From feec6fc2a8d3c75c921b16774ffc1bf9d83a5b65 Mon Sep 17 00:00:00 2001
From: Administrator <335182714>
Date: 星期五, 31 十月 2025 09:53:00 +0800
Subject: [PATCH] 1

---
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 1445 +++++++++++++++++++++++++++++---------------------------
 1 files changed, 749 insertions(+), 696 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 70470de..3da64c9 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -41,6 +41,7 @@
 import com.zy.system.entity.Config;
 import com.zy.system.mapper.ConfigMapper;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.poi.ss.formula.functions.T;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
@@ -149,31 +150,31 @@
                 boolean back = false;
                 String errMsg = "寮傚父锛�";
                 if (staProtocol.isFrontErr()) {
-                    errMsg = errMsg+"鍓嶈秴闄愶紱";
+                    errMsg = errMsg + "鍓嶈秴闄愶紱";
                     back = true;
                 }
                 if (staProtocol.isBackErr()) {
-                    errMsg = errMsg+"鍚庤秴闄�";
+                    errMsg = errMsg + "鍚庤秴闄�";
                     back = true;
                 }
                 if (staProtocol.isHighErr()) {
-                    errMsg = errMsg+"楂樿秴闄�";
+                    errMsg = errMsg + "楂樿秴闄�";
                     back = true;
                 }
                 if (staProtocol.isLeftErr()) {
-                    errMsg = errMsg+"宸﹁秴闄�";
+                    errMsg = errMsg + "宸﹁秴闄�";
                     back = true;
                 }
                 if (staProtocol.isRightErr()) {
-                    errMsg = errMsg+"鍙宠秴闄�";
+                    errMsg = errMsg + "鍙宠秴闄�";
                     back = true;
                 }
                 if (staProtocol.isWeightErr()) {
-                    errMsg = errMsg+"瓒呴噸";
+                    errMsg = errMsg + "瓒呴噸";
                     back = true;
                 }
                 if (staProtocol.isBarcodeErr()) {
-                    errMsg = errMsg+"鎵爜澶辫触";
+                    errMsg = errMsg + "鎵爜澶辫触";
                     back = true;
                 }
                 // 閫�鍥�
@@ -251,7 +252,7 @@
                             barcodeThread.setBarcode("");
                             staProtocol.setWorkNo(dto.getWorkNo());
 
-                            if(Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) {
+                            if (Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) {
                                 staProtocol.setStaNo(dto.getStaNo());
                             } else {//濡傛灉瀛樺湪RGV缂栧彿锛岃鏄庨渶瑕丷GV鎺ラ┏锛屽厛涓嬪彂浠诲姟鍒癛GV婧愮珯
                                 staProtocol.setStaNo(dto.getRgvSstaNo());
@@ -316,11 +317,11 @@
                         && staProtocol.isLoading()
                         && staProtocol.isInEnable()
                         && staProtocol.isEmptyMk()
-                        && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) )
+                        && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo() > 9899 && staProtocol.getWorkNo() < 10000))
                 ) {
                     try {
                         BasDevp basDevp = basDevpService.selectById(driveSta.getStaNo());
-                        if (basDevp.getReportSign()>0){
+                        if (basDevp.getReportSign() > 0) {
                             continue;
                         }
                         basDevp.setBarcode(barcode);
@@ -373,7 +374,7 @@
                     // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
                     staProtocol.setWorkNo(wrkMast.getWrkNo());
                     Integer staNo = wrkMast.getStaNo();
-                    if (wrkMast.getSourceStaNo()==145){
+                    if (wrkMast.getSourceStaNo() == 145) {
                         staNo = 147;
                     }
                     staProtocol.setStaNo(staNo);
@@ -434,7 +435,7 @@
 
