(jarMastByJarIdMin)){
                 return false;
             }
-            //鍒ゆ柇灏忚溅鐘舵��
-            if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarOutSte().get(0).getSteNo(),2,SteStatusType.IDLE)){
-                return false;
-            }
+//            //鍒ゆ柇灏忚溅鐘舵��
+//            if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarOutSte().get(0).getSteNo(),2,SteStatusType.IDLE)){
+//                return false;
+//            }
 
             //鍒ゆ柇RGV鐘舵��
             JarSlave.RgvStn rgvStn = jarSlave.getJarOutRgv().get(0);
@@ -5060,6 +5499,11 @@
                     return false;
                 }
 
+                if (jarProtocol.statusType .equals(JarStatusType.SOS)){
+                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧姝ｅ湪纭寲涓紝浠诲姟寮傚父锛侊紒锛�",jarProtocol.getJarNo());
+                    return false;
+                }
+
                 BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
                 if (Cools.isEmpty(basJar)){
                     log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",jarProtocol.getJarNo());
@@ -5067,12 +5511,18 @@
                 }
 
                 //闂ㄤ綔涓�  鏃�
-                if (jarProtocol.isAutoing() && jarProtocol.statusType == JarStatusType.WAITING4 && jarProtocol.jarErr==0
-                        && !jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
+//                if (jarProtocol.isAutoing() && jarProtocol.statusType == JarStatusType.WAITING4 && jarProtocol.jarErr==0
+                if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
+                        && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
                         && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0){
-                    //鍏宠繘鏂欓棬
-                    if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByJarIdMin,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),3,1})){
+                    //鍏ュ喎鍗存Ы
+                    if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByJarIdMin,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),6,1})){
                         log.error("JarWrkMastExecute浠诲姟鍒涘缓===>鎵ц寮傚父===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByJarIdMin));
+                    }
+                    jarMastByJarIdMin.setStatus(jarMastByJarIdMin.getStatusComplete());
+
+                    if (!basJarMastService.updateById(jarMastByJarIdMin)){
+                        log.error("JarWrkMastExecute浠诲姟鍒涘缓===>jarMastByJarIdMin鏇存柊澶辫触===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByJarIdMin));
                     }
                     return true;
                 }
@@ -5096,26 +5546,26 @@
             if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
                 return false;
             }
-            List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
-                add(14);//鍐峰嵈瀹屾垚
+            List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusListB(jarSlave.getId(), new ArrayList<Integer>() {{
+                add(12);//鍐峰嵈瀹屾垚
             }});
             if (basJarMastList.isEmpty()){
                 return false;
             }
 
-            if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),7)!=0){
+            if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),6)!=0){
                 return false;
             }
 
-            BasJarMast jarMastByJarIdMin = basJarMastService.getJarMastByJarIdMin(jarSlave.getId(),14,14);
+            BasJarMast jarMastByJarIdMin = basJarMastService.getJarMastByJarIdMinB(jarSlave.getId(),12,12);
             if (Cools.isEmpty(jarMastByJarIdMin)){
                 return false;
             }
-
-            //鍒ゆ柇灏忚溅鐘舵��
-            if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarOutSte().get(0).getSteNo(),2,SteStatusType.IDLE)){
-                return false;
-            }
+//
+//            //鍒ゆ柇灏忚溅鐘舵��
+//            if (!jarWrkMastExecuteGenerateSteStatus(jarSlave.getJarOutSte().get(0).getSteNo(),3,SteStatusType.IDLE)){
+//                return false;
+//            }
 
             //鍒ゆ柇RGV鐘舵��
             JarSlave.RgvStn rgvStn = jarSlave.getJarOutRgv().get(0);
@@ -5130,7 +5580,10 @@
                 if (jarProtocol.modeType != JarModeType.AUTO){
                     return false;
                 }
-
+                if (jarProtocol.getJarTemperature()>50){
+                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
+                    return false;
+                }
                 BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
                 if (Cools.isEmpty(basJar)){
                     log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",jarProtocol.getJarNo());
@@ -5139,8 +5592,8 @@
 
                 //闂ㄤ綔涓�  鏃�
                 if (jarProtocol.isAutoing() && jarProtocol.jarErr==0){
-                    //鍏宠繘鏂欓棬
-                    if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByJarIdMin,basJar.getBurial(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),3,1})){
+                    //鍐峰嵈瀹屾垚涓婅緭閫佺嚎
+                    if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByJarIdMin,basJar.getBurial(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),9,1})){
                         log.error("JarWrkMastExecute浠诲姟鍒涘缓===>鎵ц寮傚父===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByJarIdMin));
                     }
                     return true;
@@ -5162,7 +5615,7 @@
      *  2锛欱闈� 鍑烘枡闈�
      *  3锛氬喎鍗存ЫB闈� 涓婅緭閫佺嚎
      */
-    public synchronized boolean jarWrkMastExecuteGenerateSteStatus(Integer steNo,Integer type,SteStatusType steStatusType) {
+    public synchronized boolean jarWrkMastExecuteGenerateSteStatus(Integer steNo,Integer type,SteStatusType steStatusType,boolean chargeSign) {
         try{
             //鍒ゆ柇灏忚溅鐘舵��
             SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
@@ -5179,6 +5632,61 @@
             }
             if (steProtocol.getChargeStatus()!=0){
                 log.error(steNo + "鍙峰皬杞﹀湪鍏呯數锛岀瓑寰�....");
+                return false;
+            }
+            if (steProtocol.getCharge()<31.0F && chargeSign){
+                log.error(steNo + "鍙峰皬杞﹀綋鍓嶇數閲忚繃浣庯紝鍑嗗鍏呯數...褰撳墠鐢甸噺"+steProtocol.getCharge().toString());
+                return false;
+            }
+            if (!steProtocol.getStatusType().equals(steStatusType)) {
+                log.error(steNo + "鍙峰皬杞︾姸鎬佷笉鏄�"+JSON.toJSONString(steStatusType)+"锛岀瓑寰�....");
+                return false;
+            }
+            switch (type){
+                case 1:
+                    if (!steProtocol.getLocaType().equals(SteLocaType.POINT20)) {
+                        log.error(steNo + "鍙峰皬杞︿笉鍦ˋ闈㈠钩绉昏溅锛屾棤娉曟搷浣�");
+                        return false;
+                    }
+                    break;
+                case 2:
+                    if (!steProtocol.getLocaType().equals(SteLocaType.POINT23)) {
+                        log.error(steNo + "鍙峰皬杞︿笉鍦˙闈㈠钩绉昏溅锛屾棤娉曟搷浣�");
+                        return false;
+                    }
+                    break;
+                case 3:
+                    if (!steProtocol.getLocaType().equals(SteLocaType.POINT26) && !steProtocol.getLocaType().equals(SteLocaType.POINT25)) {
+                        log.error(steNo + "鍙峰皬杞︿笉鍦ㄦ按妲紹绔紝鏃犳硶鎿嶄綔");
+                        return false;
+                    }
+                    break;
+                default: return false;
+            }
+            return true;
+        } catch (Exception e){
+            log.error("{}鍙峰皬杞︾姸鎬佸垽鏂姸鎬佸紓甯�,寮傚父鍘熷洜={}",steNo,e.getMessage());
+        }
+        return false;
+    }
+
+    public synchronized boolean jarWrkMastExecuteGenerateSteStatusCharge(Integer steNo,Integer type,SteStatusType steStatusType,boolean chargeSign) {
+        try{
+            //鍒ゆ柇灏忚溅鐘舵��
+            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
+            if (steThread == null) {
+                return false;
+            }
+            SteProtocol steProtocol = steThread.getSteProtocol();
+            if (steProtocol == null) {
+                return false;
+            }
+            if (steProtocol.getMode() != (short)1) {
+                log.error(steNo + "鍙峰皬杞︾绾匡紝鏃犳硶鎿嶄綔");
+                return false;
+            }
+            if (steProtocol.getCharge()<31.0F && chargeSign){
+                log.error(steNo + "鍙峰皬杞﹀綋鍓嶇數閲忚繃浣庯紝鍑嗗鍏呯數...褰撳墠鐢甸噺"+steProtocol.getCharge().toString());
                 return false;
             }
             if (!steProtocol.getStatusType().equals(steStatusType)) {
@@ -5254,6 +5762,25 @@
             wrkMastExecute.setSteId(digit[0]);//绌挎鏉縄D
             wrkMastExecute.setRgvId(basJar.getEnterRgvNo());//RGV ID  enter
             wrkMastExecute.setRgvEndId(basJar.getOutRgvNo());//RGV ID  out
+            wrkMastExecute.setIoType(digit[2]);//浠诲姟绫诲瀷 0: 鏈煡  1: 寮�杩涙枡闂�  2: 鍏宠繘鏂欓棬  3: 寮�鍑烘枡闂�  4: 鍏冲嚭鏂欓棬  5: 鍏ョ～鍖栫綈  6: 鍏ュ喎鍗存Ы  7: 绌挎杞﹁繘鍐峰嵈妲�  8: 绌挎杞︾寮�鍐峰嵈妲�  9: 鍑哄喎鍗存Ы 10锛欰=>B 11:B=>A  100:灏忚溅鍏呯數浠诲姟
+            wrkMastExecute.setType(digit[3]);//璁惧  0: 鏈煡  1: 纭寲缃�  2: 鍐峰嵈妲�  3: 纭寲缃�==>鍐峰嵈妲�
+            return wrkMastExecuteService.insert(wrkMastExecute);
+        } catch (Exception e) {
+            log.error("JarWrkMastExecute浠诲姟鍒涘缓===>鎵ц寮傚父===銆嬪紓甯稿師鍥狅細"+e.getMessage());
+        }
+        return false;
+    }
+
+    /**
+     *  JarWrkMastExecute浠诲姟鍒涘缓===>鎵ц   //瀹屾垚
+     */
+    public synchronized boolean jarWrkMastExecuteGenerateExecuteMove(BasJar basJar,BasJarMast basJarMast,Integer id,int[] digit) {
+        try {
+            WrkMastExecute wrkMastExecute = new WrkMastExecute(basJarMast);
+            wrkMastExecute.setJarId(id);
+            wrkMastExecute.setSteId(digit[0]);//绌挎鏉縄D
+            wrkMastExecute.setRgvId(basJar.getEnterRgvNo());//RGV ID  enter
+            wrkMastExecute.setRgvEndId(basJar.getOutRgvNo());//RGV ID  out
             wrkMastExecute.setIoType(digit[2]);//浠诲姟绫诲瀷 0: 鏈煡  1: 寮�杩涙枡闂�  2: 鍏宠繘鏂欓棬  3: 寮�鍑烘枡闂�  4: 鍏冲嚭鏂欓棬  5: 鍏ョ～鍖栫綈  6: 鍏ュ喎鍗存Ы  7: 绌挎杞﹁繘鍐峰嵈妲�  8: 绌挎杞︾寮�鍐峰嵈妲�  9: 鍑哄喎鍗存Ы 10锛欰=>B 11:B=>A
             wrkMastExecute.setType(digit[3]);//璁惧  0: 鏈煡  1: 纭寲缃�  2: 鍐峰嵈妲�  3: 纭寲缃�==>鍐峰嵈妲�
             return wrkMastExecuteService.insert(wrkMastExecute);
@@ -5267,10 +5794,22 @@
     * JarWrkMastExecute浠诲姟鍒涘缓==>涓嬪彂
     * Action
     * */
-    public synchronized void jarWrkMastExecuteAction(Integer sign) {
+    public synchronized void jarWrkMastExecuteAction(Integer sign,Integer sign2) {
+        if (sign2==0){
+            jarWrkMastExecuteActionOne(sign);
+        } else if (sign2 == 1){
+            jarWrkMastExecuteActionTwo(sign);
+        } else if (sign2 == 2){
+            jarWrkMastExecuteActionThree(sign);
+        }
+    }
+    public synchronized void jarWrkMastExecuteActionOne(Integer sign) {
         try{
             List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, null,0);
             for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
+                if (wrkMastExecute.getWrkSts()!=0){
+                    continue;
+                }
                 /*
                 * 浠诲姟绫诲瀷 0: 鏈煡
                 * 1: 寮�杩涙枡闂�  2: 鍏宠繘鏂欓棬  3: 寮�鍑烘枡闂�  4: 鍏冲嚭鏂欓棬
@@ -5279,7 +5818,79 @@
                 * 7: 绌挎杞﹁繘鍐峰嵈妲�  8: 绌挎杞︾寮�鍐峰嵈妲�
                 * 9: 鍑哄喎鍗存Ы
                 * 10锛欰=>B 11:B=>A
+                * 100锛氬厖鐢典换鍔�
                 * */
+                log.error("JarWrkMastExecute浠诲姟鍒涘缓==>涓嬪彂===>琛�={}",5326);
+                switch (wrkMastExecute.getIoType()){
+                    case 1://1: 寮�杩涙枡闂�
+                    case 3://3: 寮�鍑烘枡闂�
+                        if (jarWrkMastExecuteActionExecute1(wrkMastExecute,sign)){
+                            break;
+                        }
+                        continue;
+                    case 2:
+                    case 4:
+                        if (jarWrkMastExecuteActionExecute2(wrkMastExecute,sign)){
+                            break;
+                        }
+                        continue;
+                    case 5:
+                        if (jarWrkMastExecuteActionExecute5(wrkMastExecute,sign)){
+                            break;
+                        }
+                        continue;
+                    case 6:
+                        if (jarWrkMastExecuteActionExecute6(wrkMastExecute,sign)){
+                            break;
+                        }
+                        continue;
+                    case 7:
+                    case 8:
+                        if (jarWrkMastExecuteActionExecute7(wrkMastExecute,sign)){
+                            break;
+                        }
+                        continue;
+                    case 9:
+                        if (jarWrkMastExecuteActionExecute9(wrkMastExecute,sign)){
+                            break;
+                        }
+                        continue;
+                    case 10:
+                    case 11:
+                        if (jarWrkMastExecuteActionExecute10(wrkMastExecute,sign)){
+                            break;
+                        }
+                        continue;
+                    case 100:
+                        if (jarWrkMastExecuteActionExecute100(wrkMastExecute,sign)){
+                            break;
+                        }
+                        continue;
+                }
+            }
+        } catch (Exception e){
+            log.error("JarWrkMastExecute浠诲姟鍒涘缓===>Action==>涓嬪彂"+e.getMessage());
+        }
+
+    }
+
+    /*
+     * JarWrkMastExecute浠诲姟鍒涘缓==>涓嬪彂
+     * Action
+     * */
+    public synchronized void jarWrkMastExecuteActionTwo(Integer sign) {
+        try{
+            List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, null,2);
+            for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
+                /*
+                 * 浠诲姟绫诲瀷 0: 鏈煡
+                 * 1: 寮�杩涙枡闂�  2: 鍏宠繘鏂欓棬  3: 寮�鍑烘枡闂�  4: 鍏冲嚭鏂欓棬
+                 * 5: 鍏ョ～鍖栫綈
+                 * 6: 鍏ュ喎鍗存Ы
+                 * 7: 绌挎杞﹁繘鍐峰嵈妲�  8: 绌挎杞︾寮�鍐峰嵈妲�
+                 * 9: 鍑哄喎鍗存Ы
+                 * 10锛欰=>B 11:B=>A
+                 * */
                 switch (wrkMastExecute.getIoType()){
                     case 1://1: 寮�杩涙枡闂�
                     case 3://3: 寮�鍑烘枡闂�
@@ -5310,7 +5921,7 @@
                         }
                         return;
                     case 9:
-                        if (jarWrkMastExecuteActionExecute9(wrkMastExecute,sign)){
+                        if (jarWrkMastExecuteActionExecute9Two(wrkMastExecute,sign)){
                             break;
                         }
                         return;
@@ -5328,6 +5939,43 @@
 
