From 764ac5739b9d16dd1e69ea0e1e057a2db9ddcbae Mon Sep 17 00:00:00 2001
From: lsh <lsh>
Date: 星期五, 12 七月 2024 09:03:20 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 1479 +++++++++++++++++++++++++++++++++++++++++++++-------------
 1 files changed, 1,138 insertions(+), 341 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 6f1a206..468076a 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -23,6 +23,7 @@
 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.*;
@@ -54,6 +55,8 @@
 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}};
 
     @Autowired
     private CommonService commonService;
@@ -221,8 +224,17 @@
                     // 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"));
@@ -385,6 +397,22 @@
 //                            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 +583,27 @@
 //                        }
                         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"));
@@ -1672,7 +1715,7 @@
             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();
@@ -1844,7 +1887,7 @@
             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� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
                 Date now = new Date();
@@ -1985,7 +2028,7 @@
             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 +2185,7 @@
             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 +2320,7 @@
                     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 +2486,7 @@
                 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 +2606,7 @@
                     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 +2807,7 @@
                     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 +2851,7 @@
 //                    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 +2939,7 @@
         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();
@@ -4374,7 +4417,7 @@
             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 +4446,7 @@
             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;
@@ -4418,6 +4461,9 @@
      */
     public synchronized void jarMastGenerate() {
         for (JarSlave jarSlave : slaveProperties.getJar()) {
+            if (jarSlave.getId()>4){
+                continue;
+            }
             try{
                 if (wrkMastExecuteService.getWrkMastExecuteByJarIdCount(jarSlave.getId())!=0){
                     continue;
@@ -4478,11 +4524,12 @@
                             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 +4554,14 @@
             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();
@@ -4522,15 +4577,15 @@
                 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.getJarMode()!=1 && basJar.getJarMode()!=0){
+            if (basJar.getJarMode()!=2){
                 return false;
             }
 
             //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);
@@ -4545,35 +4600,36 @@
     }
 
     /**
-     *  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);
+                        BasJarMast jarMastByWrkNo = basJarMastService.getJarMastByWrkNo(wrkMastExecute.getWrkNo());
+                        jarMastByWrkNo.setStatus(jarMastByWrkNo.getStatusComplete());
+                        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;
     }
@@ -4595,10 +4651,13 @@
                 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) {
@@ -4616,6 +4675,10 @@
                     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;
                 }
 
@@ -4693,6 +4756,10 @@
                     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)){
@@ -4702,13 +4769,11 @@
                 //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());
@@ -4737,6 +4802,10 @@
                     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;
                 }
 
@@ -4788,15 +4857,15 @@
                 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;
                 for (JarSlave.StaStn staStn1 : jarSlave.getJarInSta()){
-                    if (staStn1.getStaNo().equals(basJarMast.getEnterStaNo())){
+                    if (staStn1.getStaNo().equals(basJarMast.getJarEnterStaNo())){
                         staStn = staStn1;
                     }
                 }
@@ -4830,7 +4899,13 @@
                         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) {
@@ -4848,24 +4923,24 @@
 
                         //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.isRightDoor() && jarProtocol.jarErr==0
-                                && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0
-                                && !jarOtherProtocol.isLeftDoor() && jarOtherProtocol.leftDoorOpen==0  && jarOtherProtocol.leftDoorClose==0){
+                        if (jarProtocol.isAutoing() && jarProtocol.jarErr==0
+                                && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0){
                             if (!jarProtocol.isLeftDoor() && basJarMast.getStatus()==0){
                                 //鐢熸垚寮�闂ㄤ换鍔� OpenTheDoor
                                 if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,basJar.getJarNo(),new int[]{basJar.getEnterSteNo(),basJar.getEnterRgvNo(),1,1})){
                                     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.WAITING3 && 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 {
@@ -4901,10 +4976,10 @@
             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);
 
@@ -4919,6 +4994,14 @@
                     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());
@@ -4973,10 +5056,10 @@
             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);
@@ -4992,6 +5075,14 @@
                     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());
@@ -5039,14 +5130,14 @@
                 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);
@@ -5062,6 +5153,11 @@
                     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());
@@ -5069,12 +5165,18 @@
                 }
 
                 //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;
                 }
@@ -5098,26 +5200,26 @@
             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);
@@ -5132,7 +5234,10 @@
                 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());
@@ -5141,8 +5246,8 @@
 
