From 81d9844aab9d1133505c6e74303754e7f2ac0507 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期五, 07 三月 2025 14:02:41 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 1986 ++++++++++++++++++++++++++++++++++++++++++++++++++-------
 1 files changed, 1,717 insertions(+), 269 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 662e8d7..663bfdc 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -24,6 +24,7 @@
 import com.zy.common.utils.News;
 import com.zy.core.CrnThread;
 import com.zy.core.DevpThread;
+import com.zy.core.RgvThread;
 import com.zy.core.cache.MessageQueue;
 import com.zy.core.cache.SlaveConnection;
 import com.zy.core.enums.*;
@@ -46,8 +47,11 @@
 import org.springframework.transaction.annotation.Transactional;
 import org.springframework.transaction.interceptor.TransactionAspectSupport;
 
+import java.io.IOException;
 import java.util.*;
 import java.util.stream.Collectors;
+
+import static com.zy.common.utils.RandomValidateCodeUtil.code;
 
 /**
  * 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
@@ -86,9 +90,21 @@
     private BasErrLogService basErrLogService;
     @Autowired
     private BasCrnErrorMapper basCrnErrorMapper;
+    @Autowired
+    private EmptyBarrelInService emptyBarrelInService;
+    @Autowired
+    private WrkMastStaService wrkMastStaService;
+    @Autowired
+    private MatnrCodeService matnrCodeService;
+    @Autowired
+    private WaitPakinService waitPakinService;
+    @Autowired
+    private MatService matService;
 
     @Value("${wms.url}")
     private String wmsUrl;
+
+    public int workNo = 9900;
 
     /**
      * 缁勬墭
@@ -143,6 +159,250 @@
                     errMsg = errMsg+"瓒呴噸";
                     back = true;
                 }
+                if (staProtocol.isBarcodeErr()) {
+                    errMsg = errMsg+"鎵爜澶辫触";
+                    back = true;
+                }
+                // 閫�鍥�
+                if (back) {
+                    // led 寮傚父鏄剧ず
+                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+                    if (ledThread != null) {
+                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
+                    }
+                    continue;
+                }
+
+                if (!Cools.isEmpty(barcode)) {
+                    log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
+                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+                        continue;
+                    }
+                } else {
+                    // led 寮傚父鏄剧ず
+//                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+//                    if (ledThread != null) {
+//                        String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+//                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+//                    }
+                    continue;
+                }
+                // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+                if (staProtocol.isAutoing()
+                        && staProtocol.isLoading()
+                        && staProtocol.isInEnable()
+                        && !staProtocol.isEmptyMk()
+                        && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
+                        && staProtocol.isPakMk()) {
+
+                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+                        log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
+                        //鏉＄爜涓虹┖鎴栬�呬笉绗﹀悎锛岄��搴撳埌
+                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+                        if (ledThread != null) {
+                            String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+                        }
+//                        staProtocol.setWorkNo((short)9999);
+//                        staProtocol.setStaNo((short)(staProtocol.getStaNo()-1));
+//                        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");
+//                        }
+                        continue;
+                    }
+
+                    // 鍒ゆ柇閲嶅宸ヤ綔妗�
+                    WrkMast wrkMast = new WrkMast();
+                    if (barcode.length() == 8) {
+                        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;
+                        }
+                    }
+//                     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"));
+//                    if (waitPakins.isEmpty()) {
+//                        log.error("鏃犳鍏ュ簱鏉＄爜鏁版嵁銆傛潯鐮佸彿={}", barcode);
+//                        continue;
+//                    }
+
+                    try {
+                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+                        SearchLocParam param = new SearchLocParam();
+                        param.setBarcode(barcode);
+                        param.setIoType(1);
+                        param.setSourceStaNo(inSta.getStaNo());
+                        param.setLocType1(locTypeDto.getLocType1());
+                        String response = new HttpHandler.Builder()
+                                .setUri(wmsUrl)
+                                .setPath("/rpc/pakin/loc/v1")
+                                .setJson(JSON.toJSONString(param))
+                                .build()
+                                .doPost();
+                        JSONObject jsonObject = JSON.parseObject(response);
+                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+                        if (jsonObject.getInteger("code").equals(200)) {
+                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+
+                            barcodeThread.setBarcode("");
+                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
+                            staProtocol.setStaNo(dto.getStaNo().shortValue());
+                            devpThread.setPakMk(staProtocol.getSiteId(), false);
+                            ledThread.errorReset();
+                            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");
+                            }
+                        } else if(jsonObject.getInteger("code").equals(700)) {
+//                            staProtocol.setWorkNo((short) 9999);
+//                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
+//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
+//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//                            // led 寮傚父鏄剧ず
+//                            if (ledThread != null) {
+//                                String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
+//                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+//                            }
+                            log.error(barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒");
+                            // led 寮傚父鏄剧ず
+                            ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+                            if (ledThread != null) {
+                                String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
+                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+                            }
+                        } else {
+                            log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
+                        }
+
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+                    }
+                }
+
+            }
+        }
+
+    }
+    public synchronized void generateStoreWrkFile7() {
+        // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+        for (DevpSlave devp : slaveProperties.getDevp()) {
+            // 閬嶅巻鍏ュ簱鍙�
+            for (DevpSlave.Sta inSta : devp.getInSta7()) {
+
+                // 鑾峰彇鍏ュ簱绔欎俊鎭�
+                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+                if (staProtocol == null) {
+                    continue;
+                } else {
+                    staProtocol = staProtocol.clone();
+                }
+
+                // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
+                if (barcodeThread == null) {
+                    continue;
+                }
+                String barcode = barcodeThread.getBarcode();
+
+                // 灏哄妫�娴嬪紓甯�
+                boolean back = false;
+                String errMsg = "寮傚父锛�";
+                if (staProtocol.isFrontErr()) {
+                    errMsg = errMsg+"鍓嶈秴闄愶紱";
+                    back = true;
+                }
+                if (staProtocol.isBackErr()) {
+                    errMsg = errMsg+"鍚庤秴闄�";
+                    back = true;
+                }
+                if (staProtocol.isHighErr()) {
+                    errMsg = errMsg+"楂樿秴闄�";
+                    back = true;
+                }
+                if (staProtocol.isLeftErr()) {
+                    errMsg = errMsg+"宸﹁秴闄�";
+                    back = true;
+                }
+                if (staProtocol.isRightErr()) {
+                    errMsg = errMsg+"鍙宠秴闄�";
+                    back = true;
+                }
+                if (staProtocol.isWeightErr()) {
+                    errMsg = errMsg+"瓒呴噸";
+                    back = true;
+                }
+
+                if (staProtocol.isBan()){
+
+                    // 閫�鍥�
+                    if (back) {
+                        // led 寮傚父鏄剧ず
+                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+                        if (ledThread != null) {
+                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
+                        }
+                        continue;
+                    }
+
+                    if (staProtocol.getStaNoEnd() != 2001){
+                        log.error(staProtocol.getStaNo()+"绔欑偣锛岀┖妗讹紝闈炴硶鐩爣绔欙紒锛侊紒锛侊紒锛�"+staProtocol.getStaNoEnd().toString());
+                        continue;
+                    }
+                    // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+                    if (staProtocol.isAutoing()
+                            && staProtocol.isLoading()
+                            && staProtocol.isInEnable()
+                            && !staProtocol.isEmptyMk()
+                            && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
+                            && staProtocol.isPakMk()) {
+                        Integer workNo1 = commonService.getWorkNo(3);
+                        Date now = new Date();
+                        // 淇濆瓨宸ヤ綔妗�
+                        WrkMast wrkMast = new WrkMast();
+                        wrkMast.setWrkNo(workNo1);
+                        wrkMast.setIoTime(now);
+                        wrkMast.setWrkSts(101L); // 宸ヤ綔鐘舵�侊細101.鍒濆
+                        wrkMast.setIoType(199); // 鍏ュ嚭搴撶姸鎬侊細 199.杞Щ
+                        wrkMast.setIoPri(15D);
+                        wrkMast.setCrnNo(0);
+                        wrkMast.setSourceStaNo(staProtocol.getStaNo().intValue()); // 婧愮珯
+                        wrkMast.setStaNo(staProtocol.getStaNoEnd().intValue()); // 鐩爣绔�
+                        wrkMast.setFullPlt("N"); // 婊℃澘
+                        wrkMast.setPicking("N"); // 鎷ｆ枡
+                        wrkMast.setExitMk("N"); // 閫�鍑�
+                        wrkMast.setEmptyMk("Y"); // 绌烘澘
+                        wrkMast.setBarcode("KB888888"); // 鎵樼洏鐮�
+                        wrkMast.setLinkMis("N");
+                        wrkMast.setCtnNo("Y");  // 鍏ュ簱闃诲搴撲綅绉昏浆鏍囪
+                        wrkMast.setAppeTime(now);
+                        wrkMast.setModiTime(now);
+                        int res = wrkMastMapper.insert(wrkMast);
+                        if (res == 0) {
+//                                throw new CoolException("");
+                            log.error(staProtocol.getStaNo()+"绔欑偣锛岀┖妗讹紝淇濆瓨宸ヤ綔妗ｄ富妗ｅけ璐ワ紒锛侊紒锛侊紒锛�"+now.toString());
+                            continue;
+                        }
+                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+
+//                    StaProtocol staProtocol1 = new StaProtocol();
+                        staProtocol.setWorkNo(workNo1.shortValue());
+                        staProtocol.setStaNo((short)3001);
+                        devpThread.setPakMk(staProtocol.getSiteId(), false);
+                        ledThread.errorReset();
+                        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");
+                        }
+                    }
+
+                    continue;
+                }
+
                 if (staProtocol.isBarcodeErr()) {
                     errMsg = errMsg+"鎵爜澶辫触";
                     back = true;
@@ -391,7 +651,7 @@
 
 //                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                     WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", barcode));
-                    ledThread.errorReset();
+
                     if (wrkMast == null) {
                         wrkMast = wrkMastMapper.selectPickStep(barcode);
                     }
@@ -491,6 +751,9 @@
      */
     public synchronized void crnStnToOutStn() {
         for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+            if (crnSlave.getId() ==5){
+                continue;
+            }
             // 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
             for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
                 // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
@@ -522,17 +785,20 @@
                     if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
                             && crnProtocol.statusType == CrnStatusType.WAITING
                             && crnProtocol.forkPosType == CrnForkPosType.HOME) {
+                        log.error("鍫嗗灈鏈虹瓑寰呯‘璁わ紒锛侊紒 [宸ヤ綔鍙�:{}]", crnProtocol.getTaskNo());
 
                         // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
-                        // 涓嬪彂绔欑偣淇℃伅
-                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
-                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
-                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
-                            continue;
+                        if (crnProtocol.getCrnNo() !=5){
+                            // 涓嬪彂绔欑偣淇℃伅
+                            staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+                            if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
+                                continue;
+                            }
                         }
 