     }
 
+    /*
+     * JarWrkMastExecute浠诲姟鍒涘缓==>涓嬪彂
+     * Action
+     * */
+    public synchronized void jarWrkMastExecuteActionThree(Integer sign) {
+        try{
+            List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, null,4);
+            for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
+                /*
+                 * 浠诲姟绫诲瀷 0: 鏈煡
+                 * 1: 寮�杩涙枡闂�  2: 鍏宠繘鏂欓棬  3: 寮�鍑烘枡闂�  4: 鍏冲嚭鏂欓棬
+                 * 5: 鍏ョ～鍖栫綈
+                 * 6: 鍏ュ喎鍗存Ы
+                 * 7: 绌挎杞﹁繘鍐峰嵈妲�  8: 绌挎杞︾寮�鍐峰嵈妲�
+                 * 9: 鍑哄喎鍗存Ы
+                 * 10锛欰=>B 11:B=>A
+                 * */
+                switch (wrkMastExecute.getIoType()){
+                    case 5:
+                        if (jarWrkMastExecuteActionExecute5Three(wrkMastExecute,sign)){
+                            break;
+                        }
+                        return;
+                    case 6:
+                        if (jarWrkMastExecuteActionExecute6Three(wrkMastExecute,sign)){
+                            break;
+                        }
+                        return;
+                }
+            }
+        } catch (Exception e){
+            log.error("JarWrkMastExecute浠诲姟鍒涘缓===>Action==>涓嬪彂"+e.getMessage());
+        }
+
+    }
+
+
     /**
      *  JarWrkMastExecute浠诲姟==>涓嬪彂 //瀹屾垚
      *  1銆�3寮�杩涙枡闂�
@@ -5336,10 +5984,12 @@
     public synchronized boolean jarWrkMastExecuteActionExecute1(WrkMastExecute wrkMastExecute,Integer sign) {
         try{
             List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
-            if (wrkMastExecuteByJarNo.size()!=1 || !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
+            if (wrkMastExecuteByJarNo.size()!=1
+                    || !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
+                    || !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
+                    || !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
                 return false;
             }
-
             // 鑾峰彇纭寲缃愪俊鎭�
             JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
             JarProtocol jarProtocol = jarThread.getJarProtocol();
@@ -5349,7 +5999,14 @@
             if (jarProtocol.modeType != JarModeType.AUTO){
                 return false;
             }
-
+            if (jarProtocol.statusType .equals(JarStatusType.SOS)){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧姝ｅ湪纭寲涓紝浠诲姟寮傚父锛侊紒锛�",jarProtocol.getJarNo());
+                return false;
+            }
+            if (jarProtocol.getJarTemperature()>50){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
+                return false;
+            }
             BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
             if (Cools.isEmpty(basJar)){
                 log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",jarProtocol.getJarNo());
@@ -5360,7 +6017,7 @@
 //            if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
 //                return false;
 //            }
-            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
             StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
             if (staProtocolRGV == null) {
                 return false;
@@ -5385,9 +6042,9 @@
             if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
                 if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
                     //绉昏蛋  == > 2
-                    if (jarRgvMoveTake(wrkMastExecute,2)){
+                    if (!jarRgvMoveTake(wrkMastExecute,2)){
                         log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                     }
                     return true;
                 }
@@ -5395,40 +6052,41 @@
                 //鑷姩銆佺┖闂层��  杩涙枡浠叧闂渶鎵撳紑
                 if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
                         && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0){
+                    log.error("1銆�3寮�杩涙枡闂�==>浠诲姟涓嬪彂===>琛�={}",5546);
                     if (!jarProtocol.isLeftDoor() && !jarProtocol.isRightDoor()){
                         if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
                             //绉昏蛋  == > 2
-                            if (jarRgvMoveTake(wrkMastExecute,2)){
+                            if (!jarRgvMoveTake(wrkMastExecute,2)){
                                 log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                        wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                             }
                             wrkMastExecute.setWrkType(1);
-                            wrkMastExecute.setWrkSts(1);
-                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                            wrkMastExecute.setWrkSts(2);
+                            if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                 log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                        wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                             }
                         } else {
                             //鐩存帴寮�闂�/鍏抽棬
-                            if (jarDoorTake(wrkMastExecute,JarTaskModeType.OPEN_THE_DOOR)){
+                            if (!jarDoorTake(wrkMastExecute,JarTaskModeType.OPEN_THE_DOOR)){
                                 log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                        wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                             }
                             wrkMastExecute.setWrkType(1);
                             wrkMastExecute.setWrkSts(3);
 
-                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                            if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                 log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                        wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                             }
                         }
                     }else if (jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()){
                         //鐩存帴瀹屾垚
                         wrkMastExecute.setWrkType(1);
                         wrkMastExecute.setWrkSts(4);
-                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                             log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                         }
                     }
 
@@ -5453,7 +6111,10 @@
     public synchronized boolean jarWrkMastExecuteActionExecute2(WrkMastExecute wrkMastExecute,Integer sign) {
         try{
             List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
-            if (wrkMastExecuteByJarNo.size()!=1 || !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
+            if (wrkMastExecuteByJarNo.size()!=1
+                    || !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
+                    || !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
+                    || !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
                 return false;
             }
 