                 //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;
@@ -5265,14 +5370,45 @@
         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);
+        } 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==>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
@@ -5282,6 +5418,72 @@
                 * 9: 鍑哄喎鍗存Ы
                 * 10锛欰=>B 11:B=>A
                 * */
+                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;
+                }
+            }
+        } 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�
@@ -5312,7 +5514,7 @@
                         }
                         return;
                     case 9:
-                        if (jarWrkMastExecuteActionExecute9(wrkMastExecute,sign)){
+                        if (jarWrkMastExecuteActionExecute9Two(wrkMastExecute,sign)){
                             break;
                         }
                         return;
@@ -5325,10 +5527,47 @@
                 }
             }
         } 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 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
@@ -5338,10 +5577,12 @@
     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();
@@ -5351,8 +5592,15 @@
             if (jarProtocol.modeType != JarModeType.AUTO){
                 return false;
             }
-
-            BasJar basJar = basJarMapper.selectByJarNo(jarProtocol.getJarNo());
+            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;
@@ -5362,7 +5610,7 @@
 //            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;
@@ -5387,9 +5635,9 @@
             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;
                 }
@@ -5397,40 +5645,41 @@
                 //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);
                         }
                     }
 
@@ -5455,7 +5704,10 @@
     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;
             }
 
@@ -5468,8 +5720,15 @@
             if (jarProtocol.modeType != JarModeType.AUTO){
                 return false;
             }
-
-            BasJar basJar = basJarMapper.selectByJarNo(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;
+            }
+            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;
@@ -5480,7 +5739,7 @@
 //                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;
@@ -5504,9 +5763,9 @@
             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;
                 }
@@ -5514,41 +5773,42 @@
                 //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)){
+                            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);
+                            wrkMastExecute.setWrkSts(2);
 
-                            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 {
                             //鐩存帴鍏抽棬
-                            if (jarDoorTake(wrkMastExecute,JarTaskModeType.CLOSE_THE_DOOR)){
+                            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.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);
                         }
                     }
                     return true;
@@ -5572,6 +5832,125 @@
     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;
+                }
+                //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("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)){
+                        return false;
+                    }
+                    if (SteAndJarUtil.steAndJarNowRow(staProtocolRGV.getNowRow() , jarProtocol.getJarNo())){
+
+                        //璋冭溅  == > 鍙栬揣
+                        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.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
+                            return true;
+                        }
+                        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 {
+                        //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);
+                        }
+                        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
+     *  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;
             }
@@ -5585,8 +5964,15 @@
             if (jarProtocol.modeType != JarModeType.AUTO){
                 return false;
             }
-
-            BasJar basJar = basJarMapper.selectByJarNo(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;
+            }
+            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;
@@ -5597,7 +5983,7 @@
 //                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;
@@ -5618,12 +6004,13 @@
                 return false;
             }
 
-            if (staProtocolRGV.rgvBoolean(1) && staProtocolRGVOther.rgvBoolean(1)){
+            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)){
+                    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;
                 }
@@ -5631,6 +6018,7 @@
                 //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��
@@ -5638,29 +6026,21 @@
                             return false;
                         }
                         //璋冭溅  == > 鍙栬揣
-                        if (jarRgvGetTake(wrkMastExecute
-                                ,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarEnterStaNo())==1
-                                ,SteAndJarUtil.getRgvJarNowRow(wrkMastExecute.getJarEnterStaNo())==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);
+                        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(3);
-                        if (wrkMastExecuteService.updateById(wrkMastExecute)){
+                        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.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.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);
+                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                         }
                     }
                     return true;
@@ -5684,7 +6064,10 @@
     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;
             }
 
@@ -5697,19 +6080,21 @@
             if (jarProtocol.modeType != JarModeType.AUTO){
                 return false;
             }
-
-            BasJar basJar = basJarMapper.selectByJarNo(jarProtocol.getJarNo());
+            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;
@@ -5730,12 +6115,13 @@
                 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;
                 }
@@ -5743,34 +6129,36 @@
                 //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)){
+                        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;
@@ -5788,12 +6176,12 @@
 
     /**
      *  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;
             }
@@ -5808,7 +6196,131 @@
                 return false;
             }
 
-            BasJar basJar = basJarMapper.selectByJarNo(jarProtocol.getJarNo());
+            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)){
+                            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());
                 return false;
@@ -5824,7 +6336,7 @@
                 return false;
             }
 
-            BasJar basJarOther = basJarMapper.selectByJarNo(jarProtocolOther.getJarNo());
+            BasJar basJarOther = basJarMapper.selectById(jarProtocolOther.getJarNo());
             if (Cools.isEmpty(basJarOther)){
                 log.error("{}鍙风～鍖栫綈鏌ヨ璁惧妗ｆ鏃犱俊鎭紒锛侊紒",jarProtocolOther.getJarNo());
                 return false;
@@ -5835,7 +6347,7 @@
 //                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;
@@ -5859,9 +6371,9 @@
             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;
                 }
@@ -5871,64 +6383,64 @@
                         && 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)){
                                 //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)){
                                 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)){
                                 //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)){
                                 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;
@@ -5952,7 +6464,10 @@
     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;
             }
 