-                        if (crnStn.getStaNo() == 1016 || crnStn.getStaNo() == 1019) {
+
+                        if (crnStn.getStaNo() > 1013) {
                             // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负13.RGV鎼繍涓�
                             wrkMast.setWrkSts(13L);
                         }else {
@@ -559,6 +825,9 @@
      */
     public synchronized void crnIoExecute() {
         for (CrnSlave crn : slaveProperties.getCrn()) {
+            if (crn.getId() == 5){
+                continue;
+            }
             // 鑾峰彇鍫嗗灈鏈轰俊鎭�
             CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
             CrnProtocol crnProtocol = crnThread.getCrnProtocol();
@@ -582,6 +851,9 @@
                 // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
                 if (crnProtocol.getLastIo().equals("I")) {
                     if (basCrnp.getInEnable().equals("Y")) {
+                        if (crn.getId() == 5){
+                            continue;
+                        }
                         this.crnStnToLoc(crn, crnProtocol); //  鍏ュ簱
                         crnProtocol.setLastIo("O");
                     } else if (basCrnp.getOutEnable().equals("Y")) {
@@ -595,6 +867,10 @@
                         this.locToCrnStn(crn, crnProtocol); //  鍑哄簱
                         crnProtocol.setLastIo("I");
                     } else if (basCrnp.getInEnable().equals("Y")) {
+                        if (crn.getId() == 5){
+                            continue;
+                        }
+
                         this.crnStnToLoc(crn, crnProtocol); //  鍏ュ簱
                         crnProtocol.setLastIo("O");
                     }
@@ -807,10 +1083,10 @@
 //            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
             List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
             //            鑾峰彇宸ヤ綔鐘舵�佷负14鐨勫伐浣滄。
-            WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep14(slave.getId(), crnStn.getStaNo());
-            if ( wrkMast1 !=null) {
-                continue;
-            }
+//            WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep14(slave.getId(), crnStn.getStaNo());
+//            if ( wrkMast1 !=null) {
+//                continue;
+//            }
             for (WrkMast wrkMast : wrkMasts) {
                 if (wrkMast == null) {
                     continue;
@@ -1135,6 +1411,7 @@
             }
             //  鐘舵�侊細绛夊緟纭 骞朵笖  浠诲姟瀹屾垚浣� = 1
             if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
+                log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�併�傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
                 if (crnProtocol.getTaskNo() == 9999) {
                     // 鍫嗗灈鏈哄浣�
                     crnThread.setResetFlag(true);
@@ -1305,8 +1582,9 @@
 
                 // 绔欑偣鏉′欢鍒ゆ柇
                 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
-                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() >= 9990
-                        && staProtocol.getWorkNo() <= 9999) && staProtocol.isPakMk()) {
+                        && (staProtocol.isEmptyMk() || staProtocol.getStaNo() == 9999)
+//                        && (staProtocol.getWorkNo() >= 9990  && staProtocol.getWorkNo() <= 9999)
+                        && staProtocol.isPakMk()) {
                     List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                             .eq("sta_no", emptyInSta.getStaNo())
                             .eq("io_type", 10)
@@ -2012,261 +2290,11 @@
 
     }
 
-    //RGV鎼繍
-    public synchronized void rgvIoExecute() {
-        for (RgvSlave slave : slaveProperties.getRgv()) {
-            ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getId());
-            if (rgvThread == null) {
-                return;
-            }
 
-            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
-            if (rgvProtocol == null) {
-                return;
-            }
 
-            // 鍒ゆ柇RGV鏄惁绌洪棽
-            if (rgvProtocol.getModeType() == RgvModeType.COMPUTER
-                    && rgvProtocol.getStatusType() == RgvStatusType.IDLE) {
-                // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡锛屽垯浼樺厛鎵弿鍑哄簱绔欑偣
-                if (rgvProtocol.getLastIo().equals("I")) {
-                    this.rgvOutExecute(rgvThread, rgvProtocol);//鍑哄簱
-                    rgvProtocol.setLastIo("O");
-                }else {
-                    this.rgvInExecute(rgvThread, rgvProtocol);//鍏ュ簱
-                    rgvProtocol.setLastIo("I");
-                }
 
-                //妫�鏌ユ槸鍚﹀瓨鍦ㄥ伐浣�1浠诲姟瓒呮椂娌′笅鍙�
-                if (rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() == 0) {
-                    if (System.currentTimeMillis() - rgvProtocol.getTask1SendTime() > (1000*60)) {
-                        //宸ヤ綅1涓嬪彂鏃堕棿瓒呰繃60s
-                        RgvCommand rgvCommand = new RgvCommand();
-                        rgvCommand.setRgvNo(rgvProtocol.getRgvNo());//RGV缂栧彿
-                        rgvCommand.setCommand((short) 1);//宸ヤ綅1纭
-                        if (!MessageQueue.offer(SlaveType.Rgv, rgvCommand.getRgvNo(), new Task(4, rgvCommand))) {
-                            log.error("RGV纭鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
-                            return;
-                        }
-                        log.error("RGV纭鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
-                    }
-                }
-            }
-        }
-    }
 
-    //rgv鍏ュ簱
-    public synchronized void rgvInExecute(ZyRgvThread rgvThread, RgvProtocol rgvProtocol) {
-        for (RgvSlave.Sta sta : rgvThread.getSlave().getInStn()) {
-            if (rgvProtocol.getTaskNo1() > 0) {
-                //妫�娴媟gv宸ヤ綅1鏄惁涓哄叆搴撲换鍔�
-                WrkMast wrkMast1 = wrkMastMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
-                if (wrkMast1.getWrkSts() > 100) {
-                    continue;//鍑哄簱浠诲姟璺宠繃
-                }
-            }
 