@@ -5466,124 +6127,14 @@
             if (jarProtocol.modeType != JarModeType.AUTO){
                 return false;
             }
-
-            BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
-            if (Cools.isEmpty(basJar)){
-                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",jarProtocol.getJarNo());
+            if (jarProtocol.statusType .equals(JarStatusType.WAITING2) || jarProtocol.statusType .equals(JarStatusType.SOS)){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧姝ｅ湪纭寲涓紝浠诲姟寮傚父锛侊紒锛�",jarProtocol.getJarNo());
                 return false;
             }
-
-//            //鍒ゆ柇灏忚溅鐘舵��
-//            if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
-//                return false;
-//            }
-
-            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
-            StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
-            if (staProtocolRGV == null) {
-                return false;
-            } else {
-                staProtocolRGV = staProtocolRGV.clone();
-            }
-            if (staProtocolRGV == null) {
+            if (jarProtocol.getJarTemperature()>50){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
                 return false;
             }
-
-            StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
-            if (staProtocolRGVOther == null) {
-                return false;
-            } else {
-                staProtocolRGVOther = staProtocolRGVOther.clone();
-            }
-            if (staProtocolRGVOther == null) {
-                return false;
-            }
-
-            if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
-                if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
-                    //绉昏蛋  == > 2
-                    if (jarRgvMoveTake(wrkMastExecute,2)){
-                        log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
-                    }
-                    return true;
-                }
-                //闂ㄤ綔涓�  鏃�
-                //鑷姩銆佺┖闂层��  杩涙枡浠墦寮�闇�鍏抽棴
-                if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
-                        && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0){
-                    if (jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()){
-                        if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
-                            //绉昏蛋  == > 2
-                            if (jarRgvMoveTake(wrkMastExecute,2)){
-                                log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
-                            }
-                            wrkMastExecute.setWrkType(1);
-                            wrkMastExecute.setWrkSts(1);
-
-                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
-                                log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
-                            }
-                        } else {
-                            //鐩存帴鍏抽棬
-                            if (jarDoorTake(wrkMastExecute,JarTaskModeType.CLOSE_THE_DOOR)){
-                                log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
-                            }
-                            wrkMastExecute.setWrkType(1);
-                            wrkMastExecute.setWrkSts(3);
-
-                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
-                                log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                        wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
-                            }
-                        }
-                    } else if (!jarProtocol.isLeftDoor() && !jarProtocol.isRightDoor()){
-                        //鐩存帴瀹屾垚
-                        wrkMastExecute.setWrkType(1);
-                        wrkMastExecute.setWrkSts(4);
-                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
-                            log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
-                        }
-                    }
-                    return true;
-                }
-                return false;
-            } else {
-                log.error("jarWrkMastExecuteActionExecute1===>鎵ц寮傚父===銆婻GV涓嶆弧瓒虫潯浠讹紝绛夊緟===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar.getEnterRgvNo())+";WrkMastExecute:"+JSON.toJSONString(wrkMastExecute));
-                return false;
-            }
-        } catch (Exception e){
-            log.error("jarWrkMastExecuteActionExecute1浠诲姟鎵ц涓嬪彂寮傚父==銆媤rkMastExecute={},寮傚父鍘熷洜={}",wrkMastExecute,e.getMessage());
-        }
-        return false;
-    }
-
-    /**
-     *  JarWrkMastExecute浠诲姟==>涓嬪彂 //瀹屾垚
-     *  5:鍏ョ～鍖栫綈
-     *  浠诲姟涓嬪彂
-     */
-    public synchronized boolean jarWrkMastExecuteActionExecute5(WrkMastExecute wrkMastExecute,Integer sign) {
-        try{
-            List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
-            if (wrkMastExecuteByJarNo.size()!=1 || !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
-                return false;
-            }
-
-            // 鑾峰彇纭寲缃愪俊鎭�
-            JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
-            JarProtocol jarProtocol = jarThread.getJarProtocol();
-            if (jarProtocol == null) {
-                return false;
-            }
-            if (jarProtocol.modeType != JarModeType.AUTO){
-                return false;
-            }
-
             BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
             if (Cools.isEmpty(basJar)){
                 log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",jarProtocol.getJarNo());
@@ -5619,9 +6170,131 @@
             if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
                 if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
                     //绉昏蛋  == > 2
-                    if (jarRgvMoveTake(wrkMastExecute,2)){
+                    if (!jarRgvMoveTake(wrkMastExecute,2)){
                         log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+                    }
+                    return true;
+                }
+                //闂ㄤ綔涓�  鏃�
+                //鑷姩銆佺┖闂层��  杩涙枡浠墦寮�闇�鍏抽棴
+                if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
+                        && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0){
+                    log.error("2銆�4:鍏抽棬==>浠诲姟涓嬪彂===>琛�={}",5667);
+                    if (jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()){
+                        if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
+                            //绉昏蛋  == > 2
+                            if (!jarRgvMoveTake(wrkMastExecute,2)){
+                                log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
+                                        wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+                            }
+                            wrkMastExecute.setWrkType(1);
+                            wrkMastExecute.setWrkSts(2);
+
+                            if (!wrkMastExecuteService.updateById(wrkMastExecute)){
+                                log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
+                                        wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+                            }
+                        } else {
+                            //鐩存帴鍏抽棬
+                            if (!jarDoorTake(wrkMastExecute,JarTaskModeType.CLOSE_THE_DOOR)){
+                                log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
+                                        wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+                            }
+                            wrkMastExecute.setWrkType(1);
+                            wrkMastExecute.setWrkSts(3);
+
+                            if (!wrkMastExecuteService.updateById(wrkMastExecute)){
+                                log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
+                                        wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+                            }
+                        }
+                    } else if (!jarProtocol.isLeftDoor() && !jarProtocol.isRightDoor()){
+                        //鐩存帴瀹屾垚
+                        wrkMastExecute.setWrkType(1);
+                        wrkMastExecute.setWrkSts(4);
+                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
+                            log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+                        }
+                    }
+                    return true;
+                }
+                return false;
+            } else {
+                log.error("jarWrkMastExecuteActionExecute1===>鎵ц寮傚父===銆婻GV涓嶆弧瓒虫潯浠讹紝绛夊緟===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar.getEnterRgvNo())+";WrkMastExecute:"+JSON.toJSONString(wrkMastExecute));
+                return false;
+            }
+        } catch (Exception e){
+            log.error("jarWrkMastExecuteActionExecute1浠诲姟鎵ц涓嬪彂寮傚父==銆媤rkMastExecute={},寮傚父鍘熷洜={}",wrkMastExecute,e.getMessage());
+        }
+        return false;
+    }
+
+    /**
+     *  JarWrkMastExecute浠诲姟==>涓嬪彂 //瀹屾垚
+     *  5:鍏ョ～鍖栫綈
+     *  浠诲姟涓嬪彂
+     */
+    public synchronized boolean jarWrkMastExecuteActionExecute5(WrkMastExecute wrkMastExecute,Integer sign) {
+        try{
+            List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
+            if (wrkMastExecuteByJarNo.size()!=1
+                    || !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
+                    || !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
+                    || !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
+                return false;
+            }
+
+            // 鑾峰彇纭寲缃愪俊鎭�
+            JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
+            JarProtocol jarProtocol = jarThread.getJarProtocol();
+            if (jarProtocol == null) {
+                return false;
+            }
+            if (jarProtocol.modeType != JarModeType.AUTO){
+                return false;
+            }
+            if (jarProtocol.statusType .equals(JarStatusType.WAITING2) || jarProtocol.statusType .equals(JarStatusType.SOS)){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧姝ｅ湪纭寲涓紝浠诲姟寮傚父锛侊紒锛�",jarProtocol.getJarNo());
+                return false;
+            }
+            if (jarProtocol.getJarTemperature()>50){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
+                return false;
+            }
+            BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
+            if (Cools.isEmpty(basJar)){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",jarProtocol.getJarNo());
+                return false;
+            }
+
+            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+            StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
+            if (staProtocolRGV == null) {
+                return false;
+            } else {
+                staProtocolRGV = staProtocolRGV.clone();
+            }
+            if (staProtocolRGV == null) {
+                return false;
+            }
+
+            StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
+            if (staProtocolRGVOther == null) {
+                return false;
+            } else {
+                staProtocolRGVOther = staProtocolRGVOther.clone();
+            }
+            if (staProtocolRGVOther == null) {
+                return false;
+            }
+            if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
+                if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
+                    //绉昏蛋  == > 2
+                    if (!jarRgvMoveTake(wrkMastExecute,2)){
+                        log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
+                                wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                     }
                     return true;
                 }
@@ -5629,36 +6302,152 @@
                 //鑷姩銆佺┖闂层��  杩涙枡浠墦寮�闇�鍏抽棴
                 if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
                         && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0){
-
+                    log.error("5:鍏ョ～鍖栫綈==>浠诲姟涓嬪彂===>琛�={}",5667);
+                    //鍒ゆ柇灏忚溅鐘舵��  //鍏ョ～鍖栫綈灏忚溅鍙复鏃跺睆钄�
+                    if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE,true)){
+                        return false;
+                    }
                     if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
-                        //鍒ゆ柇灏忚溅鐘舵��
-                        if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
-                            return false;
-                        }
+
                         //璋冭溅  == > 鍙栬揣
-                        if (jarRgvGetTake(wrkMastExecute
+                        if (!jarRgvGetTake(wrkMastExecute
                                 ,SteAndJarUtil.getRgvStaRow(wrkMastExecute.getJarEnterStaNo())==1
                                 ,SteAndJarUtil.getRgvStaRow(wrkMastExecute.getJarEnterStaNo())==3)){
                             log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+                            return true;
                         }
                         wrkMastExecute.setWrkType(1);
                         wrkMastExecute.setWrkSts(3);
-                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                             log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                         }
                     } else {
                         //璋冭溅  == > endRow
-                        if (jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
+                        if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                             log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                         }
                         wrkMastExecute.setWrkType(1);
-                        wrkMastExecute.setWrkSts(1);
-                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                        wrkMastExecute.setWrkSts(2);
+                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                             log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+                        }
+                    }
+                    return true;
+                }
+                return false;
+            } else {
+                log.error("jarWrkMastExecuteActionExecute1===>鎵ц寮傚父===銆婻GV涓嶆弧瓒虫潯浠讹紝绛夊緟===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar.getEnterRgvNo())+";WrkMastExecute:"+JSON.toJSONString(wrkMastExecute));
+                return false;
+            }
+        } catch (Exception e){
+            log.error("jarWrkMastExecuteActionExecute1浠诲姟鎵ц涓嬪彂寮傚父==銆媤rkMastExecute={},寮傚父鍘熷洜={}",wrkMastExecute,e.getMessage());
+        }
+        return false;
+    }
+
+    /**
+     *  JarWrkMastExecute浠诲姟==>涓嬪彂 //瀹屾垚
+     *  io_type==>5:鍏ョ～鍖栫綈  :  wrkSts  ==>4锛歳gv鍙栬揣瀹屾垚
+     *  =====>wrkSts ==>5锛歋te绌挎鐗堝叆纭寲缃�(娓呮RGV璧勬枡)
+     *  浠诲姟涓嬪彂
+     */
+    public synchronized boolean jarWrkMastExecuteActionExecute5Three(WrkMastExecute wrkMastExecute,Integer sign) {
+        try{
+            List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecute);
+            if (wrkMastExecuteByJarNo.size()!=1 || !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
+                return false;
+            }
+
+            // 鑾峰彇纭寲缃愪俊鎭�
+            JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
+            JarProtocol jarProtocol = jarThread.getJarProtocol();
+            if (jarProtocol == null) {
+                return false;
+            }
+            if (jarProtocol.modeType != JarModeType.AUTO){
+                return false;
+            }
+            if (jarProtocol.statusType .equals(JarStatusType.WAITING2) || jarProtocol.statusType .equals(JarStatusType.SOS)){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧姝ｅ湪纭寲涓紝浠诲姟寮傚父锛侊紒锛�",jarProtocol.getJarNo());
+                return false;
+            }
+            if (jarProtocol.getJarTemperature()>50){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
+                return false;
+            }
+            BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
+            if (Cools.isEmpty(basJar)){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",jarProtocol.getJarNo());
+                return false;
+            }
+
+//            //鍒ゆ柇灏忚溅鐘舵��
+//            if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
+//                return false;
+//            }
+
+            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+            StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
+            if (staProtocolRGV == null) {
+                return false;
+            } else {
+                staProtocolRGV = staProtocolRGV.clone();
+            }
+            if (staProtocolRGV == null) {
+                return false;
+            }
+
+            StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
+            if (staProtocolRGVOther == null) {
+                return false;
+            } else {
+                staProtocolRGVOther = staProtocolRGVOther.clone();
+            }
+            if (staProtocolRGVOther == null) {
+                return false;
+            }
+
+            if (staProtocolRGV.rgvBoolean(2) && staProtocolRGVOther.rgvBoolean(1)){//涓存椂
+//            if (staProtocolRGV.rgvBoolean(2)){
+                if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
+                    //绉昏蛋  == > 2
+                    if (!jarRgvMoveTake(wrkMastExecute,2)){
+                        log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
+                                wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+                    }
+                    return true;
+                }
+                //闂ㄤ綔涓�  鏃�
+                //鑷姩銆佺┖闂层��  杩涙枡浠墦寮�闇�鍏抽棴
+                if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
+                        && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0){
+                    log.error("io_type==>5:鍏ョ～鍖栫綈  :  wrkSts  ==>4锛歳gv鍙栬揣瀹屾垚==>浠诲姟涓嬪彂===>琛�={}",5898);
+
+                    if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
+                        //鍒ゆ柇灏忚溅鐘舵��
+                        if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE,true)){
+                            return false;
+                        }
+                        //璋冭溅  == > 鍙栬揣
+                        if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT22.id,SteTaskModeType.STE_WFFH_13,false,wrkMastExecute.getJarId())){
+                            log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触锛宻te鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+                        }
+                        wrkMastExecute.setWrkType(1);
+                        wrkMastExecute.setWrkSts(5);
+                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
+                            log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+                        }
+                    } else {
+                        //璋冭溅  == > endRow
+                        if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
+                            log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                         }
                     }
                     return true;
@@ -5682,7 +6471,10 @@
     public synchronized boolean jarWrkMastExecuteActionExecute6(WrkMastExecute wrkMastExecute,Integer sign) {
         try{
             List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
-            if (wrkMastExecuteByJarNo.size()!=1 || !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
+            if (wrkMastExecuteByJarNo.size()!=1
+                    || !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
+                    || !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
+                    || !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
                 return false;
             }
 
@@ -5695,19 +6487,21 @@
             if (jarProtocol.modeType != JarModeType.AUTO){
                 return false;
             }
-
+            if (jarProtocol.statusType .equals(JarStatusType.SOS)){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧姝ｅ湪纭寲涓紝浠诲姟寮傚父锛侊紒锛�",jarProtocol.getJarNo());
+                return false;
+            }
+            if (jarProtocol.getJarTemperature()>50){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
+                return false;
+            }
             BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
             if (Cools.isEmpty(basJar)){
                 log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",jarProtocol.getJarNo());
                 return false;
             }
 
-//            //鍒ゆ柇灏忚溅鐘舵��
-//            if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
-//                return false;
-//            }
-
-            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
             StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
             if (staProtocolRGV == null) {
                 return false;
@@ -5728,12 +6522,13 @@
                 return false;
             }
 
-            if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
+            if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){ //涓存椂
+//            if ( staProtocolRGVOther.rgvBoolean(1)){
                 if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
                     //绉昏蛋  == > 2
-                    if (jarRgvMoveTake(wrkMastExecute,2)){
+                    if (!jarRgvMoveTake(wrkMastExecute,2)){
                         log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                     }
                     return true;
                 }
@@ -5741,34 +6536,36 @@
                 //鑷姩銆佺┖闂层��
                 if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
                         && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0){
+                    log.error("6:鍏ュ喎鍗存Ы==>浠诲姟涓嬪彂===>琛�={}",6002);
+                    //鍒ゆ柇灏忚溅鐘舵��
+                    if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE,true)){
+                        return false;
+                    }
 
                     if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
-                        //鍒ゆ柇灏忚溅鐘舵��
-                        if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
-                            return false;
-                        }
+
                         //璋冭溅  == > 鍙栬揣
-                        if (jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT21.id,SteTaskModeType.STE_WFQH_12,false)){
+                        if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT21.id,SteTaskModeType.STE_WFQH_12,false,wrkMastExecute.getJarId())){
                             log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触锛宻te鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                         }
                         wrkMastExecute.setWrkType(1);
                         wrkMastExecute.setWrkSts(3);
-                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                             log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                         }
                     } else {
                         //璋冭溅  == > endRow
-                        if (jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
+                        if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                             log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                         }
                         wrkMastExecute.setWrkType(1);
-                        wrkMastExecute.setWrkSts(1);
-                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                        wrkMastExecute.setWrkSts(2);
+                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                             log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                         }
                     }
                     return true;
@@ -5786,12 +6583,12 @@
 
     /**
      *  JarWrkMastExecute浠诲姟==>涓嬪彂 //瀹屾垚
-     *  7锛氱┛姊溅杩涘喎鍗存Ы\8锛氱┛姊溅绂诲紑鍐峰嵈妲�
+     *  6:鍏ュ喎鍗存Ы
      *  浠诲姟涓嬪彂
      */
-    public synchronized boolean jarWrkMastExecuteActionExecute7(WrkMastExecute wrkMastExecute,Integer sign) {
+    public synchronized boolean jarWrkMastExecuteActionExecute6Three(WrkMastExecute wrkMastExecute,Integer sign) {
         try{
-            List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
+            List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecute);
             if (wrkMastExecuteByJarNo.size()!=1 || !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
                 return false;
             }
@@ -5806,6 +6603,130 @@
                 return false;
             }
 