                 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
 //                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
-                    WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"7");
+                    WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(), "7");
                     if (wrkMast == null) {
                         // 鏃犳嫞鏂欐暟鎹�
                         continue;
@@ -450,9 +451,9 @@
                         param.setBarcode(wrkMast.getBarcode());
                         param.setIoType(wrkMast.getIoType());
                         param.setSourceStaNo(pickSta.getStaNo()); //浣滀笟绔欑偣
-                        param.setLocType1((short)1);
+                        param.setLocType1((short) 1);
                         String response = "";
-                        log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+                        log.info("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
                         try {
                             response = new HttpHandler.Builder()
                                     .setUri(wmsUrl)
@@ -461,15 +462,15 @@
                                     .setTimeout(15, TimeUnit.SECONDS)
                                     .build()
                                     .doPost();
-                        } catch(Exception e){
-                            log.error("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+                        } catch (Exception e) {
+                            log.error("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
                             log.error("stnToCrnStnPick2===>>鐩樼偣鏌ュ簱浣嶅叆搴撴帴鍙ｅけ璐�", e);
                             e.printStackTrace();
                             continue;
                         }
-                        log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
-                        log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"涓嬪彂鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS杩斿洖缁撴灉===>>" + response);
-                        if(response.equals("")) {
+                        log.info("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+                        log.info("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "涓嬪彂鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS杩斿洖缁撴灉===>>" + response);
+                        if (response.equals("")) {
                             continue;
                         }
                         JSONObject jsonObject = JSON.parseObject(response);
@@ -478,9 +479,9 @@
                         if (code == 200) {
                             StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                             if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
-                                log.error("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶅け璐�===>>" + jsonObject.toJSONString());
+                                log.error("浠诲姟鍙�" + wrkMast.getWrkNo() + "鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶅け璐�===>>" + jsonObject.toJSONString());
                             } else {
-                                log.info("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶆垚鍔�===>>" + jsonObject.toJSONString());
+                                log.info("浠诲姟鍙�" + wrkMast.getWrkNo() + "鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶆垚鍔�===>>" + jsonObject.toJSONString());
                                 try {
                                     // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
                                     staProtocol.setWorkNo(wrkMast.getWrkNo());
@@ -491,7 +492,7 @@
                                     if (!result) {
                                         log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
                                     }
-                                    log.info("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣/鎷ｆ枡鍐嶅叆搴撲换鍔′笅鍙戞垚鍔�===>>" + staProtocol);
+                                    log.info("浠诲姟鍙�" + wrkMast.getWrkNo() + "鐩樼偣/鎷ｆ枡鍐嶅叆搴撲换鍔′笅鍙戞垚鍔�===>>" + staProtocol);
                                 } catch (Exception e) {
                                     log.error("鐩樼偣鍐嶅叆搴撳け璐�===>>" + e);
                                     e.printStackTrace();
@@ -531,18 +532,18 @@
                     staProtocol = staProtocol.clone();
                 }
                 BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
-                if (Cools.isEmpty(basDevp) || basDevp.getReportSign()!=1){
+                if (Cools.isEmpty(basDevp) || basDevp.getReportSign() != 1) {
                     continue;
                 }
 
-                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
-                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
+                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo() == 0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
+                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(), "3");
 
                     if (wrkMast == null) {
                         continue;
                     }
-                    if (staProtocol.isEmptyMk()){
-                        log.error("绔欑偣鍙�"+staProtocol.getSiteId()+"绌烘澘淇″彿寮傚父锛�");
+                    if (staProtocol.isEmptyMk()) {
+                        log.error("绔欑偣鍙�" + staProtocol.getSiteId() + "绌烘澘淇″彿寮傚父锛�");
                         continue;
                     }
                     if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
@@ -551,8 +552,8 @@
                     }
 