-            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, sta.getDevpPlcId());
-            StaProtocol staProtocol = devpThread.getStation().get(sta.getSourceStaNo());
-            //鍒ゆ柇杈撻�佺嚎鏄惁鑷姩銆佹湁鐗┿�佸彲鍏ャ�佹湁宸ヤ綔鍙�
-            if (!(staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isOutEnable() && (staProtocol.getWorkNo() > 0))) {
-                continue;
-            }
-
-            //鎼滅储宸ヤ綔妗�
-            WrkMast wrkMast = wrkMastMapper.selectByWrkNo(staProtocol.getWorkNo().intValue());
-            if (wrkMast == null) {
-                continue;//宸ヤ綔妗ｄ笉瀛樺湪
-            }
-
-            //鑾峰彇RGV鏀捐揣绔欑偣
-            Integer staNo = Utils.getRgvStaNo(rgvProtocol.getRgvNo(), sta.getSourceStaNo(), staProtocol.getStaNo().intValue(), true);
-            if (staNo == null) {
-                continue;//RGV鏀捐揣绔欑偣涓嶅瓨鍦�
-            }
-
-            //鍒ゆ柇鐩爣绔欐槸鍚﹁嚜鍔ㄣ�佸彲鍏ャ�佹棤鐗┿�佹棤宸ヤ綔鍙�
-            StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
-            if (!(staProtocol1.isAutoing() && staProtocol1.isInEnable() && !staProtocol1.isLoading() && (staProtocol1.getWorkNo() == 0))) {
-                continue;
-            }
-
-            // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-            RgvCommand rgvCommand = new RgvCommand();
-            rgvCommand.setRgvNo(rgvProtocol.getRgvNo());//RGV缂栧彿
-            rgvCommand.setAckFinish((short) 0);
-
-            //鍒ゆ柇rgv宸ヤ綅1鏄惁鍙敤
-            if (rgvProtocol.getTaskNo1() == 0) {
-                rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());//宸ヤ綔鍙�
-                rgvCommand.setTaskMode1(RgvTaskModeType.PICK_RELEASE);//宸ヤ綔妯″紡 鍙栨斁璐�
-                rgvCommand.setSourceStaNo1(staProtocol.getStaNo());//婧愮珯
-                rgvCommand.setDestinationStaNo1(staNo.shortValue());//鐩爣绔�
-                rgvCommand.setCommand((short) 0);//宸ヤ綅1鏆備笉纭
-            } else if (rgvProtocol.getTaskNo2() == 0) {//鍒ゆ柇rgv宸ヤ綅2鏄惁鍙敤
-                rgvCommand.setTaskNo2(wrkMast.getWrkNo().shortValue());//宸ヤ綔鍙�
-                rgvCommand.setTaskMode2(RgvTaskModeType.PICK_RELEASE);//宸ヤ綔妯″紡 鍙栨斁璐�
-                rgvCommand.setSourceStaNo2(staProtocol.getStaNo());//婧愮珯
-                rgvCommand.setDestinationStaNo2(staNo.shortValue());//鐩爣绔�
-                rgvCommand.setCommand((short) 1);//宸ヤ綅2纭
-            }else {
-                continue;//娌℃湁鍙敤RGV宸ヤ綅
-            }
-
-            if (!MessageQueue.offer(SlaveType.Rgv, rgvCommand.getRgvNo(), new Task(2, rgvCommand))) {
-                log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
-                continue;
-            }
-
-            log.error("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
-        }
-    }
-
-    //rgv鍑哄簱
-    public synchronized void rgvOutExecute(ZyRgvThread rgvThread, RgvProtocol rgvProtocol) {
-        for (RgvSlave.Sta sta : rgvThread.getSlave().getOutStn()) {
-            if (rgvProtocol.getTaskNo1() > 0) {
-                //妫�娴媟gv宸ヤ綅1鏄惁涓哄嚭搴撲换鍔�
-                WrkMast wrkMast1 = wrkMastMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
-                if (wrkMast1.getWrkSts() < 100) {
-                    continue;//鍏ュ簱浠诲姟璺宠繃
-                }
-            }
-
-            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, sta.getDevpPlcId());
-            StaProtocol staProtocol = devpThread.getStation().get(sta.getSourceStaNo());
-            //鍒ゆ柇杈撻�佺嚎鏄惁鑷姩銆佹湁鐗┿�佸彲鍑恒�佹湁宸ヤ綔鍙�
-            if (!(staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isOutEnable() && (staProtocol.getWorkNo() > 0))) {
-                continue;
-            }
-
-            //鎼滅储宸ヤ綔妗�
-            WrkMast wrkMast = wrkMastMapper.selectByWrkNo(staProtocol.getWorkNo().intValue());
-            if (wrkMast == null) {
-                continue;//宸ヤ綔妗ｄ笉瀛樺湪
-            }
-
-            //鑾峰彇RGV鏀捐揣绔欑偣
-            Integer staNo = Utils.getRgvStaNo(rgvProtocol.getRgvNo(), sta.getSourceStaNo(), staProtocol.getStaNo().intValue(), false);
-            if (staNo == null) {
-                continue;//RGV鏀捐揣绔欑偣涓嶅瓨鍦�
-            }
-
-            //鍒ゆ柇鐩爣绔欐槸鍚﹁嚜鍔ㄣ�佸彲鍑恒�佹棤鐗┿�佹棤宸ヤ綔鍙�
-            StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
-            if (!(staProtocol1.isAutoing() && staProtocol1.isOutEnable() && !staProtocol1.isLoading() && (staProtocol1.getWorkNo() == 0))) {
-                continue;
-            }
-
-            // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-            RgvCommand rgvCommand = new RgvCommand();
-            rgvCommand.setRgvNo(rgvProtocol.getRgvNo());//RGV缂栧彿
-            rgvCommand.setAckFinish((short) 0);
-
-            //鍒ゆ柇rgv宸ヤ綅1鏄惁鍙敤
-            if (rgvProtocol.getTaskNo1() == 0) {
-                rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());//宸ヤ綔鍙�
-                rgvCommand.setTaskMode1(RgvTaskModeType.PICK_RELEASE);//宸ヤ綔妯″紡 鍙栨斁璐�
-                rgvCommand.setSourceStaNo1(staProtocol.getStaNo());//婧愮珯
-                rgvCommand.setDestinationStaNo1(staNo.shortValue());//鐩爣绔�
-                rgvCommand.setCommand((short) 0);//宸ヤ綅1鏆備笉纭
-            } else if (rgvProtocol.getTaskNo2() == 0) {//鍒ゆ柇rgv宸ヤ綅2鏄惁鍙敤
-                rgvCommand.setTaskNo2(wrkMast.getWrkNo().shortValue());//宸ヤ綔鍙�
-                rgvCommand.setTaskMode2(RgvTaskModeType.PICK_RELEASE);//宸ヤ綔妯″紡 鍙栨斁璐�
-                rgvCommand.setSourceStaNo2(staProtocol.getStaNo());//婧愮珯
-                rgvCommand.setDestinationStaNo2(staNo.shortValue());//鐩爣绔�
-                rgvCommand.setCommand((short) 1);//宸ヤ綅2纭
-            }else {
-                continue;//娌℃湁鍙敤RGV宸ヤ綅
-            }
-
-            if (!MessageQueue.offer(SlaveType.Rgv, rgvCommand.getRgvNo(), new Task(2, rgvCommand))) {
-                log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
-                continue;
-            }
-
-            log.error("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
-        }
-    }
-
-    //RGV宸ヤ綔瀹屾垚
-    public synchronized void rgvFinished() {
-        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
-        for (RgvSlave slave : slaveProperties.getRgv()) {
-            ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getId());
-            if (rgvThread == null) {
-                return;
-            }
-
-            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
-            if (rgvProtocol == null) {
-                return;
-            }
-
-            //  鐘舵�侊細绛夊緟纭
-            if (rgvProtocol.getStatusType() == RgvStatusType.WAITING) {
-                if (rgvProtocol.getTaskNo1() == 9999) {
-                    // RGV澶嶄綅
-                    rgvThread.setResetFlag1(true);
-                }else {
-                    // 鑾峰彇寰呯‘璁ゅ伐浣滄。
-                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
-                    if (wrkMast == null) {
-                        log.error("RGV澶勪簬绛夊緟纭涓斾换鍔″畬鎴愮姸鎬侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�俁GV鍙�={}锛屽伐浣滃彿={}", rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo1());
-                        continue;
-                    }
-
-                    if (rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskFinish1() == 1) {
-                        //宸ヤ綅1浠诲姟瀹屾垚
-                        // RGV澶嶄綅
-                        rgvThread.setResetFlag1(true);
-
-                        //缁欑洰鏍囩珯杈撻�佺嚎鍐欏叆鏁版嵁
-                        Short destinationPos1 = rgvProtocol.getDestinationPos1();//鑾峰彇宸ヤ綅1鐩爣绔�
-                        StaProtocol staProtocol = devpThread.getStation().get(destinationPos1.intValue()).clone();
-                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());//鍐欏叆宸ヤ綔鍙�
-                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());//鍐欏叆鐩爣绔�
-                        if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
-                            log.info("{}浠诲姟锛孯GV鎼繍鎴愬姛锛屽啓鍏ヨ緭閫佹暟鎹け璐}", wrkMast.getWrkNo(), JSON.toJSONString(staProtocol));
-                        }
-
-                        //2鍙稲GV鍜�3鍙稲GV宸ヤ綔瀹屾垚鍚庨渶瑕佹洿鏂板伐浣滄。鐘舵��
-                        if (rgvProtocol.getRgvNo() == 2 || rgvProtocol.getRgvNo() == 3) {
-                            if (wrkMast.getWrkSts() == 13) {//13.RGV鎼繍涓� => 14.宸插嚭搴�
-                                wrkMast.setWrkSts(14L);
-                                wrkMast.setModiTime(new Date());
-                                wrkMastMapper.updateById(wrkMast);
-                            }
-                        }
-                    }
-
-                    if (rgvProtocol.getTaskNo2() > 0 && rgvProtocol.getTaskFinish2() == 1) {
-                        //宸ヤ綅2浠诲姟瀹屾垚
-                        // RGV澶嶄綅
-                        rgvThread.setResetFlag2(true);
-
-                        //缁欑洰鏍囩珯杈撻�佺嚎鍐欏叆鏁版嵁
-                        Short destinationPos2 = rgvProtocol.getDestinationPos2();//鑾峰彇宸ヤ綅2鐩爣绔�
-                        StaProtocol staProtocol = devpThread.getStation().get(destinationPos2.intValue()).clone();
-                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());//鍐欏叆宸ヤ綔鍙�
-                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());//鍐欏叆鐩爣绔�
-                        if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
-                            log.info("{}浠诲姟锛孯GV鎼繍鎴愬姛锛屽啓鍏ヨ緭閫佹暟鎹け璐}", wrkMast.getWrkNo(), JSON.toJSONString(staProtocol));
-                        }
-
-                        //2鍙稲GV鍜�3鍙稲GV宸ヤ綔瀹屾垚鍚庨渶瑕佹洿鏂板伐浣滄。鐘舵��
-                        if (rgvProtocol.getRgvNo() == 2 || rgvProtocol.getRgvNo() == 3) {
-                            if (wrkMast.getWrkSts() == 13) {//13.RGV鎼繍涓� => 14.宸插嚭搴�
-                                wrkMast.setWrkSts(14L);
-                                wrkMast.setModiTime(new Date());
-                                wrkMastMapper.updateById(wrkMast);
-                            }
-                        }
-                    }
-                }
-            }
-        }
-    }
 
     /**
      * 鎵弿纰熺洏鏈鸿嚜鍔ㄥ叆搴撶┖鎵樼洏
@@ -2289,14 +2317,23 @@
                     List<StaDesc> staDescs = staDescService.selectList(new EntityWrapper<StaDesc>().eq("type_no", 10).eq("stn_no", sta.getStaNo()));
                     for (StaDesc staDesc:staDescs){
 
-                        BasDevp basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", staDesc.getCrnStn()));
+                        BasDevp basDevp = new BasDevp();
+
+                        if (staDesc.getCrnNo() == 1){
+                            basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", 1004));
+                        } else if (staDesc.getCrnNo() == 2) {
+                            basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", 1008));
+                        }
+                        if (Cools.isEmpty(basDevp)){
+                            continue;
+                        }
 
                         if (basDevp.getAutoing().equals("Y") && basDevp.getLoading().equals("N")
                                 && basDevp.getWrkNo() == 0 && basDevp.getCanining().equals("Y")){
 //                             鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
                             staProtocol.setWorkNo((short) 9997);
-//                            staProtocol.setStaNo(basDevp.getDevNo().shortValue());
-                            staProtocol.setStaNo((short) 1013);
+                            staProtocol.setStaNo((short) (basDevp.getDevNo()==1004?1003:1013));
+//                            staProtocol.setStaNo((short) 1013);
                             devpThread.setPakMk(staProtocol.getSiteId(), false);
                             boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
                             if (!result) {
@@ -2365,11 +2402,19 @@
 //                        && staProtocol.isEmptyMk()
                         && staProtocol.getWorkNo() == 0
                 ) {
-                    WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(sta.getStaNo());
+                    Integer staNo = sta.getStaNo();
+                    switch (staProtocol.getSiteId()){
+                        case 4007:
+                            staNo = 4002;break;
+                        case 4016:
+                            staNo = 4011;break;
+                    }
+                    WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(staNo);
                     if (null != pakoutEmpty) {
                         return;
                     }
-                    List<StaDesc> staDescs = staDescService.selectList(new EntityWrapper<StaDesc>().eq("stn_no", sta.getStaNo()));
+
+                    List<StaDesc> staDescs = staDescService.selectList(new EntityWrapper<StaDesc>().eq("stn_no", staNo));
                     for (StaDesc staDesc: staDescs){
                         BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", staDesc.getCrnNo()));
                         if (!basCrnp.getCrnSts().equals(3) || basCrnp.getCrnErr() != 0){
@@ -2378,6 +2423,7 @@
                         try {
                             HashMap<String, Object> map = new HashMap<>();
                             map.put("crnNo", staDesc.getCrnNo());//鐩爣绔�
+                            map.put("staNo",staDesc.getStnNo());
                             String response = new HttpHandler.Builder()
                                     .setUri(wmsUrl)
                                     .setParams(map)
@@ -2405,4 +2451,1406 @@
 