+            if (jarProtocol.statusType .equals(JarStatusType.SOS)){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧姝ｅ湪纭寲涓紝浠诲姟寮傚父锛侊紒锛�",jarProtocol.getJarNo());
+                return false;
+            }
+            if (jarProtocol.getJarTemperature()>50){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
+                return false;
+            }
+            BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
+            if (Cools.isEmpty(basJar)){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",jarProtocol.getJarNo());
+                return false;
+            }
+
+//            //鍒ゆ柇灏忚溅鐘舵��
+//            if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1)){
+//                return false;
+//            }
+
+            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+            StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
+            if (staProtocolRGV == null) {
+                return false;
+            } else {
+                staProtocolRGV = staProtocolRGV.clone();
+            }
+            if (staProtocolRGV == null) {
+                return false;
+            }
+
+            StaProtocol staProtocolRGVOther = devpThread.getStation().get(basJar.getOutRgvNo());
+            if (staProtocolRGVOther == null) {
+                return false;
+            } else {
+                staProtocolRGVOther = staProtocolRGVOther.clone();
+            }
+            if (staProtocolRGVOther == null) {
+                return false;
+            }
+
+            if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){ //涓存椂
+//            if (staProtocolRGVOther.rgvBoolean(1)){
+                if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
+                    //绉昏蛋  == > 2
+                    if (!jarRgvMoveTake(wrkMastExecute,2)){
+                        log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
+                                wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+                    }
+                    return true;
+                }
+                //闂ㄤ綔涓�  鏃�
+                //鑷姩銆佺┖闂层��
+                if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
+                        && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0){
+                    log.error("6:鍏ュ喎鍗存Ы Three==>浠诲姟涓嬪彂===>琛�={}",6115);
+
+                    if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
+                        //鍒ゆ柇灏忚溅鐘舵��
+                        if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.WAITING2,false)){
+                            return false;
+                        }
+                        //璋冭溅  == > 鍙栬揣
+                        if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT25.id,SteTaskModeType.STE_WFFH_13,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
+                            log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触锛宻te鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+                        }
+                        wrkMastExecute.setWrkType(1);
+                        wrkMastExecute.setWrkSts(5);
+                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
+                            log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+                        }
+                    } else {
+                        //璋冭溅  == > endRow
+                        if (!jarRgvMoveTake(wrkMastExecute,1)){
+                            log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+                        }
+//                        wrkMastExecute.setWrkType(1);
+//                        wrkMastExecute.setWrkSts(2);
+//                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
+//                            log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
+//                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+//                        }
+                    }
+                    return true;
+                }
+                return false;
+            } else {
+                log.error("jarWrkMastExecuteActionExecute1===>鎵ц寮傚父===銆婻GV涓嶆弧瓒虫潯浠讹紝绛夊緟===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar.getEnterRgvNo())+";WrkMastExecute:"+JSON.toJSONString(wrkMastExecute));
+                return false;
+            }
+        } catch (Exception e){
+            log.error("jarWrkMastExecuteActionExecute1浠诲姟鎵ц涓嬪彂寮傚父==銆媤rkMastExecute={},寮傚父鍘熷洜={}",wrkMastExecute,e.getMessage());
+        }
+        return false;
+    }
+
+    /**
+     *  JarWrkMastExecute浠诲姟==>涓嬪彂 //瀹屾垚
+     *  7锛氱┛姊溅杩涘喎鍗存Ы   7  B=>C
+     *  8锛氱┛姊溅绂诲紑鍐峰嵈妲�  8 C=>B
+     *  浠诲姟涓嬪彂
+     */
+    public synchronized boolean jarWrkMastExecuteActionExecute7(WrkMastExecute wrkMastExecute,Integer sign) {
+        try{
+            List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecute);
+            if (wrkMastExecuteByJarNo.size()!=1 || !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
+                return false;
+            }
+
+            // 鑾峰彇纭寲缃愪俊鎭�
+            JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, wrkMastExecute.getJarId());
+            JarProtocol jarProtocol = jarThread.getJarProtocol();
+            if (jarProtocol == null) {
+                return false;
+            }
+            if (jarProtocol.modeType != JarModeType.AUTO){
+                return false;
+            }
+            if (jarProtocol.getJarTemperature()>50){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
+                return false;
+            }
             BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
             if (Cools.isEmpty(basJar)){
                 log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",jarProtocol.getJarNo());
@@ -5833,7 +6754,7 @@
 //                return false;
 //            }
 
-            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
             StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
             if (staProtocolRGV == null) {
                 return false;
@@ -5857,9 +6778,9 @@
             if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
                 if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
                     //绉昏蛋  == > 2
-                    if (jarRgvMoveTake(wrkMastExecute,2)){
+                    if (!jarRgvMoveTake(wrkMastExecute,2)){
                         log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                     }
                     return true;
                 }
@@ -5869,64 +6790,64 @@
                         && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0
                         && jarProtocolOther.isLeftDoor() && jarProtocolOther.isRightDoor()
                 ){
-
+                    log.error("7锛氱┛姊溅杩涘喎鍗存Ы   7  B=>C//8锛氱┛姊溅绂诲紑鍐峰嵈妲�  8 C=>B Three==>浠诲姟涓嬪彂===>琛�={}",6245);
                     if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocolOther.getJarNo())){
                         //鍒ゆ柇灏忚溅鐘舵��
-                        if (wrkMastExecute.getIoType()==7){
-                            if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
+                        if (wrkMastExecute.getIoType()==7){  //7  B=>C
+                            if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE,true)){
                                 //璋冭溅  == > 绉诲姩
-                                if (jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT26.id,SteTaskModeType.STE_WFQH_12,false)){
+                                if (jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT26.id,SteTaskModeType.STE_MOVE_14,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
                                     log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触锛宻te鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                 }
                                 wrkMastExecute.setWrkType(1);
                                 wrkMastExecute.setWrkSts(3);
-                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                     log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                 }
-                            } else if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE)){
+                            } else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE,false)){
                                 wrkMastExecute.setWrkType(1);
                                 wrkMastExecute.setWrkSts(4);
-                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                     log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                 }
                             }
-                        } else {
-                            if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE)){
+                        } else { //8 C=>B
+                            if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE,false)){
                                 //璋冭溅  == > 绉诲姩
-                                if (jarSteTake(wrkMastExecute,SteLocaType.POINT26.id,SteLocaType.POINT23.id,SteTaskModeType.STE_WFQH_12,false)){
+                                if (!jarSteTake(wrkMastExecute,SteLocaType.POINT26.id,SteLocaType.POINT23.id,SteTaskModeType.STE_MOVE_14,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
                                     log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触锛宻te鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                 }
                                 wrkMastExecute.setWrkType(1);
                                 wrkMastExecute.setWrkSts(3);
-                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                     log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                 }
-                            } else if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
+                            } else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE,false)){
                                 wrkMastExecute.setWrkType(1);
                                 wrkMastExecute.setWrkSts(4);
-                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                     log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                 }
                             }
                         }
 
                     } else {
                         //璋冭溅  == > endRow
-                        if (jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
+                        if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(jarProtocolOther.getJarNo()))){
                             log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                         }
                         wrkMastExecute.setWrkType(1);
-                        wrkMastExecute.setWrkSts(1);
-                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                        wrkMastExecute.setWrkSts(2);
+                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                             log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                         }
                     }
                     return true;
@@ -5950,7 +6871,10 @@
     public synchronized boolean jarWrkMastExecuteActionExecute9(WrkMastExecute wrkMastExecute,Integer sign) {
         try{
             List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
-            if (wrkMastExecuteByJarNo.size()!=1 || !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
+            if (wrkMastExecuteByJarNo.size()!=1
+                    || !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
+                    || !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
+                    || !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
                 return false;
             }
 
@@ -5963,7 +6887,10 @@
 //            if (jarProtocol.modeType != JarModeType.AUTO){
 //                return false;
 //            }
-
+//            if (jarProtocol.getJarTemperature()>50){
+//                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
+//                return false;
+//            }
             BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
             if (Cools.isEmpty(basJar)){
                 log.error("{}鍙峰喎鍗存Ы鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",wrkMastExecute.getJarId());
@@ -5991,7 +6918,7 @@
 //                return false;
 //            }
 //
-            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
             StaProtocol staProtocol = devpThread.getStation().get(basJar.getStaNo());
             if (staProtocol == null) {
                 return false;
@@ -6020,7 +6947,7 @@
 //                    //绉昏蛋  == > 2
 //                    if (jarRgvTake(wrkMastExecute,2)){
 //                        log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-//                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+//                                wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
 //                    }
 //                    return true;
 //                }
@@ -6030,17 +6957,19 @@
 //                        && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0
 //                ){
                     //鍒ゆ柇灏忚溅鐘舵��
-                    if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE)){
+                    if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE,true)){
+                        log.error("9锛氬嚭鍐峰嵈妲�==>浠诲姟涓嬪彂===>琛�={}",6410);
+
                         //璋冭溅  == > 鍙栬揣
-                        if (jarSteTake(wrkMastExecute,SteLocaType.POINT26.id,SteLocaType.POINT24.id,SteTaskModeType.STE_WFQH_12,false)){
+                        if (!jarSteTake(wrkMastExecute,SteLocaType.POINT26.id,SteLocaType.POINT24.id,SteTaskModeType.STE_WFQH_12,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
                             log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触锛宻te鍙�={},浠诲姟鏁版嵁={},鍐峰嵈妲芥暟鎹�={},sign={}",
-                                    wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(basJar),sign);
+                                    wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(basJar),sign);
                         }
                         wrkMastExecute.setWrkType(1);
                         wrkMastExecute.setWrkSts(1);
-                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                             log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},鍐峰嵈妲芥暟鎹�={},sign={}",
-                                    wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(basJar),sign);
+                                    wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(basJar),sign);
                         }
                     }
                     return true;
@@ -6058,12 +6987,64 @@
 
     /**
      *  JarWrkMastExecute浠诲姟==>涓嬪彂 //瀹屾垚
+     *  9锛氬嚭鍐峰嵈妲�
+     *  浠诲姟涓嬪彂
+     */
+    public synchronized boolean jarWrkMastExecuteActionExecute9Two(WrkMastExecute wrkMastExecute,Integer sign) {
+        try{
+            List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
+            if (wrkMastExecuteByJarNo.size()!=1
+                    || !wrkMastExecuteByJarNo.get(0).getIoType().equals(wrkMastExecute.getIoType())
+                    || !wrkMastExecuteByJarNo.get(0).getWrkSts().equals(wrkMastExecute.getWrkSts())
+                    || !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo()) ){
+                return false;
+            }
+
+            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+            StaProtocol staProtocol = devpThread.getStation().get(wrkMastExecute.getJarOutStaNo());
+            if (staProtocol == null) {
+                return false;
+            } else {
+                staProtocol = staProtocol.clone();
+            }
+            if (staProtocol == null) {
+                return false;
+            }
+            if (staProtocol.getWorkNo()!=0 || !staProtocol.isAutoing() || !staProtocol.isLoading()){
+                return false;
+            }
+
+            //鍒ゆ柇STE灏忚溅鐘舵��
+            if (jarWrkMastExecuteGenerateSteStatus(wrkMastExecute.getSteId(),3,SteStatusType.IDLE,false)){
+                log.error("9锛氬嚭鍐峰嵈妲絋wo==>浠诲姟涓嬪彂===>琛�={}",6468);
+                // 涓嬪彂绔欑偣淇℃伅
+                staProtocol.setWorkNo(wrkMastExecute.getWrkNo().intValue());
+                staProtocol.setStaNo(wrkMastExecute.getOutStaNo());
+                if (!MessageQueue.offer(SlaveType.Devp, 2, new Task(2, staProtocol))) {
+                    return false;
+                }
+                wrkMastExecute.setWrkType(1);
+                wrkMastExecute.setWrkSts(3);
+                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
+                    log.error("杈撻�佺嚎鍑哄簱鐩爣绔欏懡浠や笅鍙戝け璐�===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},鏀捐揣绔欑偣鏁版嵁={},sign={}",
+                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(staProtocol),sign);
+                }
+            }
+            return true;
+        } catch (Exception e){
+            log.error("jarWrkMastExecuteActionExecute1浠诲姟鎵ц涓嬪彂寮傚父==銆媤rkMastExecute={},寮傚父鍘熷洜={}",wrkMastExecute,e.getMessage());
+        }
+        return false;
+    }
+
+    /**
+     *  JarWrkMastExecute浠诲姟==>涓嬪彂 //瀹屾垚
      *  10锛欰=>B\11锛欱=>A
      *  浠诲姟涓嬪彂
      */
     public synchronized boolean jarWrkMastExecuteActionExecute10(WrkMastExecute wrkMastExecute,Integer sign) {
         try{
-            List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.getWrkMastExecuteByJarNo(wrkMastExecute.getJarId());
+            List<WrkMastExecute> wrkMastExecuteByJarNo = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecute);
             if (wrkMastExecuteByJarNo.size()!=1 || !wrkMastExecuteByJarNo.get(0).getWrkNo().equals(wrkMastExecute.getWrkNo())){
                 return false;
             }
@@ -6078,6 +7059,14 @@
                 return false;
             }
 