@@ -5965,8 +6480,11 @@
 //            if (jarProtocol.modeType != JarModeType.AUTO){
 //                return false;
 //            }
-
-            BasJar basJar = basJarMapper.selectByJarNo(wrkMastExecute.getJarId());
+//            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());
                 return false;
@@ -5993,7 +6511,7 @@
 //                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;
@@ -6022,7 +6540,7 @@
 //                    //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;
 //                }
@@ -6033,16 +6551,18 @@
 //                ){
                     //鍒ゆ柇灏忚溅鐘舵��
                     if (jarWrkMastExecuteGenerateSteStatus(basJar.getEnterSteNo(),3,SteStatusType.IDLE)){
+                        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;
@@ -6060,12 +6580,64 @@
 
     /**
      *  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)){
+                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;
             }
@@ -6080,7 +6652,15 @@
                 return false;
             }
 
-            BasJar basJar = basJarMapper.selectByJarNo(jarProtocol.getJarNo());
+            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;
@@ -6091,7 +6671,7 @@
 //                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;
@@ -6112,12 +6692,13 @@
                 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;
                 }
@@ -6126,64 +6707,64 @@
                 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)){
                                 //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)){
                                 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)){
                                 //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)){
                                 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;
@@ -6241,17 +6822,41 @@
     }
 
     /*
+     * 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;
@@ -6283,7 +6888,7 @@
     }
 
     /**
-     *  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{
@@ -6316,7 +6921,7 @@
                     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);
         }
     }
 
@@ -6335,102 +6940,104 @@
                     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;
     }
@@ -6442,6 +7049,9 @@
     public synchronized boolean jarWrkMastExecuteGenerateJarComplete(Integer sign) {
         try{
             for (JarSlave jarSlave : slaveProperties.getJar()) {
+                if (jarSlave.getId()>4){
+                    continue;
+                }
                 // 鑾峰彇纭寲缃愪俊鎭�
                 JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
                 JarProtocol jarProtocol = jarThread.getJarProtocol();
@@ -6451,6 +7061,10 @@
                 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());
@@ -6458,7 +7072,9 @@
                 }
                 //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>() {{
                         add(5);//纭寲涓�
                     }});
@@ -6469,11 +7085,79 @@
                     if (basJarMastList.size()!=integer){
                         log.error("{}鍙风～鍖栫綈纭寲瀹屾垚淇敼纭寲妗ｆ鐘舵�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�={}",jarProtocol.getJarNo(),basJarMastList.size(),integer);
                     }
+                } else if (jarProtocol.getJarErr()==0
+                        && jarProtocol.isRightDoor() && jarProtocol.isLeftDoor()
+                        && jarProtocol.leftDoorOpen!=1 && jarProtocol.leftDoorOpen!=3
+                        && jarProtocol.rightDoorOpen!=1 && jarProtocol.rightDoorOpen!=3
+                        && (jarProtocol.leftDoorOpen==2  || jarProtocol.rightDoorOpen==2)){
+                    WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
+                    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)){
+                            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);
+                        }
+                        return true;
+                    }
+                    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)){
+                                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)){
+                                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;
+                            }
+                            return true;
+                        }
+                    }
+                } else if (jarProtocol.getJarErr()==0
+                        && 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.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)){
+                            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);
+                        }
+                        return true;
+                    }
+                    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)){
+                                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)){
+                                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;
+                            }
+                            return true;
+                        }
+                    }
                 }
             }
             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;
     }
@@ -6484,7 +7168,7 @@
     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){
@@ -6513,7 +7197,7 @@
                 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;
@@ -6523,7 +7207,7 @@
             }
             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;
     }
@@ -6534,7 +7218,7 @@
     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){
@@ -6549,29 +7233,142 @@
                     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)){
+                        List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null);
+                        if (wrkMastExecutes.isEmpty()){
+                            List<WrkMastExecute> wrkMastExecutesB = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null);
+                            List<WrkMastExecute> wrkMastExecutesC = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null);
+
+                            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)){
+                        List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null);
+                        if (wrkMastExecutes.isEmpty()){
+                            List<WrkMastExecute> wrkMastExecutesA = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null);
+                            List<WrkMastExecute> wrkMastExecutesC = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null);
+                            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)){
+                        List<WrkMastExecute> wrkMastExecutes = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 9, null);
+                        if (wrkMastExecutes.isEmpty()){
+                            List<WrkMastExecute> wrkMastExecutesB = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 6, null);
+                            List<WrkMastExecute> wrkMastExecutesA = wrkMastExecuteService.selectWrkMastExecuteByTypeAndIoTyperAndWrkType(null, 5, null);
+                            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;
     }

--
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