     }
 
+    public synchronized void crn5InTask(){
+        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+            if (crnSlave.getId() != 5){
+                continue;
+            }
+            // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
+            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+            if (crnProtocol == null) {
+                continue;
+            }
+            BasCrnp basCrnp = basCrnpService.selectById(crnSlave.getId());
+            if (basCrnp == null) {
+                log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crnSlave.getId());
+                continue;
+            }
+            // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
+            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
+                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
+
+//                Crn5InTaskSta(crnSlave,crnProtocol);
+
+                // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
+                if (crnProtocol.getLastIo().equals("I")) {
+                    if (basCrnp.getInEnable().equals("Y")) {
+                        this.Crn5InTaskSta(crnSlave,crnProtocol);
+                        crnProtocol.setLastIo("O");
+                    } else if (basCrnp.getOutEnable().equals("Y")) {
+                        this.locToCrn5Stn(crnSlave, crnProtocol); //  鍑哄簱
+                        crnProtocol.setLastIo("I");
+                    }
+                }
+                // 濡傛灉鏈�杩戜竴娆℃槸鍑哄簱妯″紡
+                else if (crnProtocol.getLastIo().equals("O")) {
+                    if (basCrnp.getOutEnable().equals("Y")) {
+                        this.locToCrn5Stn(crnSlave, crnProtocol); //  鍑哄簱
+                        crnProtocol.setLastIo("I");
+                    } else if (basCrnp.getInEnable().equals("Y")) {
+
+                        this.Crn5InTaskSta(crnSlave,crnProtocol);
+                        crnProtocol.setLastIo("O");
+                    }
+                }
+
+            }
+
+        }
+    }
+    public void Crn5InTaskSta(CrnSlave slave, CrnProtocol crnProtocol){
+        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
+            // 鏌ヨ宸ヤ綔妗�
+            WrkMast wrkMast = wrkMastMapper.selectCrn5Task2();
+            if (wrkMast == null) {
+                return;
+            }
+            // 鑾峰彇搴撲綅淇℃伅
+            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
+            if (locMast == null) {
+                log.error("鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
+                return;
+            }
+            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
+                log.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
+                return;
+            }
+            // 鍫嗗灈鏈烘帶鍒惰繃婊�
+            if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+                return;
+            }
+
+            // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+            CrnCommand crnCommand = new CrnCommand();
+            crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+            crnCommand.setAckFinish((short) 0);  // 浠诲姟瀹屾垚纭浣�
+            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡:  搴撲綅绉昏浆
+            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 婧愬簱浣嶆帓
+            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 婧愬簱浣嶅垪
+            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 婧愬簱浣嶅眰
+            crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 鐩爣搴撲綅鎺�
+            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 鐩爣搴撲綅鍒�
+            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 鐩爣搴撲綅灞�
+            crnCommand.setLocType1(locMast.getLocType1().shortValue());     // 璐х墿绫诲瀷
+            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));
+            } else {
+                // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
+                Date now = new Date();
+                wrkMast.setWrkSts(3L);
+                wrkMast.setCrnStrTime(now);
+                wrkMast.setModiTime(now);
+                if (wrkMastMapper.updateById(wrkMast) == 0) {
+                    log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+                }
+            }
+        }
+
+
+
+
+    }
+
+
+    public synchronized void crn5StnToOutStn() {
+        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+            if (crnSlave.getId() != 5){
+                continue;
+            }
+            // 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
+            for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
+                // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
+                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+                StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+                if (staProtocol == null) {
+                    continue;
+                } else {
+                    staProtocol = staProtocol.clone();
+                }
+//                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
+                    // 鏌ヨ宸ヤ綔妗�
+                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(crnStn.getStaNo());
+                    if (wrkMast == null) {
+                        continue;
+                    }
+                    // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
+                    if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
+                        continue;
+                    }
+                    // 鍒ゆ柇鍚婅溅鏄惁瀹為檯宸插畬鎴愶紝涓旂數鑴戠姸鎬佸湪move涓紝浠ュ鐢佃剳杩涜鏇存柊宸ヤ綔妗�
+                    CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
+                    CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+                    if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
+                        // 绉诲姩涓�
+                        continue;
+                    }
+                    //  鍒ゆ柇鍫嗗灈鏈虹姸鎬佺瓑寰呯‘璁�
+                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
+                            && crnProtocol.statusType == CrnStatusType.WAITING
+                            && crnProtocol.forkPosType == CrnForkPosType.HOME) {
+
+                            // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14
+                            wrkMast.setWrkSts(14L);
+
+                        wrkMast.setCrnEndTime(new Date());
+                        if (wrkMastMapper.updateById(wrkMast) != 0) {
+                            // 澶嶄綅鍫嗗灈鏈�
+                            crnThread.setResetFlag(true);
+                        } else {
+                            log.error("鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkNo());
+                        }
+
+                    }
+
+//                }
+            }
+        }
+    }
+
+
+    public synchronized void locToCrn5Stn(CrnSlave slave, CrnProtocol crnProtocol) {
+        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
+            // 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑鍑哄簱宸ヤ綔妗�
+//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
+            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
+            //            鑾峰彇宸ヤ綔鐘舵�佷负14鐨勫伐浣滄。
+            WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep14(slave.getId(), crnStn.getStaNo());
+            if ( wrkMast1 !=null) {
+                continue;
+            }
+            for (WrkMast wrkMast : wrkMasts) {
+                if (wrkMast == null) {
+                    continue;
+                }
+                // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
+                if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
+                    log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
+                    continue;
+                }
+                // 鑾峰彇婧愬簱浣嶄俊鎭�
+                LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
+                if (!locMast.getLocSts().equals("R") && !locMast.getLocSts().equals("P")) {
+                    log.error("鍑哄簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
+                    continue;
+                }
+                // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
+                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+                StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+                if (staProtocol == null) {
+                    break;
+//                    continue;
+                } else {
+                    staProtocol = staProtocol.clone();
+                }
+
+                // 鏌ヨ绔欑偣璇︾粏淇℃伅
+                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+                if (staDetl == null) {
+                    log.error("鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
+                    break;
+//                    continue;
+                }
+                // 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
+                if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isOutEnable()) {
+                    // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+
+                    // 鍫嗗灈鏈烘帶鍒惰繃婊�
+                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+//                        continue;
+                        break;
+                    }
+
+
+                    // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
+                        break;
+//                        return;
+                    }
+
+                    // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
+                    CrnCommand crnCommand = new CrnCommand();
+                    crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+                    crnCommand.setAckFinish((short) 0);  // 浠诲姟瀹屾垚纭浣�
+                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡:  搴撲綅绉昏浆
+                    crnCommand.setSourcePosX(locMast.getRow1().shortValue());     // 婧愬簱浣嶆帓
+                    crnCommand.setSourcePosY(locMast.getBay1().shortValue());     // 婧愬簱浣嶅垪
+                    crnCommand.setSourcePosZ(locMast.getLev1().shortValue());     // 婧愬簱浣嶅眰
+                    crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 鐩爣搴撲綅鎺�
+                    crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 鐩爣搴撲綅鍒�
+                    crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 鐩爣搴撲綅灞�
+                    crnCommand.setLocType1(locMast.getLocType1().shortValue());     // 璐х墿绫诲瀷
+                    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));
+                    } 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();
+                        wrkMast.setWrkSts(12L);
+                        wrkMast.setCrnStrTime(now);
+                        wrkMast.setModiTime(now);
+                        if (wrkMastMapper.updateById(wrkMast) == 0) {
+                            log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+                        }
+                        break;
+                    }
+                }
+            }
+        }
+    }
+
+    public synchronized void crn5TaskCreate() throws IOException {
+        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+            if (crnSlave.getId() != 5){
+                continue;
+            }
+            for (CrnSlave.CrnStn crnStn : crnSlave.getCrnInStn()) {
+                // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
+                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+                StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+                if (staProtocol == null) {
+                    break;
+//                    continue;
+                } else {
+                    staProtocol = staProtocol.clone();
+                }
+                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){
+
+                    EmptyBarrelIn emptyBarrelIn = emptyBarrelInService.selectOne(new EntityWrapper<>());
+                    if (Cools.isEmpty(emptyBarrelIn)){
+                        continue;
+                    }
+
+                    FullStoreParam fullStoreParam = new FullStoreParam();
+                    fullStoreParam.setDevpNo(crnStn.getStaNo());
+                    FullStoreParam.MatCodeStore matCodeStore = new FullStoreParam.MatCodeStore();
+                    matCodeStore.setMatnr(emptyBarrelIn.getMatnr());
+                    matCodeStore.setBatch(emptyBarrelIn.getBatch());
+                    if (staProtocol.isForce()){
+                        log.info("绌烘《寮哄埗鍏ュ簱锛�"+staProtocol.getAmount());
+                        matCodeStore.setAnfme(Double.valueOf(staProtocol.getAmount()));
+                    }else {
+                        matCodeStore.setAnfme(8d) ;
+                    }
+                    ArrayList<FullStoreParam.MatCodeStore> matCodeStores = new ArrayList<>();
+                    matCodeStores.add(matCodeStore);
+                    fullStoreParam.setList(matCodeStores);
+                    try {
+                        String response = new HttpHandler.Builder()
+                                .setUri(wmsUrl)
+                                .setPath("/full/store/put/start")
+                                .setJson(JSON.toJSONString(fullStoreParam))
+                                .build()
+                                .doPost();
+                        JSONObject jsonObject = JSON.parseObject(response);
+                        if (jsonObject.getInteger("code").equals(200)) {
+                            devpThread.setPakMk(crnStn.getStaNo(),false);
+                        }
+                    }catch (CoolException e){
+
+                    }
+
+                }
+
+            }
+        }
+    }
+
+    public synchronized void RGVTaskCreate(){
+        for (RgvSlave rgvSlave:slaveProperties.getRgv()){