+            if (jarProtocol.statusType .equals(JarStatusType.SOS)){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧姝ｅ湪纭寲涓紝浠诲姟寮傚父锛侊紒锛�",jarProtocol.getJarNo());
+                return false;
+            }
+            if (jarProtocol.getJarTemperature()>50){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
+                return false;
+            }
             BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
             if (Cools.isEmpty(basJar)){
                 log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",jarProtocol.getJarNo());
@@ -6089,7 +7078,7 @@
 //                return false;
 //            }
 
-            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
             StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
             if (staProtocolRGV == null) {
                 return false;
@@ -6110,12 +7099,13 @@
                 return false;
             }
 
-            if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
+            if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){ //涓存椂
+//            if ( staProtocolRGVOther.rgvBoolean(1)){
                 if (staProtocolRGV.getNowRow() != staProtocolRGVOther.getNowRow()){
                     //绉昏蛋  == > 2
-                    if (jarRgvMoveTake(wrkMastExecute,2)){
+                    if (!jarRgvMoveTake(wrkMastExecute,2)){
                         log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                     }
                     return true;
                 }
@@ -6124,64 +7114,64 @@
                 if (jarProtocol.isAutoing() && jarProtocol.jarErr==0 && jarProtocol.isLeftDoor() && jarProtocol.isRightDoor()
                         && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0
                 ){
-
+                    log.error("10锛欰=>B\\11锛欱=>A==>浠诲姟涓嬪彂===>琛�={}",6558);
                     if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
                         //鍒ゆ柇灏忚溅鐘舵��
-                        if (wrkMastExecute.getIoType()==10){
-                            if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
+                        if (wrkMastExecute.getIoType()==10){//10锛欰=>B
+                            if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE,true)){
                                 //璋冭溅  == > 绉诲姩
-                                if (jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT23.id,SteTaskModeType.STE_WFQH_12,false)){
+                                if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT23.id,SteTaskModeType.STE_MOVE_14,false,wrkMastExecute.getJarId())){
                                     log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触锛宻te鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                 }
                                 wrkMastExecute.setWrkType(1);
                                 wrkMastExecute.setWrkSts(3);
-                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                     log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                 }
-                            } else if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
+                            } else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE,false)){
                                 wrkMastExecute.setWrkType(1);
                                 wrkMastExecute.setWrkSts(4);
-                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                     log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                 }
                             }
-                        } else {
-                            if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE)){
+                        } else {//11:B=>A
+                            if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),2,SteStatusType.IDLE,false)){
                                 //璋冭溅  == > 绉诲姩
-                                if (jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT20.id,SteTaskModeType.STE_WFQH_12,false)){
+                                if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT20.id,SteTaskModeType.STE_MOVE_14,false,wrkMastExecute.getJarId())){
                                     log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触锛宻te鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                 }
                                 wrkMastExecute.setWrkType(1);
                                 wrkMastExecute.setWrkSts(3);
-                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                     log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                 }
-                            } else if (!jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE)){
+                            } else if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),1,SteStatusType.IDLE,false)){
                                 wrkMastExecute.setWrkType(1);
                                 wrkMastExecute.setWrkSts(4);
-                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                     log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                                 }
                             }
                         }
 
                     } else {
                         //璋冭溅  == > endRow
-                        if (jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
+                        if (!jarRgvMoveTake(wrkMastExecute,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId()))){
                             log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                         }
                         wrkMastExecute.setWrkType(1);
-                        wrkMastExecute.setWrkSts(1);
-                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                        wrkMastExecute.setWrkSts(2);
+                        if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                             log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
-                                    wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                         }
                     }
                     return true;
@@ -6193,6 +7183,59 @@
             }
         } catch (Exception e){
             log.error("jarWrkMastExecuteActionExecute1浠诲姟鎵ц涓嬪彂寮傚父==銆媤rkMastExecute={},寮傚父鍘熷洜={}",wrkMastExecute,e.getMessage());
+        }
+        return false;
+    }
+
+    /**
+     *  JarWrkMastExecute浠诲姟==>涓嬪彂 //瀹屾垚
+     *  100锛氬厖鐢典换鍔�
+     *  浠诲姟涓嬪彂
+     */
+    public synchronized boolean jarWrkMastExecuteActionExecute100(WrkMastExecute wrkMastExecute,Integer sign) {
+        try{
+            // 鑾峰彇纭寲缃愪俊鎭�
+            BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
+            if (Cools.isEmpty(basJar)){
+                log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",wrkMastExecute.getJarId());
+                return false;
+            }
+
+            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+            StaProtocol staProtocolRGV = devpThread.getStation().get(basJar.getEnterRgvNo());
+            if (staProtocolRGV == null) {
+                return false;
+            } else {
+                staProtocolRGV = staProtocolRGV.clone();
+            }
+            if (staProtocolRGV == null) {
+                return false;
+            }
+
+            if (staProtocolRGV.rgvBoolean(1) || staProtocolRGV.rgvBoolean(2)){
+                //闂ㄤ綔涓�  鏃�
+                //鑷姩銆佺┖闂层��
+                    log.error("100:鍏呯數浠诲姟==>浠诲姟涓嬪彂===>琛�={}",6899);
+                    //鍒ゆ柇灏忚溅鐘舵��
+                    if (!jarWrkMastExecuteGenerateSteStatusCharge(basJar.getEnterSteNo(),1,SteStatusType.IDLE,false)){
+                        return false;
+                    }
+                    //璋冭溅  == > 鍙栬揣
+                    if (!jarSteTake(wrkMastExecute,SteLocaType.POINT20.id,SteLocaType.POINT20.id,SteTaskModeType.START_CHARGE,false,wrkMastExecute.getJarId())){
+                        log.error("绌挎鏉縎te鍏呯數鍛戒护涓嬪彂澶辫触锛宻te鍙�={},浠诲姟鏁版嵁={}",
+                                wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute));
+                    }
+                    wrkMastExecute.setWrkType(1);
+                    wrkMastExecute.setWrkSts(99);
+                    if (!wrkMastExecuteService.updateById(wrkMastExecute)){
+                        log.error("绌挎鏉縎te鍏呯數鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宻te鍙�={},浠诲姟鏁版嵁={}",
+                                wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute));
+                    }
+                    return true;
+                }
+                return false;
+        } catch (Exception e){
+            log.error("绌挎鏉縎te鍏呯數鍛戒护涓嬪彂澶辫触,寮傚父==銆媤rkMastExecute={},寮傚父鍘熷洜={}",wrkMastExecute,e.getMessage());
         }
         return false;
     }
@@ -6239,17 +7282,41 @@
     }
 
     /*
+     * Rgv  鍔ㄤ綔  鍙栬揣瀹屾垚澶嶄綅
+     * */
+    public synchronized boolean jarRgvGetFuTake(WrkMastExecute wrkMastExecute,boolean RGV6){
+        try {
+            StaProtocol staProtocol = new StaProtocol();
+            staProtocol.setSiteId(wrkMastExecute.getRgvId());
+            staProtocol.setRGV6(RGV6);
+            // 涓嬪彂绔欑偣淇℃伅
+            if (!MessageQueue.offer(SlaveType.Devp, 2, new Task(11, staProtocol))) {
+                log.error("骞宠　杞gv鍛戒护涓嬪彂澶辫触锛屽爢鍨涙満鍙�={},浠诲姟鏁版嵁={},涓嬪彂鏁版嵁={}", wrkMastExecute.getRgvId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocol));
+                return false;
+            }
+            return true;
+        }catch (Exception e){
+            log.error("骞宠　杞gv鍛戒护涓嬪彂澶辫触锛孯gv鍙�={},浠诲姟鏁版嵁={},RGV6={}", wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(RGV6));
+        }
+        return false;
+    }
+
+    /*
      * Ste  鍔ㄤ綔
      * */
-    public synchronized boolean jarSteTake(WrkMastExecute wrkMastExecute,Integer startLoad,Integer endLoad,SteTaskModeType steTaskModeType,boolean complete){
+    public synchronized boolean jarSteTake(WrkMastExecute wrkMastExecute,Integer startLoad,Integer endLoad,SteTaskModeType steTaskModeType,boolean complete,Integer siteId){
         try {
             SteCommand steCommand = new SteCommand();
+            steCommand.setTaskNo(wrkMastExecute.getWrkNo().intValue());
             steCommand.setSteNo(wrkMastExecute.getSteId());
             steCommand.setStartLoad(startLoad);
             steCommand.setEndLoad(endLoad);
             steCommand.setTaskModeType(steTaskModeType);
             steCommand.setComplete(complete);
-            steCommand.setJarNo(wrkMastExecute.getJarId().shortValue());
+            if (!complete){
+                steCommand.setTaskMode(steTaskModeType.id.shortValue());
+            }
+            steCommand.setJarNo(siteId.shortValue());
             if (!MessageQueue.offer(SlaveType.Ste, steCommand.getSteNo(), new Task(2, steCommand))) {
                 log.error("绌挎杞te鍛戒护涓嬪彂澶辫触锛屽爢鍨涙満鍙�={},浠诲姟鏁版嵁={},涓嬪彂鏁版嵁={},complete={}", steCommand.getSteNo(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steCommand),complete);
                 return false;
@@ -6281,7 +7348,7 @@
     }
 
     /**
-     *  JarWrkMastExecute浠诲姟瀹屾垚   //鏈畬鎴�
+     *  JarWrkMastExecute浠诲姟瀹屾垚   //瀹屾垚
      */
     public synchronized void jarWrkMastExecuteGenerateComplete(Integer sign) {
         try{
@@ -6314,7 +7381,7 @@
                     return;
             }
         }catch (Exception e){
-            log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
+            log.error("JarWrkMastExecute浠诲姟瀹屾垚鎶ラ敊锛�"+e);
         }
     }
 
