From 675ed4fa602e79e220e76fcdbc56e4630c0fb21c Mon Sep 17 00:00:00 2001
From: lsh <1>
Date: 星期三, 17 七月 2024 17:17:40 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java |  321 +++++++++++++++++++++++++++++++++++++++++++++++++++-
 1 files changed, 310 insertions(+), 11 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 bb8ab74..f27f5b2 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1233,7 +1233,7 @@
             } else {
                 staProtocol = staProtocol.clone();
             }
-            if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
+            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,crnNo);
@@ -1294,6 +1294,9 @@
                         }
                     }
                 }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) {
@@ -1901,6 +1904,145 @@
                 }
             }
 
+            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�
@@ -1913,7 +2055,17 @@
             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))) {
+
+            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�
@@ -4361,6 +4513,39 @@
             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:
@@ -4474,6 +4659,84 @@
             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.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;
@@ -7460,6 +7723,9 @@
 
                                 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));
@@ -7512,6 +7778,9 @@
 
                                 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));
@@ -7573,12 +7842,22 @@
                         continue;
                     }
                 } else if (steProtocol.getCharge()<80.0F){
+                    List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusListCharge(steSlave.getId(), new ArrayList<Integer>() {{
+                        add(5);
+                        add(11);
+                        add(16);
+                    }});
+                    if(!basJarMastList.isEmpty()){
+                        continue;
+                    }
                     if (wrkMastExecuteService.selectNoStart(steSlave.getId())!=0){
                         continue;
                     }
                     if (wrkMastExecuteService.selectMoveStart(steSlave.getId())!=0){
                         continue;
                     }
+                } else {
+                    continue;
                 }
 
                 try{
@@ -7590,6 +7869,9 @@
                         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));
                         }
@@ -7632,6 +7914,9 @@
                         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));
                         }
@@ -7661,27 +7946,41 @@
                 if (steProtocol == null || steProtocol.getChargeStatus()!=1) {
                     continue;
                 }
-                WrkMastExecute wrkMastExecuteByCharge = wrkMastExecuteService.getWrkMastExecuteByCharge(steSlave.getId());
-                if (!Cools.isEmpty(wrkMastExecuteByCharge)){
-                    continue;
-                }
 
-                if (steProtocol.getCharge()>50.0F){
-                    if (wrkMastExecuteService.selectNoStart(steSlave.getId())==0){
+                if (steProtocol.getCharge()>95.0F || steProtocol.getFullCharge()){
+                } else if (steProtocol.getCharge()>50.0F){
+                    if (wrkMastExecuteService.selectNoStartCharge(steSlave.getId())==0){
                         if (wrkMastExecuteService.selectMoveStart(steSlave.getId())==0){
                             continue;
                         }
                     }
-                } else if (steProtocol.getCharge()>95.0F || steProtocol.getFullCharge()){
                 } 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.MOVING,true)){
+                    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,false,wrkMastExecuteByCharge.getJarId())){
+                        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));
                         }

--
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