+            ZyRgvThread rgvThread = (ZyRgvThread)SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+            if (Cools.isEmpty(rgvProtocol)){
+                continue;
+            }else {
+                rgvProtocol = rgvProtocol.clone();
+            }
+            List<WrkMastSta> wrkMastStas = wrkMastStaService.selectRGVTask1(rgvSlave.getId());
+            if (!Cools.isEmpty(wrkMastStas)){
+                continue;
+            }
+            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getLoaded1() == 0){
+                boolean work1 = false;
+                boolean work2 = false;
+                int workNo1 = 0;
+                int workNo2 = 0;
+                short souSta1 = 0;
+                short sta1 = 0;
+                short souSta2 = 0;
+                short sta2 = 0;
+                String matnr = "0";
+                String matnr2 = "0";
+                String batch = "";
+                String batch2 = "";
+                short type = 0;
+                short type2 = 0;
+                short anfme = 4;
+                short anfme2 = 4;
+                Double weight = 0d;
+                Double weight2 = 0d;
+                Double weight11 = 0d;
+                String memo = "";
+                String memo2 = "";
+
+                List<RgvSlave.Sta> inStn1 = rgvSlave.getInStn();
+                if (rgvProtocol.getColumnNumber()>4){
+                    short rgvStaNo = Utils.getRgvStaNo(rgvSlave.getId(), inStn1.get(0).getSourceStaNo());
+                    if (rgvStaNo<5){
+                        Collections.reverse(inStn1);
+                    }
+                }
+                //宸ヤ綅涓�浠诲姟
+                for (RgvSlave.Sta inStn :  inStn1){
+                    work1 = false;
+                    workNo1 = 0;
+                    souSta1 = 0;
+                    sta1 = 0;
+                    type = 0;
+                    if (rgvSlave.getId() == 1 && inStn.getSourceStaNo() == 2114){
+                        continue;
+                    }
+                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, inStn.getSourcePlcId());
+                    StaProtocol staProtocol = devpThread.getStation().get(inStn.getSourceStaNo());
+                    if (staProtocol == null) {
+//                        break;
+                        continue;
+                    } else {
+                        staProtocol = staProtocol.clone();
+                    }
+                    if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && (staProtocol.getWorkNo()>0 && staProtocol.getWorkNo()<9900)){
+
+                            WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
+                            if (Cools.isEmpty(wrkMast)){
+                                log.error("鏈壘鍒板伐浣滄。");
+                                continue;
+                            }
+                            workNo1 = wrkMast.getWrkNo();
+                            souSta1 = Utils.getRgvStaNo(rgvSlave.getId(),staProtocol.getSiteId());
+                            sta1 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
+                            Integer staNo = Utils.getStaNo(rgvSlave.getId(), (int) sta1);
+                            BasDevp devp = basDevpService.selectById(staNo);
+                            if (devp.getWrkNo()!=0 || Cools.isEmpty(devp.getLoading()) || devp.getLoading().equals("Y")){
+                                continue;
+                            }
+                            work1 = true;
+                            devpThread.setPakMk(inStn.getSourceStaNo(),false);
+                            break;
+
+
+                    } else if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && (staProtocol.getWorkNo()>=9900 || staProtocol.getWorkNo()==0)) {
+                        if (rgvSlave.getId() != 2 ){
+                            continue;
+                        }
+                        workNo1 = workNo++;
+                        souSta1 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getSourceStaNo());
+                        if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 1){
+                            sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2103);
+                        } else if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 2) {
+                            sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2002);
+                        } else if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 4) {
+                            if (staProtocol.getStaNoEnd() == 3007 || staProtocol.getStaNoEnd() == 3012){
+                                sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2103);
+                            } else if (staProtocol.getStaNoEnd() == 2001 ){
+                                sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2002);
+                            } else {
+                                log.error("4007绔欑偣锛屾《鍨�4锛岄潪娉曠洰鏍囩珯锛侊紒锛侊紒锛侊紒"+staProtocol.getStaNoEnd().toString());
+                                continue;
+                            }
+                            Integer staNo = Utils.getStaNo(rgvSlave.getId(), (int) sta1);
+                            BasDevp devp = basDevpService.selectById(staNo);
+                            if (devp.getWrkNo()!=0 || Cools.isEmpty(devp.getLoading()) || devp.getLoading().equals("Y")){
+                                continue;
+                            }
+                            workNo1 = commonService.getWorkNo(3);
+                            Date now = new Date();
+                            // 淇濆瓨宸ヤ綔妗�
+                            WrkMast wrkMast = new WrkMast();
+                            wrkMast.setWrkNo(workNo1);
+                            wrkMast.setIoTime(now);
+                            wrkMast.setWrkSts(101L); // 宸ヤ綔鐘舵�侊細101.鍒濆
+                            wrkMast.setIoType(199); // 鍏ュ嚭搴撶姸鎬侊細 199.杞Щ
+                            wrkMast.setIoPri(15D);
+                            wrkMast.setCrnNo(0);
+                            wrkMast.setSourceStaNo(4007); // 婧愮珯
+                            wrkMast.setStaNo(staProtocol.getStaNoEnd().intValue()); // 鐩爣绔�
+                            wrkMast.setFullPlt("N"); // 婊℃澘
+                            wrkMast.setPicking("N"); // 鎷ｆ枡
+                            wrkMast.setExitMk("N"); // 閫�鍑�
+                            wrkMast.setEmptyMk("Y"); // 绌烘澘
+                            wrkMast.setBarcode("KB888888"); // 鎵樼洏鐮�
+                            wrkMast.setLinkMis("N");
+                            wrkMast.setCtnNo("Y");  // 鍏ュ簱闃诲搴撲綅绉昏浆鏍囪
+                            wrkMast.setAppeTime(now);
+                            wrkMast.setModiTime(now);
+                            int res = wrkMastMapper.insert(wrkMast);
+                            if (res == 0) {
+//                                throw new CoolException("");
+                                log.error("4007绔欑偣锛屾《鍨�4锛屼繚瀛樺伐浣滄。涓绘。澶辫触锛侊紒锛侊紒锛侊紒"+now.toString());
+                                continue;
+                            }
+                            type = 2;
+                        } else if (inStn.getSourceStaNo() == 2102 && staProtocol.isFullPlt()) {
+                            sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2301);
+                        } else {
+                            sta1 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getStaNo());
+                        }
+
+                        if (inStn.getSourceStaNo() == 2102 && staProtocol.isEmptyMk()){ //鍖哄垎绌烘澘
+                            type = 1;
+                        }
+                        if(inStn.getSourceStaNo() == 2102){
+                            weight = staProtocol.getWeight().doubleValue()/10;
+                        }
+                        Integer staNo = Utils.getStaNo(rgvSlave.getId(), (int) sta1);
+                        BasDevp devp = basDevpService.selectById(staNo);
+                        if (devp.getWrkNo()!=0 || Cools.isEmpty(devp.getLoading()) || devp.getLoading().equals("Y")){
+                            continue;
+                        }
+                        work1 = true;
+                        if (inStn.getSourcePlcId() == 4 || inStn.getSourcePlcId() ==5){ //鐏岃绔欓渶瑕佽幏鍙栬緭閫佺嚎鐗╂枡浠ｇ爜
+                            matnr = staProtocol.getMatnr();
+                            batch = staProtocol.getBatch();
+                            anfme = (Cools.isEmpty(staProtocol.getAnfme()) || staProtocol.getAnfme()==0) ? anfme:staProtocol.getAnfme().shortValue();
+                            weight11 = staProtocol.getWeight1();
+                            weight = weight11;
+                            String memoBool = staProtocol.isBan()? "瀛樺湪":"涓嶅瓨鍦�";
+                            memo = memoBool+"鍗婃《";
+                        }
+                        devpThread.setPakMk(inStn.getSourceStaNo(),false);
+                        break;
+
+                    }
+                }
+
+                if (rgvSlave.getId() != 3){
+                    //宸ヤ綅浜屼换鍔�
+                    for (RgvSlave.Sta inStn :  rgvSlave.getInStn()){
+                        work2 = false;
+                        workNo2 = 0;
+                        souSta2 = 0;
+                        sta2 = 0;
+                        type2 = 0;
+                        if (souSta1 == inStn.getSourceStaNo()){
+                            continue;
+                        }
+                        if (rgvSlave.getId() == 1 && inStn.getSourceStaNo() == 1014){
+                            continue;
+                        }
+                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, inStn.getSourcePlcId());
+                        StaProtocol staProtocol = devpThread.getStation().get(inStn.getSourceStaNo());
+                        if (staProtocol == null) {
+//                            break;
+                            continue;
+                        } else {
+                            staProtocol = staProtocol.clone();
+                        }
+                        if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()&& staProtocol.isPakMk() && (staProtocol.getWorkNo()>0 && staProtocol.getWorkNo()<9900)){
+
+                                WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
+                                if (Cools.isEmpty(wrkMast)){
+                                    log.error("鏈壘鍒板伐浣滄。");
+                                    continue;
+                                }
+                                workNo2 = wrkMast.getWrkNo();
+                                souSta2 = Utils.getRgvStaNo(rgvSlave.getId(),staProtocol.getSiteId());
+                                sta2 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
+                                Integer staNo = Utils.getStaNo(rgvSlave.getId(), (int) sta2);
+                                BasDevp devp2 = basDevpService.selectById(staNo);
+                                if (devp2.getWrkNo()!=0 || Cools.isEmpty(devp2.getLoading()) || devp2.getLoading().equals("Y")){
+                                    continue;
+                                }
+
+                                work2 = true;
+                                devpThread.setPakMk(inStn.getSourceStaNo(),false);
+                                break;
+                        } else if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && (staProtocol.getWorkNo()>=9900 || staProtocol.getWorkNo()==0)) {
+                            if (rgvSlave.getId() != 2 ){
+                                continue;
+                            }
+                            workNo2 = workNo++;
+                            souSta2 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getSourceStaNo());
+                            if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 1){
+                                sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2103);
+                            } else if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 2) {
+                                sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2002);
+                            } else if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 4) {
+                                if (staProtocol.getStaNoEnd() == 3007 || staProtocol.getStaNoEnd() == 3012){
+                                    sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2103);
+                                } else if (staProtocol.getStaNoEnd() == 2001 ){
+                                    sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2002);
+                                } else {
+                                    log.error("4007绔欑偣锛屾《鍨�4锛岄潪娉曠洰鏍囩珯锛侊紒锛侊紒锛侊紒"+staProtocol.getStaNoEnd().toString());
+                                    continue;
+                                }
+                                Integer staNo = Utils.getStaNo(rgvSlave.getId(), (int) sta2);
+                                BasDevp devp2 = basDevpService.selectById(staNo);
+                                if (devp2.getWrkNo()!=0 || Cools.isEmpty(devp2.getLoading()) || devp2.getLoading().equals("Y")){
+                                    continue;
+                                }
+                                workNo2 = commonService.getWorkNo(3);
+                                Date now = new Date();
+                                // 淇濆瓨宸ヤ綔妗�
+                                WrkMast wrkMast = new WrkMast();
+                                wrkMast.setWrkNo(workNo2);
+                                wrkMast.setIoTime(now);
+                                wrkMast.setWrkSts(101L); // 宸ヤ綔鐘舵�侊細101.鍒濆
+                                wrkMast.setIoType(199); // 鍏ュ嚭搴撶姸鎬侊細 199.杞Щ
+                                wrkMast.setIoPri(15D);
+                                wrkMast.setCrnNo(0);
+                                wrkMast.setSourceStaNo(4007); // 婧愮珯