@@ -6333,102 +7400,104 @@
                     continue;
                 }
                 if (steProtocol.getMode()==(short)1 && steProtocol.taskNo!=0 && steProtocol.getChargeStatus()==0){
-                    if (steProtocol.statusType.equals(SteStatusType.WAITING)){
-
-                    }
-                    WrkMastExecute wrkMastExecute = wrkMastExecuteService.getWrkMastExecuteByWrkNo(steProtocol.getTaskNo().longValue());
-                    if (!Cools.isEmpty(wrkMastExecute)){
-                        switch (wrkMastExecute.getIoType()){
-                            case 6:
-                                if (wrkMastExecute.getWrkSts()==3){//==>4
-                                    //1锛歊GV灏忚溅绉诲姩銆�2锛歊GV灏忚溅鍒颁綅銆�3锛歋te绌挎鐗堝彇璐с��4锛氬彇璐у畬鎴愮瓑寰呬笅涓�姝ャ��5锛歋te绌挎鐗堟斁璐ц嚦鍐峰嵈姹犮��6锛氭斁璐у畬鎴愩��7锛氭洿鏂板畬鎴�   //io_type = 6
-                                    //ste浠诲姟绛夊緟瀹屾垚
-                                    if (steProtocol.statusType.equals(SteStatusType.WAITING2)){
-                                        //ste浠诲姟瀹屾垚
-                                        if (jarSteTake(wrkMastExecute,null,null,null,true)){
-                                            wrkMastExecute.setWrkSts(4);
-                                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
-                                                log.error("绌挎杞te鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},绌挎杞︽暟鎹�={},sign={}",
-                                                        wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
-                                            }
-                                        }
-                                    }
-                                    log.error("绌挎杞te鍛戒护涓嬪彂澶辫触===>涓嬪彂寮傚父锛宩ar鍙�={},浠诲姟鏁版嵁={},绌挎杞︽暟鎹�={},sign={}",
-                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
-                                    return true;
-                                }
-                            case 5:
-                                if (wrkMastExecute.getWrkSts()==5){
-                                    //1锛歊GV灏忚溅绉诲姩銆�2锛歊GV灏忚溅鍒颁綅銆�3锛歳gv鍙栬揣銆�4锛歳gv鍙栬揣瀹屾垚銆�5锛歋te绌挎鐗堝叆纭寲缃愩��6锛氬叆缃愬畬鎴愩��7锛氭洿鏂板畬鎴�   //io_type = 5
-                                    //ste浠诲姟瀹屾垚
+//                    if (steProtocol.statusType.equals(SteStatusType.WAITING)){
+//
+//                    }
+                    List<WrkMastExecute> wrkMastExecuteByWrkNoList = wrkMastExecuteService.getWrkMastExecuteByWrkNoList(steProtocol.getTaskNo().longValue());
+                    for (WrkMastExecute wrkMastExecute : wrkMastExecuteByWrkNoList){
+                        if (!Cools.isEmpty(wrkMastExecute)){
+                            switch (wrkMastExecute.getIoType()){
+                                case 6:
                                     if (wrkMastExecute.getWrkSts()==3){//==>4
                                         //1锛歊GV灏忚溅绉诲姩銆�2锛歊GV灏忚溅鍒颁綅銆�3锛歋te绌挎鐗堝彇璐с��4锛氬彇璐у畬鎴愮瓑寰呬笅涓�姝ャ��5锛歋te绌挎鐗堟斁璐ц嚦鍐峰嵈姹犮��6锛氭斁璐у畬鎴愩��7锛氭洿鏂板畬鎴�   //io_type = 6
                                         //ste浠诲姟绛夊緟瀹屾垚
                                         if (steProtocol.statusType.equals(SteStatusType.WAITING)){
                                             //ste浠诲姟瀹屾垚
-                                            if (jarSteTake(wrkMastExecute,null,null,null,true)){
+                                            if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
+                                                wrkMastExecute.setWrkSts(4);
+                                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
+                                                    log.error("绌挎杞te鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},绌挎杞︽暟鎹�={},sign={}",
+                                                            wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSON(steProtocol),sign);
+                                                }
+                                                return true;
+                                            }
+                                        }
+                                        log.error("绌挎杞te鍛戒护涓嬪彂澶辫触===>涓嬪彂寮傚父锛宩ar鍙�={},浠诲姟鏁版嵁={},绌挎杞︽暟鎹�={},sign={}",
+                                                wrkMastExecute.getSteId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(steProtocol),sign);
+                                        return true;
+                                    }
+                                case 5:
+                                    if (wrkMastExecute.getWrkSts()==5){
+                                        //1锛歊GV灏忚溅绉诲姩銆�2锛歊GV灏忚溅鍒颁綅銆�3锛歳gv鍙栬揣銆�4锛歳gv鍙栬揣瀹屾垚銆�5锛歋te绌挎鐗堝叆纭寲缃愩��6锛氬叆缃愬畬鎴愩��7锛氭洿鏂板畬鎴�   //io_type = 5
+                                        //ste浠诲姟瀹屾垚
+                                        if (steProtocol.statusType.equals(SteStatusType.WAITING)){
+                                            //ste浠诲姟瀹屾垚
+                                            if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
                                                 wrkMastExecute.setWrkSts(6);
-                                                if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                                     log.error("绌挎杞te鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},绌挎杞︽暟鎹�={},sign={}",
                                                             wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
                                                 }
+                                                return true;
                                             }
                                         }
                                         log.error("绌挎杞te鍛戒护涓嬪彂澶辫触===>涓嬪彂寮傚父锛宩ar鍙�={},浠诲姟鏁版嵁={},绌挎杞︽暟鎹�={},sign={}",
                                                 wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
                                         return true;
                                     }
-                                    return true;
-                                }
-                                return false;
-                            case 7:
-                            case 8:
-                            case 10:
-                            case 11:
-                                //1锛歊GV灏忚溅绉诲姩銆�2锛歊GV灏忚溅鍒颁綅銆�3锛歋te绌挎鐗堢Щ鍔ㄤ腑銆�4锛氱Щ鍔ㄥ畬鎴愩��5锛氭洿鏂板畬鎴�
-                                if (wrkMastExecute.getWrkSts()==3){
-                                    //ste浠诲姟瀹屾垚
-                                    if (steProtocol.statusType.equals(SteStatusType.WAITING)){
+                                    continue;
+                                case 7:
+                                case 8:
+                                case 10:
+                                case 11:
+                                    //1锛歊GV灏忚溅绉诲姩銆�2锛歊GV灏忚溅鍒颁綅銆�3锛歋te绌挎鐗堢Щ鍔ㄤ腑銆�4锛氱Щ鍔ㄥ畬鎴愩��5锛氭洿鏂板畬鎴�
+                                    if (wrkMastExecute.getWrkSts()==3){
                                         //ste浠诲姟瀹屾垚
-                                        if (jarSteTake(wrkMastExecute,null,null,null,true)){
-                                            wrkMastExecute.setWrkSts(4);
-                                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
-                                                log.error("绌挎杞te鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},绌挎杞︽暟鎹�={},sign={}",
-                                                        wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
+                                        if (steProtocol.statusType.equals(SteStatusType.WAITING)){
+                                            //ste浠诲姟瀹屾垚
+                                            if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
+                                                wrkMastExecute.setWrkSts(4);
+                                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
+                                                    log.error("绌挎杞te鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},绌挎杞︽暟鎹�={},sign={}",
+                                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
+                                                }
+                                                return true;
                                             }
                                         }
+                                        log.error("绌挎杞te鍛戒护涓嬪彂澶辫触===>涓嬪彂寮傚父锛宩ar鍙�={},浠诲姟鏁版嵁={},绌挎杞︽暟鎹�={},sign={}",
+                                                wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
+                                        return true;
                                     }
-                                    log.error("绌挎杞te鍛戒护涓嬪彂澶辫触===>涓嬪彂寮傚父锛宩ar鍙�={},浠诲姟鏁版嵁={},绌挎杞︽暟鎹�={},sign={}",
-                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
-                                    return true;
-                                }
-                                return false;
-                            case 9:
-                                if (wrkMastExecute.getWrkSts()==1){
-                                    //1锛歋te绌挎鐗堝彇鏀捐揣涓��2锛氭斁璐у畬鎴愮瓑寰呬笅涓�姝ャ��3锛氳緭閫佺嚎浠诲姟涓嬪彂瀹屾垚銆�4锛氭洿鏂板畬鎴�   //io_type = 9
-                                    //ste浠诲姟瀹屾垚
-                                    if (steProtocol.statusType.equals(SteStatusType.WAITING)){
+                                    continue;
+                                case 9:
+                                    if (wrkMastExecute.getWrkSts()==1){
+                                        //1锛歋te绌挎鐗堝彇鏀捐揣涓��2锛氭斁璐у畬鎴愮瓑寰呬笅涓�姝ャ��3锛氳緭閫佺嚎浠诲姟涓嬪彂瀹屾垚銆�4锛氭洿鏂板畬鎴�   //io_type = 9
                                         //ste浠诲姟瀹屾垚
-                                        if (jarSteTake(wrkMastExecute,null,null,null,true)){
-                                            wrkMastExecute.setWrkSts(2);
-                                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
-                                                log.error("绌挎杞te鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},绌挎杞︽暟鎹�={},sign={}",
-                                                        wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
+                                        if (steProtocol.statusType.equals(SteStatusType.WAITING)){
+                                            //ste浠诲姟瀹屾垚
+                                            if (jarSteTake(wrkMastExecute,null,null,null,true,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
+                                                wrkMastExecute.setWrkSts(2);
+                                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
+                                                    log.error("绌挎杞te鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},绌挎杞︽暟鎹�={},sign={}",
+                                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
+                                                }
+                                                return true;
                                             }
                                         }
+                                        log.error("绌挎杞te鍛戒护涓嬪彂澶辫触===>涓嬪彂寮傚父锛宩ar鍙�={},浠诲姟鏁版嵁={},绌挎杞︽暟鎹�={},sign={}",
+                                                wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
+                                        continue;
                                     }
-                                    log.error("绌挎杞te鍛戒护涓嬪彂澶辫触===>涓嬪彂寮傚父锛宩ar鍙�={},浠诲姟鏁版嵁={},绌挎杞︽暟鎹�={},sign={}",
-                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(steProtocol),sign);
-                                    return true;
-                                }
-                            default: return false;
+                                default: continue;
+                            }
                         }
+
                     }
                 }
             }
             return true;
         }catch (Exception e){
-            log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
+            log.error("JarWrkMastExecute浠诲姟瀹屾垚 ===>Ste鎶ラ敊锛�"+e);
         }
         return false;
     }
@@ -6452,6 +7521,10 @@
                 if (jarProtocol.modeType != JarModeType.AUTO){
                     continue;
                 }
+                if (jarProtocol.getJarTemperature()>50){
+                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
+                    return false;
+                }
                 BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
                 if (Cools.isEmpty(basJar)){
                     log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",jarProtocol.getJarNo());
@@ -6459,7 +7532,7 @@
                 }
                 //WAITING2(4, "纭寲瀹屾垚"),
                 if (jarProtocol.getJarErr()==0 && jarProtocol.getStatusType().equals(JarStatusType.WAITING2)
-                        && jarProtocol.isRightDoor() && jarProtocol.isLeftDoor()
+                        && !jarProtocol.isRightDoor() && !jarProtocol.isLeftDoor()
                         && jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0
                 ){
                     List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
@@ -6478,13 +7551,13 @@
                         && jarProtocol.rightDoorOpen!=1 && jarProtocol.rightDoorOpen!=3
                         && (jarProtocol.leftDoorOpen==2  || jarProtocol.rightDoorOpen==2)){
                     WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
-                    wrkMastExecuteSou.setWrkType(3);
+                    wrkMastExecuteSou.setWrkSts(3);
                     List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
                     if (wrkMastExecuteList.isEmpty()){
                         WrkMastExecute execute = new WrkMastExecute();
                         execute.setJarId(jarProtocol.getJarNo());
                         //鐩存帴鍏抽棬
-                        if (jarDoorTake(execute,JarTaskModeType.OPEN_THE_DOOR_COMPLETE)){
+                        if (!jarDoorTake(execute,JarTaskModeType.OPEN_THE_DOOR_COMPLETE)){
                             log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
                                     execute.getJarId(), JSON.toJSON(execute), JSON.toJSON(jarProtocol),sign);
                         }
@@ -6493,12 +7566,12 @@
                     for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
                         if (wrkMastExecute.getIoType() == 1 || wrkMastExecute.getIoType() == 3){
                             //鐩存帴鍏抽棬
-                            if (jarDoorTake(wrkMastExecute,JarTaskModeType.OPEN_THE_DOOR_COMPLETE)){
+                            if (!jarDoorTake(wrkMastExecute,JarTaskModeType.OPEN_THE_DOOR_COMPLETE)){
                                 log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
                                         wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                             }
                             wrkMastExecute.setWrkSts(4);
-                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                            if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                 log.error("骞宠　杞gv鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
                                         wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                 return false;
@@ -6507,18 +7580,18 @@
                         }
                     }
                 } else if (jarProtocol.getJarErr()==0
-                        && jarProtocol.isRightDoor() && jarProtocol.isLeftDoor()
+                        && !jarProtocol.isRightDoor() && !jarProtocol.isLeftDoor()
                         && jarProtocol.leftDoorClose!=1 && jarProtocol.leftDoorClose!=3
                         && jarProtocol.rightDoorClose!=1 && jarProtocol.rightDoorClose!=3
                         && (jarProtocol.leftDoorClose==2  || jarProtocol.rightDoorClose==2)){
                     WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
-                    wrkMastExecuteSou.setWrkType(3);
+                    wrkMastExecuteSou.setWrkSts(3);
                     List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
                     if (wrkMastExecuteList.isEmpty()){
                         WrkMastExecute execute = new WrkMastExecute();
                         execute.setJarId(jarProtocol.getJarNo());
                         //鐩存帴鍏抽棬
-                        if (jarDoorTake(execute,JarTaskModeType.CLOSE_THE_DOOR_COMPLETE)){
+                        if (!jarDoorTake(execute,JarTaskModeType.CLOSE_THE_DOOR_COMPLETE)){
                             log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
                                     execute.getJarId(), JSON.toJSON(execute), JSON.toJSON(jarProtocol),sign);
                         }
@@ -6527,12 +7600,12 @@
                     for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
                         if (wrkMastExecute.getIoType() == 2 || wrkMastExecute.getIoType() == 4){
                             //鐩存帴鍏抽棬
-                            if (jarDoorTake(wrkMastExecute,JarTaskModeType.CLOSE_THE_DOOR_COMPLETE)){
+                            if (!jarDoorTake(wrkMastExecute,JarTaskModeType.CLOSE_THE_DOOR_COMPLETE)){
                                 log.error("纭寲缃怞ar鍛戒护涓嬪彂澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
                                         wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                             }
                             wrkMastExecute.setWrkSts(4);
-                            if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                            if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                 log.error("骞宠　杞gv鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
                                         wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                 return false;
@@ -6544,7 +7617,7 @@
             }
             return true;
         }catch (Exception e){
-            log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
+            log.error("//纭寲瀹屾垚 淇敼浠诲姟鐘舵��  鎶ラ敊锛�"+e);
         }
         return false;
     }
@@ -6555,7 +7628,7 @@
     public synchronized boolean jarWrkMastExecuteGenerateRgvComplete1(Integer sign) {
         try{
             WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
-            wrkMastExecuteSou.setWrkType(1);
+            wrkMastExecuteSou.setWrkSts(1);
             List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
             for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
                 if (wrkMastExecute.getIoType() == 9){
@@ -6584,7 +7657,7 @@
                 if (staProtocolRGV.getNowRow() == staProtocolRGVEnd.getNowRow()
                         && staProtocolRGV.getNowRow() == SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId())){
                     wrkMastExecute.setWrkSts(2);
-                    if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                    if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                         log.error("骞宠　杞gv鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},骞宠　杞gv鏁版嵁={},sign={}",
                                 wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocolRGV),sign);
                         return false;
@@ -6594,7 +7667,7 @@
             }
             return true;
         }catch (Exception e){
-            log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
+            log.error("JarWrkMastExecute浠诲姟瀹屾垚 ===>RGV绉诲姩锛佸紓甯�"+e);
         }
         return false;
     }
@@ -6605,7 +7678,7 @@
     public synchronized boolean jarWrkMastExecuteGenerateRgvComplete2(Integer sign) {
         try{
             WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
-            wrkMastExecuteSou.setWrkType(3);
+            wrkMastExecuteSou.setWrkSts(3);
             wrkMastExecuteSou.setIoType(5);
             List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
             for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
@@ -6620,31 +7693,476 @@
                     continue;
                 }
 
-                StaProtocol staProtocolRGVEnd = devpThread.getStation().get(wrkMastExecute.getRgvEndId());
-                if (staProtocolRGVEnd == null) {
-                    continue;
-                } else {
-                    staProtocolRGVEnd = staProtocolRGVEnd.clone();
-                }
-                if (staProtocolRGVEnd == null) {
-                    continue;
-                }
-                if (staProtocolRGV.getNowRow() == staProtocolRGVEnd.getNowRow()
+
+                if ( staProtocolRGV.rgvBoolean(2)
                         && staProtocolRGV.getNowRow() == SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarId())){
+                    //璋冭溅  == > 鍙栬揣瀹屾垚澶嶄綅
+                    if (!jarRgvGetFuTake(wrkMastExecute,true)){
+                        log.error("骞宠　杞GV鍛戒护涓嬪彂澶辫触锛宺gv鍙�={},浠诲姟鏁版嵁={},纭寲缃愭暟鎹�={},sign={}",
+                                wrkMastExecute.getJarId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocolRGV),sign);
+                        return true;
+                    }
                     wrkMastExecute.setWrkSts(4);
-                    if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                    if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                         log.error("骞宠　杞gv鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宩ar鍙�={},浠诲姟鏁版嵁={},骞宠　杞gv鏁版嵁={},sign={}",
                                 wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(staProtocolRGV),sign);
-                        return false;
+                        return true;
                     }
                     return true;
                 }
             }
             return true;
         }catch (Exception e){
-            log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
+            log.error(" JarWrkMastExecute浠诲姟瀹屾垚 ===>RGV鍙栬揣  寮傚父锛�"+e);
         }
         return false;
     }
 