+                                wrkMast.setStaNo(staProtocol.getStaNoEnd().intValue()); // 鐩爣绔�
+                                wrkMast.setFullPlt("N"); // 婊℃澘
+                                wrkMast.setPicking("N"); // 鎷ｆ枡
+                                wrkMast.setExitMk("N"); // 閫�鍑�
+                                wrkMast.setEmptyMk("Y"); // 绌烘澘
+                                wrkMast.setBarcode("KB888888"); // 鎵樼洏鐮�
+                                wrkMast.setLinkMis("N");
+                                wrkMast.setCtnNo("Y");  // 鍏ュ簱闃诲搴撲綅绉昏浆鏍囪
+                                wrkMast.setAppeTime(now);
+                                wrkMast.setModiTime(now);
+                                int res = wrkMastMapper.insert(wrkMast);
+                                if (res == 0) {
+//                                throw new CoolException("");
+                                    log.error("4007绔欑偣锛屾《鍨�4锛屼繚瀛樺伐浣滄。涓绘。澶辫触锛侊紒锛侊紒锛侊紒"+now.toString());
+                                    continue;
+                                }
+                                type2 = 2;
+                            } else if (inStn.getSourceStaNo() == 2102 && staProtocol.isFullPlt()) {
+                                sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2301);
+                            } else {
+                                sta2 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getStaNo());
+                            }
+
+                            if (inStn.getSourceStaNo() == 2102 && staProtocol.isEmptyMk()){ //鍖哄垎绌烘澘
+                                type2 = 1;
+                            }
+
+                            if(inStn.getSourceStaNo() == 2102){
+                                weight2 = staProtocol.getWeight().doubleValue()/10;
+                            }
+                            Integer staNo = Utils.getStaNo(rgvSlave.getId(), (int) sta2);
+                            BasDevp devp2 = basDevpService.selectById(staNo);
+                            if (devp2.getWrkNo()!=0 || Cools.isEmpty(devp2.getLoading()) || devp2.getLoading().equals("Y")){
+                                continue;
+                            }
+
+                            work2 = true;
+                            if (inStn.getSourcePlcId() == 4){
+                                matnr2 = staProtocol.getMatnr();
+                                batch2 = staProtocol.getBatch();
+                                anfme2 = (Cools.isEmpty(staProtocol.getAnfme2()) || staProtocol.getAnfme2()==0) ? anfme2:staProtocol.getAnfme2().shortValue();
+
+                                weight11 = staProtocol.getWeight1();
+                                weight2 = weight11;
+                                String memoBool = staProtocol.isBan()? "瀛樺湪":"涓嶅瓨鍦�";
+                                memo2 = memoBool+"鍗婃《";
+                            }
+                            devpThread.setPakMk(inStn.getSourceStaNo(),false);
+                            break;
+                        }
+
+
+                    }
+                }
+
+
+                if (work1 || work2){
+                    //rgv浠诲姟涓嬪彂--------------------------------------------------------------
+                    RgvCommand command = new RgvCommand();
+                    command.setRgvNo(rgvSlave.getId()); // RGV缂栧彿
+                    //宸ヤ綅1
+                    command.setTaskNo1(workNo1); // 宸ヤ綔鍙�
+                    command.setSourceStaNo1(souSta1); // 婧愮珯
+                    command.setDestinationStaNo1(sta1);  // 鐩爣绔�
+                    command.setAckFinish1(false);  // 浠诲姟瀹屾垚纭浣�
+
+                    //宸ヤ綅2
+                    command.setTaskNo2(workNo2); // 宸ヤ綔鍙�
+                    command.setSourceStaNo2(souSta2); // 婧愮珯
+                    command.setDestinationStaNo2(sta2);  // 鐩爣绔�
+                    command.setAckFinish2(false);  // 浠诲姟瀹屾垚纭浣�
+
+                    command.setMatnr(matnr);
+                    command.setMatnr2(matnr2);
+                    command.setBatch(batch);
+                    command.setBatch2(batch2);
+                    command.setAnfme(anfme);
+                    command.setAnfme2(anfme2);
+
+                    command.setType(type);
+                    command.setType2(type2);
+
+                    command.setWeight(weight);
+                    command.setWeight2(weight2);
+
+                    if (workNo1 == 0 && workNo2 !=0){
+                        command.setTaskMode(RgvTaskModeType.FETCH_PUT2); // 浠诲姟妯″紡: 2鍙栨斁璐�
+                    } else if (workNo1 != 0 && workNo2 ==0) {
+                        command.setTaskMode(RgvTaskModeType.FETCH_PUT1); // 浠诲姟妯″紡: 1鍙栨斁璐�
+                    }else {
+                        command.setTaskMode(RgvTaskModeType.FETCH_PUT_ALL); // 浠诲姟妯″紡: all鍙栨斁璐�
+                    }
+                    command.setCommand(false);
+                    rgvTaskSave(command,memo,memo2);
+                    MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(2, command));
+                    log.info("rgv浠诲姟涓嬪彂锛�"+JSON.toJSONString(command));
+                }
+            }
+
+        }
+    }
+
+
+    public synchronized void RGVTaskOver() {
+        for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+            if (rgvSlave.getId() ==2){
+                continue;
+            }
+            ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+            if (Cools.isEmpty(rgvProtocol)){
+                continue;
+            }else {
+                rgvProtocol = rgvProtocol.clone();
+            }
+
+            //宸ヤ綅涓�浠诲姟瀹屾垚
+            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING && rgvProtocol.getLoaded1() == 0) {
+
+                try {
+                    boolean offer = MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(3, new RgvCommand()));
+                    log.info("{}鍙穜gv宸ヤ綅涓�宸ヤ綔瀹屾垚澶嶄綅,宸ヤ綔鍙�:{}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
+                    if (offer){
+                        //瀹屾垚rgv浠诲姟
+                        Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvSlave.getId()).eq("wrk_no", rgvProtocol.getTaskNo1());
+                        WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
+                        if (Cools.isEmpty(wrkMastSta1)){
+                            log.error("瀹屾垚{}鍙疯溅宸ヤ綅涓�浠诲姟鏈壘鍒板搴攔gv浠诲姟,{}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
+                        }else {
+                            if (wrkMastSta1.getWrkType() == 8 ){
+                                wrkMastSta1.setWrkSts(3);
+                                wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
+                            }
+                        }
+
+                        //瀹屾垚宸ヤ綔妗ｄ换鍔�
+                        if (rgvSlave.getId() != 1){
+                            WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo1());
+                            if (Cools.isEmpty(wrkMast)){
+                                log.error("瀹屾垚{}鍙疯溅宸ヤ綅涓�浠诲姟鏈壘鍒板搴攔gv浠诲姟,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
+                            } else {
+                                if (wrkMast.getIoType() == 110 || wrkMast.getIoType() == 101){
+                                    Date date = new Date();
+                                    wrkMast.setWrkSts(14L);
+                                    wrkMast.setModiTime(date);
+                                    wrkMastService.updateById(wrkMast);
+                                } else if (wrkMast.getIoType()==199 && rgvSlave.getId()==3 && (wrkMast.getStaNo()==3007 || wrkMast.getStaNo()==3012)){
+                                    Date date = new Date();
+                                    wrkMast.setWrkSts(105L);
+                                    wrkMast.setModiTime(date);
+                                    wrkMastService.updateById(wrkMast);
+                                }
+                            }
+                        }
+                    }
+
+
+                }catch (Exception e){
+                    log.error("瀹屾垚{}鍙疯溅宸ヤ綅涓�浠诲姟鍑洪敊!!!!!!!!!!!!!!!!,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
+                    continue;
+                }
+
+
+
+            }
+
+            //宸ヤ綅浜屼换鍔″畬鎴�
+            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING2 && rgvProtocol.getLoaded2() == 0) {
+                try {
+                    boolean offer = MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(4, new RgvCommand()));
+                    log.info("{}鍙穜gv宸ヤ綅浜屽伐浣滃畬鎴愬浣�,宸ヤ綔鍙�:{}",rgvSlave.getId(),rgvProtocol.getTaskNo2());
+                    if (offer){
+                        //瀹屾垚rgv浠诲姟
+                        Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvProtocol.getRgvNo()).eq("wrk_no2", rgvProtocol.getTaskNo2());
+                        WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
+                        if (Cools.isEmpty(wrkMastSta1)){
+                            log.error("瀹屾垚{}鍙疯溅宸ヤ綅浜屼换鍔℃湭鎵惧埌瀵瑰簲宸ヤ綔浠诲姟,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
+                        }else {
+                            if (wrkMastSta1.getWrkType() == 9 ){
+                                wrkMastSta1.setWrkSts(3);
+                                wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
+                            }else if (wrkMastSta1.getWrkType() == 1){
+                                wrkMastSta1.setWrkSts(3);
+                                wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
+                            }
+                        }
+
+                        //瀹屾垚宸ヤ綔妗ｄ换鍔�
+                        if (rgvSlave.getId() != 1){
+                            WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo2());
+                            if (Cools.isEmpty(wrkMast)){
+                                log.error("瀹屾垚{}鍙疯溅宸ヤ綅涓�浠诲姟鏈壘鍒板搴攔gv浠诲姟,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
+                            }else {
+                                if (wrkMast.getIoType() == 110 || wrkMast.getIoType() == 101){
+                                    Date date = new Date();
+                                    wrkMast.setWrkSts(14L);
+                                    wrkMast.setModiTime(date);
+                                    wrkMastService.updateById(wrkMast);
+                                }
+                            }
+                        }
+
+                    }
+
+                }catch (Exception e){
+                    log.error("瀹屾垚{}鍙疯溅宸ヤ綅涓�浠诲姟鍑洪敊!!!!!!!!!!!!!!!!,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
+                    continue;
+                }
+
+
+
+
+            }
+        }
+    }
+
+    //浜屽彿rgv杈撻�佺嚎鍛戒护涓嬪彂
+    public synchronized void RGVTaskput() {
+        for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+            if (rgvSlave.getId() ==2){
+                continue;
+            }
+            ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+            if (Cools.isEmpty(rgvProtocol)){
+                continue;
+            }else {
+                rgvProtocol = rgvProtocol.clone();
+            }
+
+            //宸ヤ綅涓�浠诲姟瀹屾垚
+            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN1 && rgvProtocol.getLoaded1() == 1) {
+                WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo(rgvSlave.getId(), rgvProtocol.getTaskNo1());
+                WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo1());
+                if (Cools.isEmpty(wrkMastSta)){
+                    log.error("鏈煡璇㈠埌rgv宸ヤ綔浠诲姟锛宺gv缂栧彿{},宸ヤ綔鍙穥}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
+                    continue;
+                }
+                for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
+                    if (!Objects.equals(Utils.getStaNo(rgvSlave.getId(), wrkMastSta.getWrkEnd()), outStn.getStaNo())){
+                        continue;
+                    }
+                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
+                    StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
+                    if (staProtocol == null) {
+                        continue;
+                    } else {
+                        staProtocol = staProtocol.clone();
+                    }
+                    if (staProtocol.isAutoing() && !staProtocol.isLoading()  && staProtocol.isPakMk()){
+                        staProtocol.setWorkNo(wrkMastSta.getWrkNo().shortValue());
+                        if (rgvSlave.getId() == 3 && outStn.getStaPlcId() == 6){
+                            staProtocol.setStaNo((short)2401);
+                        }else {
+                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+                        }
+
+                        MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol));
+                    }
+                }
+            }
+
+            //宸ヤ綅浜屼换鍔″畬鎴�
+            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN8 && rgvProtocol.getLoaded2() == 1) {
+                WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo2(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo2());
+                WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo2());
+                if (Cools.isEmpty(wrkMastSta)){
+                    log.error("鏈煡璇㈠埌rgv宸ヤ綔浠诲姟锛宺gv缂栧彿{},宸ヤ綔鍙穥}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
+                    continue;
+                }
+                for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
+                    if (!Objects.equals(Utils.getStaNo(rgvSlave.getId(), wrkMastSta.getStaEnd()), outStn.getStaNo())){
+                        continue;
+                    }//鍒ゆ柇鏄惁涓哄伐浣滄。绔欑偣
+                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
+                    StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