+    /**
+     *  Jar浠诲姟  绌挎杞︾Щ鍔ㄤ换鍔�   //瀹屾垚
+     */
+    public synchronized boolean jarMastMove() {
+        try{
+            for (SteSlave steSlave : slaveProperties.getSte()){
+                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steSlave.getId());
+                if (steThread == null) {
+                    continue;
+                }
+                SteProtocol steProtocol = steThread.getSteProtocol();
+                if (steProtocol == null) {
+                    continue;
+                }
+
+                if (wrkMastExecuteService.selectNoStart(steSlave.getId())!=0){
+                    continue;
+                }
+
+                if (wrkMastExecuteService.selectMoveStart(steSlave.getId())!=0){
+                    continue;
+                }
+
+                try{
+                    if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),1,SteStatusType.IDLE,false)){
+                        List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null,steProtocol.getSteNo().intValue());
+                        List<WrkMastExecute> wrkMastExecutes100 = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 100, null,steProtocol.getSteNo().intValue());
+                        if (wrkMastExecutes.isEmpty() && wrkMastExecutes100.isEmpty()){
+                            List<WrkMastExecute> wrkMastExecutesB = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null,steProtocol.getSteNo().intValue());
+                            List<WrkMastExecute> wrkMastExecutesC = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null,steProtocol.getSteNo().intValue());
+
+                            if (!wrkMastExecutesB.isEmpty() || !wrkMastExecutesC.isEmpty()){
+                                WrkMastExecute wrkMastExecute = !wrkMastExecutesB.isEmpty() ? wrkMastExecutesB.get(0) : wrkMastExecutesC.get(0);
+                                BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
+                                if (Cools.isEmpty(basJar)){
+                                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",wrkMastExecute.getJarId());
+                                    return false;
+                                }
+                                BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
+                                //A==>B
+                                if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),10,1})){
+                                    log.error("JarWrkMastExecute浠诲姟鍒涘缓===>鎵ц寮傚父===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
+                                }
+                                continue;
+                            }
+                        }
+                    } else if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),2,SteStatusType.IDLE,false)){
+                        List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null,steProtocol.getSteNo().intValue());
+                        if (wrkMastExecutes.isEmpty()){
+                            List<WrkMastExecute> wrkMastExecutesA = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null,steProtocol.getSteNo().intValue());
+                            List<WrkMastExecute> wrkMastExecutesC = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null,steProtocol.getSteNo().intValue());
+                            List<WrkMastExecute> wrkMastExecutes100 = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 100, null,steProtocol.getSteNo().intValue());
+                            if (!wrkMastExecutes100.isEmpty()){
+                                WrkMastExecute wrkMastExecute = wrkMastExecutes100.get(0);
+                                BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
+                                if (Cools.isEmpty(basJar)){
+                                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",wrkMastExecute.getJarId());
+                                    return false;
+                                }
+
+                                BasJarMast jarMastByWrkNo = new BasJarMast(basJar);
+                                jarMastByWrkNo.setWrkNo(Integer.toUnsignedLong(wrkMastExecute.getWrkNo().intValue()));//宸ヤ綔鍙�
+                                jarMastByWrkNo.setJarEnterStaNo(basJar.getEnterRgvNo());
+                                jarMastByWrkNo.setEnterStaNo(basJar.getEnterRgvNo());
+                                jarMastByWrkNo.setOutStaNo(basJar.getOutRgvNo());
+                                //B==>A
+                                if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),11,1})){
+                                    log.error("JarWrkMastExecute浠诲姟鍒涘缓===>鎵ц寮傚父===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
+                                }
+                                continue;
+                            }
+                            if (!wrkMastExecutesA.isEmpty()){
+                                WrkMastExecute wrkMastExecute = wrkMastExecutesA.get(0);
+                                BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
+                                if (Cools.isEmpty(basJar)){
+                                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",wrkMastExecute.getJarId());
+                                    return false;
+                                }
+                                BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
+                                //B==>A
+                                if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),11,1})){
+                                    log.error("JarWrkMastExecute浠诲姟鍒涘缓===>鎵ц寮傚父===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
+                                }
+                                continue;
+                            }
+
+                            if (!wrkMastExecutesC.isEmpty()){
+                                WrkMastExecute wrkMastExecute = wrkMastExecutesC.get(0);
+                                BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
+                                if (Cools.isEmpty(basJar)){
+                                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",wrkMastExecute.getJarId());
+                                    return false;
+                                }
+                                BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
+                                //B==>C
+                                if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),7,1})){
+                                    log.error("JarWrkMastExecute浠诲姟鍒涘缓===>鎵ц寮傚父===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
+                                }
+                                continue;
+                            }
+                        }
+                    } else if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),3,SteStatusType.IDLE,false)){
+                        List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null,steProtocol.getSteNo().intValue());
+                        if (wrkMastExecutes.isEmpty()){
+                            List<WrkMastExecute> wrkMastExecutesB = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null,steProtocol.getSteNo().intValue());
+                            List<WrkMastExecute> wrkMastExecutesA = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null,steProtocol.getSteNo().intValue());
+                            List<WrkMastExecute> wrkMastExecutes100 = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 100, null,steProtocol.getSteNo().intValue());
+                            if (!wrkMastExecutes100.isEmpty()){
+                                WrkMastExecute wrkMastExecute = wrkMastExecutes100.get(0);
+                                BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
+                                if (Cools.isEmpty(basJar)){
+                                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",wrkMastExecute.getJarId());
+                                    return false;
+                                }
+
+                                BasJarMast jarMastByWrkNo = new BasJarMast(basJar);
+                                jarMastByWrkNo.setWrkNo(Integer.toUnsignedLong(wrkMastExecute.getWrkNo().intValue()));//宸ヤ綔鍙�
+                                jarMastByWrkNo.setJarEnterStaNo(basJar.getEnterRgvNo());
+                                jarMastByWrkNo.setEnterStaNo(basJar.getEnterRgvNo());
+                                jarMastByWrkNo.setOutStaNo(basJar.getOutRgvNo());
+                                //C==>B
+                                if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),8,1})){
+                                    log.error("JarWrkMastExecute浠诲姟鍒涘缓===>鎵ц寮傚父===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
+                                }
+                                continue;
+                            }
+                            if (!wrkMastExecutesB.isEmpty() || !wrkMastExecutesA.isEmpty()){
+                                WrkMastExecute wrkMastExecute = !wrkMastExecutesB.isEmpty() ? wrkMastExecutesB.get(0) : wrkMastExecutesA.get(0);
+                                BasJar basJar = basJarMapper.selectById(wrkMastExecute.getJarId());
+                                if (Cools.isEmpty(basJar)){
+                                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",wrkMastExecute.getJarId());
+                                    return false;
+                                }
+                                BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
+                                //C==>B
+                                if (!jarWrkMastExecuteGenerateExecute(basJar,jarMastByWrkNo,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),8,1})){
+                                    log.error("JarWrkMastExecute浠诲姟鍒涘缓===>鎵ц寮傚父===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(jarMastByWrkNo));
+                                }
+                                continue;
+                            }
+                        }
+                    }
+                }catch (Exception e){
+                    log.error("纭寲鍖哄煙鍒嗘浠诲姟瀹屾垚寮傚父,steProtocol={},寮傚父淇℃伅={}",JSON.toJSONString(steProtocol),e.getMessage());
+                }
+
+                WrkMastExecute wrkMastExecute = wrkMastExecuteService.selectStart(steSlave.getId());
+
+
+            }
+        } catch (Exception e){
+            log.error("纭寲鍖哄煙鍒嗘浠诲姟瀹屾垚寮傚父,寮傚父淇℃伅={}",e.getMessage());
+        }
+        return false;
+    }
+    /**
+     *  ste鍏呯數浠诲姟鍒涘缓   //瀹屾垚
+     */
+    public synchronized boolean jarChargeGenerate() {
+        try{
+            //80%鐢甸噺 鏃犱换鍔�  鍏呯數  >50鐢甸噺  鏈変换鍔�  鏂數
+            //30%鐢甸噺  涓嶆帴鍙栦换鍔�  鏃犺繘琛屼腑浠诲姟  鍏呯數     >50鐢甸噺  鏈変换鍔�  鏂數
+            for (SteSlave steSlave : slaveProperties.getSte()){
+                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steSlave.getId());
+                if (steThread == null) {
+                    continue;
+                }
+                SteProtocol steProtocol = steThread.getSteProtocol();
+                if (steProtocol == null || steProtocol.getChargeStatus()!=0) {
+                    continue;
+                }
+                WrkMastExecute wrkMastExecuteByCharge = wrkMastExecuteService.getWrkMastExecuteByCharge(steSlave.getId());
+                if (!Cools.isEmpty(wrkMastExecuteByCharge)){
+                    continue;
+                }
+
+                if (steProtocol.getCharge()<30.0F){
+                    if (wrkMastExecuteService.selectMoveStartCharge(steSlave.getId())!=0){
+                        continue;
+                    }
+                } else if (steProtocol.getCharge()<80.0F){
+                    List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusListCharge(steSlave.getId(), new ArrayList<Integer>() {{
+                        add(5);
+                        add(11);
+                        add(17);
+                    }});
+                    if(!basJarMastList.isEmpty()){
+                        continue;
+                    }
+                    if (wrkMastExecuteService.selectNoStart(steSlave.getId())!=0){
+                        continue;
+                    }
+                    if (wrkMastExecuteService.selectMoveStart(steSlave.getId())!=0){
+                        continue;
+                    }
+                } else {
+                    continue;
+                }
+
+                try{
+                    boolean jarIDLESign = false;
+                    if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),1,SteStatusType.IDLE,false)){
+                        //鐢熸垚鍏呯數浠诲姟
+                        //A
+                        BasJar basJar = basJarMapper.selectById(steSlave.getId()==1? 1:3);
+                        int workNo = commonService.getWorkNo(WorkNoType.getWorkNoType(7));//鍏呯數宸ヤ綔鍙�
+                        BasJarMast basJarMast = new BasJarMast(basJar);
+                        basJarMast.setWrkNo(Integer.toUnsignedLong(workNo));//宸ヤ綔鍙�
+                        basJarMast.setJarEnterStaNo(basJar.getEnterRgvNo());
+                        basJarMast.setEnterStaNo(basJar.getEnterRgvNo());
+                        basJarMast.setOutStaNo(basJar.getOutRgvNo());
+                        if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),100,1})){
+                            log.error("JarWrkMastExecute鍏呯數浠诲姟鍒涘缓===>鎵ц寮傚父===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
+                        }
+                        continue;
+                    } else if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),2,SteStatusType.IDLE,false)){
+                        jarIDLESign =true;
+                    } else if (jarWrkMastExecuteGenerateSteStatus(steSlave.getId(),3,SteStatusType.IDLE,false)){
+                        jarIDLESign =true;
+                    }
+                    if (jarIDLESign){
+                        //鐢熸垚鍏呯數浠诲姟
+                        //C==>A
+                        BasJar basJar = null;
+                        List<BasJar> basJarList = basJarMapper.selectList(new EntityWrapper<BasJar>().eq("region", steSlave.getId()));
+                        for (BasJar basJarNow : basJarList){
+                            // 鑾峰彇纭寲缃愪俊鎭�0.0
+                            JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, basJarNow.getJarNo());
+                            JarProtocol jarProtocol = jarThread.getJarProtocol();
+                            if (jarProtocol == null) {
+                                continue;
+                            }
+                            if (jarProtocol.modeType != JarModeType.AUTO){
+                                continue;
+                            }
+                            if (jarProtocol.statusType .equals(JarStatusType.SOS)){
+                                continue;
+                            }
+                            if (jarProtocol.getJarTemperature()>50){
+                                continue;
+                            }
+                            if (jarProtocol.leftDoorOpen != 0 || jarProtocol.rightDoorOpen != 0){
+                                continue;
+                            }
+                            basJar = basJarNow;
+                            break;
+                        }
+                        if (basJar == null){
+                            continue;
+                        }
+                        int workNo = commonService.getWorkNo(WorkNoType.getWorkNoType(7));//鍏呯數宸ヤ綔鍙�
+                        BasJarMast basJarMast = new BasJarMast(basJar);
+                        basJarMast.setWrkNo(Integer.toUnsignedLong(workNo));//宸ヤ綔鍙�
+                        basJarMast.setJarEnterStaNo(basJar.getEnterRgvNo());
+                        basJarMast.setEnterStaNo(basJar.getEnterRgvNo());
+                        basJarMast.setOutStaNo(basJar.getOutRgvNo());
+                        if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,basJar.getJarNo(),new int[]{basJar.getOutSteNo(),basJar.getOutRgvNo(),100,1})){
+                            log.error("JarWrkMastExecute鍏呯數浠诲姟鍒涘缓===>鎵ц寮傚父===銆嬪紓甯告暟鎹細BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
+                        }
+                    }
+                }catch (Exception e){
+                    log.error("鍏呯數浠诲姟鍒涘缓寮傚父,steProtocol={},寮傚父淇℃伅={}",JSON.toJSONString(steProtocol),e.getMessage());
+                }
+            }
+        } catch (Exception e){
+            log.error("纭寲鍖哄煙鍒嗘浠诲姟瀹屾垚寮傚父,寮傚父淇℃伅={}",e.getMessage());
+        }
+        return false;
+    }
+    /**
+     *  Ste鍏呯數浠诲姟瀹屾垚   //瀹屾垚
+     */
+    public synchronized boolean jarChargeComplete() {
+        try{
+            //80%鐢甸噺 鏃犱换鍔�  鍏呯數  >50鐢甸噺  鏈変换鍔�  鏂數
+            //30%鐢甸噺  涓嶆帴鍙栦换鍔�  鏃犺繘琛屼腑浠诲姟  鍏呯數     >50鐢甸噺  鏈変换鍔�  鏂數
+            for (SteSlave steSlave : slaveProperties.getSte()){
+                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steSlave.getId());
+                if (steThread == null) {
+                    continue;
+                }
+                SteProtocol steProtocol = steThread.getSteProtocol();
+                if (steProtocol == null || steProtocol.getChargeStatus()!=1) {
+                    continue;
+                }
+
+                if (steProtocol.getCharge()>95.0F || steProtocol.getFullCharge()){
+                } else if (steProtocol.getCharge()>50.0F){
+                    List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusListCharge(steSlave.getId(), new ArrayList<Integer>() {{
+                        add(5);
+                        add(11);
+                        add(17);
+                    }});
+                    if(basJarMastList.isEmpty()){
+                        if (wrkMastExecuteService.selectNoStartCharge(steSlave.getId())==0){
+                            if (wrkMastExecuteService.selectMoveStart(steSlave.getId())==0){
+                                continue;
+                            }
+                        }
+                    }
+                } else {
+                    continue;
+                }
+
+                WrkMastExecute wrkMastExecuteByCharge = wrkMastExecuteService.getWrkMastExecuteByCharge(steSlave.getId());
+                if (Cools.isEmpty(wrkMastExecuteByCharge)){
+                    BasJar basJar = basJarMapper.selectById(steSlave.getId()==1? 1:3);
+                    int workNo = commonService.getWorkNo(WorkNoType.getWorkNoType(7));//鍏呯數宸ヤ綔鍙�
+                    BasJarMast basJarMast = new BasJarMast(basJar);
+                    basJarMast.setWrkNo(Integer.toUnsignedLong(workNo));//宸ヤ綔鍙�
+                    basJarMast.setJarEnterStaNo(basJar.getEnterRgvNo());
+                    basJarMast.setEnterStaNo(basJar.getEnterRgvNo());
+                    basJarMast.setOutStaNo(basJar.getOutRgvNo());
+                    wrkMastExecuteByCharge = new WrkMastExecute(basJarMast);
+                    wrkMastExecuteByCharge.setJarId(basJar.getJarNo());
+                    wrkMastExecuteByCharge.setSteId(steSlave.getId());//绌挎鏉縄D
+                    wrkMastExecuteByCharge.setRgvId(basJar.getEnterRgvNo());//RGV ID  enter
+                    wrkMastExecuteByCharge.setRgvEndId(basJar.getOutRgvNo());//RGV ID  out
+                    wrkMastExecuteByCharge.setIoType(100);//浠诲姟绫诲瀷 0: 鏈煡  1: 寮�杩涙枡闂�  2: 鍏宠繘鏂欓棬  3: 寮�鍑烘枡闂�  4: 鍏冲嚭鏂欓棬  5: 鍏ョ～鍖栫綈  6: 鍏ュ喎鍗存Ы  7: 绌挎杞﹁繘鍐峰嵈妲�  8: 绌挎杞︾寮�鍐峰嵈妲�  9: 鍑哄喎鍗存Ы 10锛欰=>B 11:B=>A  100:灏忚溅鍏呯數浠诲姟
+                    wrkMastExecuteByCharge.setType(1);//璁惧  0: 鏈煡  1: 纭寲缃�  2: 鍐峰嵈妲�  3: 纭寲缃�==>鍐峰嵈妲�
+                }
+
+                try{
+                    if (jarWrkMastExecuteGenerateSteStatusCharge(steSlave.getId(),1,SteStatusType.CHARGE,true)){
+                        //瀹屾垚鍏呯數浠诲姟
+                        //璋冭溅  == > 鏂紑鍏呯數
+                        if (!jarSteTake(wrkMastExecuteByCharge,SteLocaType.POINT20.id,SteLocaType.POINT20.id,SteTaskModeType.CLOSE_CHARGE,true,wrkMastExecuteByCharge.getJarId())){
+                            log.error("绌挎鏉縎te鍛戒护涓嬪彂澶辫触锛宻te鍙�={},浠诲姟鏁版嵁={}",
+                                    wrkMastExecuteByCharge.getSteId(), JSON.toJSONString(wrkMastExecuteByCharge));
+                        }
+                        wrkMastExecuteByCharge.setWrkType(2);
+                        wrkMastExecuteByCharge.setWrkSts(100);
+                        if (!wrkMastExecuteService.updateById(wrkMastExecuteByCharge)){
+                            log.error("鍏呯數浠诲姟瀹屾垚鍛戒护涓嬪彂澶辫触===>鏇存柊wrkMastExecute澶辫触锛宻te鍙�={},浠诲姟鏁版嵁={}",
+                                    wrkMastExecuteByCharge.getSteId(), JSON.toJSONString(wrkMastExecuteByCharge));
+                        }
+                    }
+                }catch (Exception e){
+                    log.error("鍏呯數浠诲姟瀹屾垚寮傚父,steProtocol={},寮傚父淇℃伅={}",JSON.toJSONString(steProtocol),e.getMessage());
+                }
+            }
+        } catch (Exception e){
+            log.error("纭寲鍖哄煙鍒嗘浠诲姟瀹屾垚寮傚父,寮傚父淇℃伅={}",e.getMessage());
+        }
+        return false;
+    }
+    /**
+     * 鍏朵粬  ===>> 607鍒嗛厤纭寲缃�
+     */
+    public synchronized void stackingCompletionDriveTray() {
+        Integer staNo1 = jarGetStartStaNo(607);
+        if (staNo1!=0){
+            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+            StaProtocol staProtocol607 = devpThread.getStation().get(607);
+            if (staProtocol607.getWorkNo()<9001 && staProtocol607.getWorkNo()!=0 && staProtocol607.isLoading() && staProtocol607.isAutoing() && staProtocol607.getStaNo() == 607){
+                staProtocol607.setStaNo(staNo1);
+                boolean result2 = MessageQueue.offer(SlaveType.Devp, 2, new Task(5, staProtocol607));
+            }
+        }
+    }
+    public synchronized Integer jarGetStartStaNo(Integer staNo) {
+        try {
+            int[] jarNos=new int[]{4,2,3,1};//(607鍒嗛厤纭寲缃�)
+            ArrayList<Integer> staNos = new ArrayList<Integer>() {{
+                add(607);add(608);add(609);add(610);add(611);add(612);
+                add(613);add(614);add(615);add(616);add(617);add(618);
+                add(619);add(620);add(621);add(622);
+            }};
+            ArrayList<Integer> jarNoList = new ArrayList<>();
+            ArrayList<Integer> jarNoListNow = new ArrayList<>();
+            for (int jarNo : jarNos) {
+                List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarNo, new ArrayList<Integer>() {{
+                    add(0);
+                    add(1);
+                    add(2);
+                    add(3);
+                    add(4);
+                }});
+                if (basJarMastList.isEmpty()){
+                    continue;
+                }
+                if (basJarMastList.size()>0 && basJarMastList.size()<jarMaxLoc){
+                    jarNoList.add(jarNo);
+                }
+            }
+            jarNoList.add(4);
+            jarNoList.add(2);
+            jarNoList.add(3);
+            jarNoList.add(1);
+            for (int jarNo : jarNoList) {
+                if (jarNoListNow.contains(jarNo)){
+                    continue;
+                }
+                // 鑾峰彇纭寲缃愪俊鎭�
+                JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarNo);
+                JarProtocol jarProtocol = jarThread.getJarProtocol();
+                if (jarProtocol == null) {
+                    continue;
+                }
+                if (jarProtocol.modeType != JarModeType.AUTO){
+                    continue;
+                }
+                if (jarProtocol.statusType .equals(JarStatusType.SOS)){
+                    continue;
+                }
+                if (jarProtocol.getJarTemperature()>50){
+                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧娓╁害杩囬珮锛岀瓑寰呴檷娓�....锛侊紒锛�",jarProtocol.getJarNo());
+                    continue;
+                }
+
+                BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
+                if (Cools.isEmpty(basJar)){
+                    log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",jarProtocol.getJarNo());
+                    continue;
+                }
+                List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarNo, new ArrayList<Integer>() {{
+                    add(0);
+                    add(1);
+                    add(2);
+                    add(3);
+                    add(4);
+                }});
+                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+                Integer count = basJarMastList.size();
+                ArrayList<Integer> wrkNoList = new ArrayList<>();
+
+                for (Integer staNoEnt : staNos){
+                    StaProtocol staProtocolEnt = devpThread.getStation().get(staNoEnt);
+                    if (staProtocolEnt != null && staProtocolEnt.getWorkNo()!=0 && !wrkNoList.contains(staProtocolEnt.getWorkNo())){
+                        if (staProtocolEnt.getStaNo().equals(basJar.getEntStaNo$())){
+                            count++;
+                            wrkNoList.add(staProtocolEnt.getWorkNo());
+                        }
+                    }
+                }
+                if (count<jarMaxLoc){
+                    return basJar.getEntStaNo$();
+                }
+            }
+        }catch (Exception e){
+//            e.printStackTrace();
+//            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+            log.error("鍏朵粬  ===>> 鍒嗛厤纭寲缃愯繘鍏ヤ笅涓�姝�"+e);
+        }
+        return 0;
+    }
+
 }

--
Gitblit v1.9.1