+                    if (staProtocol == null) {
+                        continue;
+                    } else {
+                        staProtocol = staProtocol.clone();
+                    }
+                    if (staProtocol.isAutoing() && !staProtocol.isLoading()  && staProtocol.isPakMk()){
+                        staProtocol.setWorkNo(wrkMastSta.getWrkNo2().shortValue());
+                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+                        MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol));
+                    }
+                }
+            }
+        }
+    }
+
+    //浜屽彿rgv杈撻�佺嚎鍛戒护涓嬪彂
+    public synchronized void RGV2Taskput() {
+        for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+            if (rgvSlave.getId() !=2){
+                continue;
+            }
+            ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+            if (Cools.isEmpty(rgvProtocol)){
+                continue;
+            }else {
+                rgvProtocol = rgvProtocol.clone();
+            }
+
+            //宸ヤ綅涓�浠诲姟瀹屾垚
+            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN1 && rgvProtocol.getLoaded1() == 1) {
+                WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo1());
+                if (Cools.isEmpty(wrkMastSta)){
+                    log.error("鏈煡璇㈠埌rgv宸ヤ綔浠诲姟锛宺gv缂栧彿{},宸ヤ綔鍙穥}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
+                    continue;
+                }
+                for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
+                    if (!Objects.equals(Utils.getStaNo(rgvSlave.getId(), wrkMastSta.getWrkEnd()), outStn.getStaNo())){
+                        continue;
+                    }
+                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
+                    StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
+                    if (staProtocol == null) {
+                        continue;
+                    } else {
+                        staProtocol = staProtocol.clone();
+                    }
+
+                    if (outStn.getStaPlcId() == 2){
+                        if (staProtocol.isAutoing() && !staProtocol.isLoading()  && staProtocol.isPakMk()){
+                            staProtocol.setWorkNo(wrkMastSta.getWrkNo().shortValue());
+                            if (wrkMastSta.getType() == 1){
+                                staProtocol.setStaNo((short) 9999);
+                            } else if (wrkMastSta.getType() == 2){//杞繍
+                                staProtocol.setStaNo((short) 2114);
+                            } else {
+                                staProtocol.setStaNo((short) 2106);
+                            }
+                            staProtocol.setMatnr(wrkMastSta.getMatnr1());
+
+                            if (!MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol))) {
+                                continue;
+                            }
+                        }
+                    }
+
+                }
+            }
+
+            //宸ヤ綅浜屼换鍔″畬鎴�
+            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN8 && rgvProtocol.getLoaded2() == 1) {
+                WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo2(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo2());
+                if (Cools.isEmpty(wrkMastSta)){
+                    log.error("鏈煡璇㈠埌rgv宸ヤ綔浠诲姟锛宺gv缂栧彿{},宸ヤ綔鍙穥}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
+                    continue;
+                }
+                for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
+                    if (!Objects.equals(Utils.getStaNo(rgvSlave.getId(), wrkMastSta.getStaEnd()), outStn.getStaNo())){
+                        continue;
+                    }
+                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
+                    StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
+                    if (staProtocol == null) {
+                        continue;
+                    } else {
+                        staProtocol = staProtocol.clone();
+                    }
+                    if (outStn.getStaPlcId() == 2){
+                        if (staProtocol.isAutoing() && !staProtocol.isLoading()  && staProtocol.isPakMk()){
+                            staProtocol.setWorkNo(wrkMastSta.getWrkNo2().shortValue());
+                            if (wrkMastSta.getType2() == 1){
+                                staProtocol.setStaNo((short) 9999);
+                            } else if (wrkMastSta.getType() == 2){//杞繍
+                                staProtocol.setStaNo((short) 2114);
+                            } else {
+                                staProtocol.setStaNo((short) 2106);
+                            }
+
+                            staProtocol.setMatnr(wrkMastSta.getMatnr2());
+
+                            if (!MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol))) {
+                                continue;
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    public synchronized void RGV2TaskOver() {
+        for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+            if (rgvSlave.getId() !=2){
+                continue;
+            }
+            ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+            if (Cools.isEmpty(rgvProtocol)){
+                continue;
+            }else {
+                rgvProtocol = rgvProtocol.clone();
+            }
+
+            //宸ヤ綅涓�浠诲姟瀹屾垚
+            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING && rgvProtocol.getLoaded1() == 0) {
+
+                try {
+                    boolean offer = MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(3, new RgvCommand()));
+                    log.info("{}鍙穜gv宸ヤ綅涓�宸ヤ綔瀹屾垚澶嶄綅,宸ヤ綔鍙�:{}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
+                    if (offer){
+
+                        Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvProtocol.getRgvNo()).eq("wrk_no", rgvProtocol.getTaskNo1());
+                        WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
+                        if (Cools.isEmpty(wrkMastSta1)){
+                            log.error("瀹屾垚{}鍙疯溅宸ヤ綅涓�浠诲姟鏈壘鍒板搴攔gv浠诲姟,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
+                        }else {
+                            if (wrkMastSta1.getWrkType() == 8 ){
+                                wrkMastSta1.setWrkSts(3);
+                                wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
+                            }
+                        }
+
+                        //瀹屾垚宸ヤ綔妗ｄ换鍔�
+                        WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo1());
+                        if (Cools.isEmpty(wrkMast)){
+                            log.error("瀹屾垚{}鍙疯溅宸ヤ綅涓�浠诲姟鏈壘鍒板搴攔gv浠诲姟,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
+                        }else {
+                            if (wrkMast.getIoType() == 110 || wrkMast.getIoType() == 101){
+                                Date date = new Date();
+                                wrkMast.setWrkSts(14L);
+                                wrkMast.setModiTime(date);
+                                wrkMastService.updateById(wrkMast);
+                            } else if (wrkMast.getIoType()==199 && wrkMast.getStaNo()==2001){
+                                Date date = new Date();
+                                wrkMast.setWrkSts(105L);
+                                wrkMast.setModiTime(date);
+                                wrkMastService.updateById(wrkMast);
+                            } else if (wrkMast.getIoType() == 105){
+                                Date date = new Date();
+                                wrkMast.setWrkSts(14L);
+                                wrkMast.setModiTime(date);
+                                wrkMastService.updateById(wrkMast);
+                            }
+                        }
+
+
+                    }
+
+
+                }catch (Exception e){
+                    log.error("瀹屾垚{}鍙疯溅宸ヤ綅涓�浠诲姟鍑洪敊!!!!!!!!!!!!!!!!,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
+                    continue;
+                }
+
+
+
+            }
+
+            //宸ヤ綅浜屼换鍔″畬鎴�
+            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING2 && rgvProtocol.getLoaded2() == 0) {
+                try {
+                    boolean offer = MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(4, new RgvCommand()));
+                    log.info("{}鍙穜gv宸ヤ綅浜屽伐浣滃畬鎴愬浣�,宸ヤ綔鍙�:{}",rgvSlave.getId(),rgvProtocol.getTaskNo2());
+                    if (offer){
+                        Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvProtocol.getRgvNo()).eq("wrk_no2", rgvProtocol.getTaskNo2());
+                        WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
+                        if (Cools.isEmpty(wrkMastSta1)){
+                            log.error("瀹屾垚{}鍙疯溅宸ヤ綅浜屼换鍔℃湭鎵惧埌瀵瑰簲宸ヤ綔浠诲姟,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
+                        }else {
+                            if (wrkMastSta1.getWrkType() == 9 ){
+                                wrkMastSta1.setWrkSts(3);
+                                wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
+                            }else if (wrkMastSta1.getWrkType() == 1){
+                                wrkMastSta1.setWrkSts(3);
+                                wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
+                            }
+                        }
+
+                        //瀹屾垚宸ヤ綔妗ｄ换鍔�
+                        WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo2());
+                        if (Cools.isEmpty(wrkMast)){
+                            log.error("瀹屾垚{}鍙疯溅宸ヤ綅涓�浠诲姟鏈壘鍒板搴攔gv浠诲姟,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
+                        }else {
+                            if (wrkMast.getIoType() == 110 || wrkMast.getIoType() == 101){
+                                Date date = new Date();
+                                wrkMast.setWrkSts(14L);
+                                wrkMast.setModiTime(date);
+                                wrkMastService.updateById(wrkMast);
+                            }
+                        }
+
+                    }
+
+
+                }catch (Exception e){
+                    log.error("瀹屾垚{}鍙疯溅宸ヤ綅涓�浠诲姟鍑洪敊!!!!!!!!!!!!!!!!,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
+                    continue;
+                }
+
+
+
+
+            }
+        }
+    }
+
+    public boolean rgvTaskSave(RgvCommand command,String memo,String memo2){
+//        Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", command.getRgvNo()).eq("wrk_no", command.getTaskNo1());
+        if (command.getTaskNo1() > 0){
+            List<WrkMastSta> wrkMastSta1 = wrkMastStaService.selectBywrkNoHistoricalTasks(command.getRgvNo(),command.getTaskNo1());
+            if (!Cools.isEmpty(wrkMastSta1)){
+                for (WrkMastSta wrkMastSta :wrkMastSta1){
+                    wrkMastStaService.deleteById(wrkMastSta);
+                }
+
+            }
+        }
+        if (command.getTaskNo2() > 0){
+            List<WrkMastSta> wrkMastSta1 = wrkMastStaService.selectBywrkNoHistoricalTasks2(command.getRgvNo(),command.getTaskNo2());
+            if (!Cools.isEmpty(wrkMastSta1)){
+                for (WrkMastSta wrkMastSta :wrkMastSta1){
+                    wrkMastStaService.deleteById(wrkMastSta);
+                }
+
+            }
+        }
+
+
+        WrkMastSta wrkMastSta = new WrkMastSta();
+        wrkMastSta.setWrkNo(Long.valueOf(command.getTaskNo1()));
+        wrkMastSta.setWrkNo2(Long.valueOf(command.getTaskNo2()));
+        wrkMastSta.setWrkStart(command.getSourceStaNo1().intValue());
+        wrkMastSta.setWrkEnd(command.getDestinationStaNo1().intValue());
+        wrkMastSta.setStaStart(command.getSourceStaNo2().intValue());
+        wrkMastSta.setStaEnd(command.getDestinationStaNo2().intValue());
+        wrkMastSta.setWrkSts(1);
+        Date now = new Date();
+        wrkMastSta.setCreateTime(now);
+        wrkMastSta.setUpdateTime(now);
+        wrkMastSta.setWrkCrn(command.getRgvNo());
+        wrkMastSta.setWrkType(command.getTaskMode().intValue());
+        wrkMastSta.setMatnr1(command.getMatnr());
+        wrkMastSta.setMatnr2(command.getMatnr2());
+        wrkMastSta.setType(command.getType().intValue());
+        wrkMastSta.setType2(command.getType2().intValue());
+        wrkMastSta.setBatch(command.getBatch());
+        wrkMastSta.setBatch2(command.getBatch2());
+        wrkMastSta.setAnfme(command.getAnfme().intValue());
+        wrkMastSta.setAnfme2(command.getAnfme2().intValue());
+        wrkMastSta.setWeight(command.getWeight());
+        wrkMastSta.setWeight2(command.getWeight2());
+        wrkMastSta.setMemo(memo);
+        wrkMastSta.setMemo2(memo2);
+
+        return wrkMastStaService.insert(wrkMastSta);
+    }
+
+    //浜屾湡缁勬墭
+    public synchronized void generateStoreWrkFile2() {
+        // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+        for (DevpSlave devp : slaveProperties.getDevp()) {
+            if (devp.getId() != 2){
+                continue;
+            }
+            // 閬嶅巻鍏ュ簱鍙�
+            for (DevpSlave.Sta inSta : devp.getInSta()) {
+                // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
+                if (barcodeThread == null) {
+                    continue;
+                }
+                String barcode = barcodeThread.getBarcode();
+  // 鑾峰彇鍏ュ簱绔欎俊鎭�
+                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+                if (staProtocol == null) {
+                    continue;
+                } else {
+                    staProtocol = staProtocol.clone();
+                }
+                if (!Cools.isEmpty(barcode)) {
+                    log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
+                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+                        continue;
+                    }
+                } else {
+                    // led 寮傚父鏄剧ず
+//                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+//                    if (ledThread != null) {
+//                        String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+//                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+//                    }
+                    continue;
+                }
+                // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+                if (staProtocol.isAutoing()
+                        && staProtocol.isLoading()
+                        && staProtocol.isInEnable()
+                        && !staProtocol.isEmptyMk()
+                        && staProtocol.getStaNo() != 9999
+                        && staProtocol.isPakMk()) {
+
+                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+                        log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
+                        //鏉＄爜涓虹┖鎴栬�呬笉绗﹀悎锛岄��搴撳埌
+                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+                        if (ledThread != null) {
+                            String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+                        }
+                        continue;
+                    }
+
+                    // 鍒ゆ柇閲嶅宸ヤ綔妗�
+                    WrkMast wrkMast = new WrkMast();
+                    if (barcode.length() == 8) {
+                        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;
+                        }
+                    }
+//                     鑾峰彇鍏ュ簱閫氱煡妗�
+                    WaitPakin waitPakin = waitPakinService.selectOne(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
+                    if (Cools.isEmpty(waitPakin)) {
+                        WrkMast mast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", barcode).eq("io_type", 105));
+                        if (Cools.isEmpty(mast)) {
+                            try {
+                                CreateComb(barcode, staProtocol.getMatnr().toString(),staProtocol.getWorkNo().intValue(),staProtocol.getBatch(),inSta);
+                            }catch (IOException e) {
+                                throw new CoolException(e);
+                            }
+                        } else {
+                            try {
+                                LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+                                SearchLocParam param = new SearchLocParam();
+                                param.setBarcode(barcode);
+                                param.setBatch(staProtocol.getBatch());
+                                param.setIoType(105);
+                                param.setSourceStaNo(inSta.getStaNo());
+                                param.setLocType1(locTypeDto.getLocType1());
+                                String response = new HttpHandler.Builder()
+                                        .setUri(wmsUrl)
+                                        .setPath("/rpc/process/in/loc/v1")
+                                        .setJson(JSON.toJSONString(param))
+                                        .build()
+                                        .doPost();
+                                JSONObject jsonObject = JSON.parseObject(response);
+                                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+                                if (jsonObject.getInteger("code").equals(200)) {
+                                    StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+
+                                    barcodeThread.setBarcode("");
+                                    staProtocol.setWorkNo(dto.getWorkNo().shortValue());
+                                    staProtocol.setStaNo(dto.getStaNo().shortValue());
+                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
+                                    ledThread.errorReset();
+                                    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");
+                                    }
+                                } else if(jsonObject.getInteger("code").equals(700)) {
+                                    log.error(barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒");
+                                    // led 寮傚父鏄剧ず
+                                    ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+                                    if (ledThread != null) {
+                                        String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
+                                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+                                    }
+                                } else {
+                                    log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/process/in/loc/v1", JSON.toJSONString(param), response);
+                                }
+
+                            } catch (Exception e) {
+                                log.error(""+e);
+                                e.printStackTrace();
+                                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+                            }
+                        }
+                    } else if (waitPakin.getWeight() == null) {
+                        WrkMastSta wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no", staProtocol.getWorkNo().intValue()));
+                        if (Cools.isEmpty(wrkMastSta)){
+                            wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no2", staProtocol.getWorkNo().intValue()));
+                            if (Cools.isEmpty(wrkMastSta)){
+                                throw new  CoolException("鏈壘鍒板搴旂殑浠诲姟淇℃伅");
+                            }
+                            waitPakin.setWeight(wrkMastSta.getWeight2());
+                        }else {
+                            waitPakin.setWeight(wrkMastSta.getWeight());
+                        }
+                        waitPakinService.update(waitPakin,new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
+                    } else {
+                        try {
+                            LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+                            SearchLocParam param = new SearchLocParam();
+                            param.setBarcode(barcode);
+                            param.setIoType(1);
+                            param.setSourceStaNo(inSta.getStaNo());
+                            param.setLocType1(locTypeDto.getLocType1());
+                            String response = new HttpHandler.Builder()
+                                    .setUri(wmsUrl)
+                                    .setPath("/rpc/pakin/loc/v1")
+                                    .setJson(JSON.toJSONString(param))
+                                    .build()
+                                    .doPost();
+                            JSONObject jsonObject = JSON.parseObject(response);
+                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+                            if (jsonObject.getInteger("code").equals(200)) {
+                                StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+
+                                barcodeThread.setBarcode("");
+                                staProtocol.setWorkNo(dto.getWorkNo().shortValue());
+                                staProtocol.setStaNo(dto.getStaNo().shortValue());
+                                devpThread.setPakMk(staProtocol.getSiteId(), false);
+                                ledThread.errorReset();
+                                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");
+                                }
+                            } else if(jsonObject.getInteger("code").equals(700)) {
+                                log.error(barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒");
+                                // led 寮傚父鏄剧ず
+                                ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+                                if (ledThread != null) {
+                                    String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
+                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+                                }
+                            } else {
+                                log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
+                            }
+
+                        } catch (Exception e) {
+                            log.error(""+e);
+                            e.printStackTrace();
+                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+                        }
+                    }
+
+
+                }
+
+            }
+        }
+
+    }
+
+    public synchronized void getNeed() {
+        for (DevpSlave devp : slaveProperties.getDevp()) {
+            if (devp.getId() != 2) {
+                continue;
+            }
+            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+            if (devpThread.isCalled == 1) {
+                try {
+                    String response = new HttpHandler.Builder()
+                            .setUri(wmsUrl)
+                            .setPath("/rpc/process/loc/v1")
+                            .setJson(JSON.toJSONString(""))
+                            .build()
+                            .doPost();
+                    JSONObject jsonObject = JSON.parseObject(response);
+                    if (jsonObject.getInteger("code").equals(200)) {
+                        log.info("浠诲姟涓嬪彂鎴愬姛");
+                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, null));
+                    } else {
+                        log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況esponse锛歿}", wmsUrl + "/mobile/comb/auth", response);
+                    }
+                    Thread.sleep(1000);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+            }
+            if (devpThread.isFinish == 1) {
+
+                Integer weight = devpThread.weight;
+                Integer isHalf = devpThread.isHalf;
+                WrkMast lastWrkMast105 = wrkMastService.getLastWrkMast105();
+                if (Cools.isEmpty(lastWrkMast105)) continue;
+                List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(lastWrkMast105.getWrkNo());
+                if (!Cools.isEmpty(wrkDetls)) {
+                    for (WrkDetl wrkDetl : wrkDetls) {
+                        wrkDetl.setWeight(weight.doubleValue());
+                        if (isHalf == 1) {
+                            wrkDetl.setMemo("瀛樺湪鍗婃《");
+                        } else {
+                            wrkDetl.setMemo("涓嶅瓨鍦ㄥ崐妗�");
+                        }
+                        wrkDetlService.updateById(wrkDetl);
+                    }
+                }
+                boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, null));
+            }
+        }
+    }
+    public void CreateComb(String barcode,String code,Integer wrkNo,String batch,DevpSlave.Sta inSta) throws IOException {
+        Double anfme = 0d;
+        Double weight = 0d;
+        String memo = "";
+
+        WrkMastSta wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkNo));
+        if (Cools.isEmpty(wrkMastSta)){
+            wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no2", wrkNo));
+            if (Cools.isEmpty(wrkMastSta)){
+                if (!Cools.isEmpty(batch)){
+                    anfme = 1d;
+                }else {
+                    throw new  CoolException("鏈壘鍒板搴旂殑浠诲姟淇℃伅");
+                }
+            }else {
+                batch = wrkMastSta.getBatch2();
+                anfme = wrkMastSta.getAnfme2().doubleValue();
+                code = wrkMastSta.getMatnr2();
+                weight = wrkMastSta.getWeight2();
+                memo = wrkMastSta.getMemo2();
+            }
+        }else {
+            batch = wrkMastSta.getBatch();
+            anfme = wrkMastSta.getAnfme().doubleValue();
+            code = wrkMastSta.getMatnr1();
+            weight = wrkMastSta.getWeight();
+            memo = wrkMastSta.getMemo();
+        }
+        ////
+//        MatnrCode matnrCode = matnrCodeService.selectByCode(code);
+        Mat mat = matService.selectByCode(code);
+        if (Cools.isEmpty(mat)){
+            throw new  CoolException("鏈壘鍒板搴旂殑鐗╂枡淇℃伅");
+        }
+        CombParam combParam = new CombParam();
+        ArrayList<CombParam.CombMat> combMats = new ArrayList<>();
+        CombParam.CombMat combMat = new CombParam.CombMat();
+        combParam.setBarcode(barcode);
+        combMat.setMatnr(mat.getMatnr());
+        combMat.setBatch(batch);
+        combMat.setAnfme(anfme);
+        combMat.setWeight(weight);
+        combMat.setMemo(memo);
+
+        combMats.add(combMat);
+        combParam.setCombMats(combMats);
+
+        String response = new HttpHandler.Builder()
+                .setUri(wmsUrl)
+                .setPath("/mobile/comb/auth")
+                .setJson(JSON.toJSONString(combParam))
+                .build()
+                .doPost();
+        JSONObject jsonObject = JSON.parseObject(response);
+        if (jsonObject.getInteger("code").equals(200)) {
+
+        }else {
+            log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/mobile/comb/auth", JSON.toJSONString(combParam), response);
+//            log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
+            //鏉＄爜涓虹┖鎴栬�呬笉绗﹀悎锛岄��搴撲俊鍙蜂笅鍙�
+            boolean result = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, null));
+        }
+    }
+
 }

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