                     String barcode = wrkMast.getBarcode();
-                    if(!Cools.isEmpty(barcode)) {
-                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
+                    if (!Cools.isEmpty(barcode)) {
+                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                             continue;
                         }
                     } else {
@@ -565,9 +566,9 @@
                         param.setBarcode(barcode);
                         param.setIoType(wrkMast.getIoType());
                         param.setSourceStaNo(pickSta.getStaNo()); //浣滀笟绔欑偣
-                        param.setLocType1((short)1);
+                        param.setLocType1((short) 1);
                         String response = "";
-                        log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+                        log.info("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
                         try {
                             response = new HttpHandler.Builder()
                                     .setUri(wmsUrl)
@@ -576,15 +577,15 @@
                                     .setTimeout(15, TimeUnit.SECONDS)
                                     .build()
                                     .doPost();
-                        } catch(Exception e){
-                            log.error("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+                        } catch (Exception e) {
+                            log.error("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
                             log.error("stnToCrnStnPick2===>>鐩樼偣鏌ュ簱浣嶅叆搴撴帴鍙ｅけ璐�", e);
                             e.printStackTrace();
                             continue;
                         }
-                        log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
-                        log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"涓嬪彂鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS杩斿洖缁撴灉===>>" + response);
-                        if(response.equals("")) {
+                        log.info("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+                        log.info("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "涓嬪彂鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS杩斿洖缁撴灉===>>" + response);
+                        if (response.equals("")) {
                             continue;
                         }
                         JSONObject jsonObject = JSON.parseObject(response);
@@ -593,9 +594,9 @@
                         if (code == 200) {
                             StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                             if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
-                                log.error("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶅け璐�===>>" + jsonObject.toJSONString());
+                                log.error("浠诲姟鍙�" + wrkMast.getWrkNo() + "鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶅け璐�===>>" + jsonObject.toJSONString());
                             } else {
-                                log.info("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶆垚鍔�===>>" + jsonObject.toJSONString());
+                                log.info("浠诲姟鍙�" + wrkMast.getWrkNo() + "鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶆垚鍔�===>>" + jsonObject.toJSONString());
                                 try {
                                     // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
                                     staProtocol.setWorkNo(wrkMast.getWrkNo());
@@ -606,7 +607,7 @@
                                     if (!result) {
                                         log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
                                     }
-                                    log.info("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣/鎷ｆ枡鍐嶅叆搴撲换鍔′笅鍙戞垚鍔�===>>" + staProtocol);
+                                    log.info("浠诲姟鍙�" + wrkMast.getWrkNo() + "鐩樼偣/鎷ｆ枡鍐嶅叆搴撲换鍔′笅鍙戞垚鍔�===>>" + staProtocol);
                                 } catch (Exception e) {
                                     log.error("鐩樼偣鍐嶅叆搴撳け璐�===>>" + e);
                                     e.printStackTrace();
@@ -693,7 +694,7 @@
      * 2妤�212鍛煎彨绌烘澘
      */
     public synchronized void stnToCrnStnPick3Auto(Integer sign) {
-        try{
+        try {
             SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
             StaProtocol staProtocol = devpThread.getStation().get(212);
             if (staProtocol == null) {
@@ -701,8 +702,8 @@
             } else {
                 staProtocol = staProtocol.clone();
             }
-            if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo()==0 ){
-                switch (sign){
+            if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo() == 0) {
+                switch (sign) {
                     //鎵ц灏忚溅璐х墿鎼繍浠诲姟
                     case 1:
                     case 4:
@@ -716,8 +717,8 @@
                     default:
                         return;
                 }
-            } else if (staProtocol.isAutoing() && staProtocol.isLoading()){
-                switch (sign){
+            } else if (staProtocol.isAutoing() && staProtocol.isLoading()) {
+                switch (sign) {
                     case 3://婊℃斁
                     case 6://婊℃斁
                         stnToCrnStnPick5();
@@ -726,21 +727,22 @@
                         return;
                 }
             }
-        }catch (Exception e){
-            log.error("2妤�212鍛煎彨绌烘澘"+e);
+        } catch (Exception e) {
+            log.error("2妤�212鍛煎彨绌烘澘" + e);
         }
     }
+
     /**
      * 2妤�212鍛煎彨绌烘澘
      */
     public synchronized void stnToCrnStnPick3() {
         WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
-        if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts()!=61){//61銆佺瓑寰呯┖鏉�
+        if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts() != 61) {//61銆佺瓑寰呯┖鏉�
             return;
         }
         for (DevpSlave devp : slaveProperties.getDevp()) {
             for (DevpSlave.Sta driveSta : devp.getDriveSta()) {
-                if (driveSta.getStaNo()!=215){
+                if (driveSta.getStaNo() != 215) {
                     continue;
                 }
                 // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
@@ -751,12 +753,12 @@
                 } else {
                     staProtocol = staProtocol.clone();
                 }
-                if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo()==0
-                        || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000)) ){
+                if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0
+                        || (staProtocol.getWorkNo() > 9899 && staProtocol.getWorkNo() < 10000))) {
                     boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
 
-                    staProtocol.setWorkNo(wrkMast.getWrkNo()-1);
-                    staProtocol.setStaNo(driveSta.getStaNo()==215? 217:221);
+                    staProtocol.setWorkNo(wrkMast.getWrkNo() - 1);
+                    staProtocol.setStaNo(driveSta.getStaNo() == 215 ? 217 : 221);
                     boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                     if (!result2) {
                         log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
@@ -776,12 +778,12 @@
      */
     public synchronized void stnToCrnStnPick4() {
         WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
-        if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts()!=62){//62銆佺瓑寰呭皬杞︽惉杩�
+        if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts() != 62) {//62銆佺瓑寰呭皬杞︽惉杩�
             return;
         }
         for (DevpSlave devp : slaveProperties.getDevp()) {
             for (DevpSlave.Sta driveSta : devp.getInSta()) {
-                if (driveSta.getStaNo()!=217){
+                if (driveSta.getStaNo() != 217) {
                     continue;
                 }
                 // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
@@ -798,9 +800,9 @@
                 } else {
                     staProtocol212 = staProtocol212.clone();
                 }
-                if (staProtocol212.isAutoing() && !staProtocol212.isLoading() && staProtocol212.getWorkNo()==0){
-                    if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo()==0
-                            || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) || staProtocol.getWorkNo()==wrkMast.getWrkNo()-1) ){
+                if (staProtocol212.isAutoing() && !staProtocol212.isLoading() && staProtocol212.getWorkNo() == 0) {
+                    if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0
+                            || (staProtocol.getWorkNo() > 9899 && staProtocol.getWorkNo() < 10000) || staProtocol.getWorkNo() == wrkMast.getWrkNo() - 1)) {
 //                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
 
                         staProtocol.setWorkNo(wrkMast.getWrkNo());
@@ -825,7 +827,7 @@
      */
     public synchronized void stnToCrnStnPick5() {
         WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
-        if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts()!=63){//63銆佺瓑寰呭畬鎴�
+        if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts() != 63) {//63銆佺瓑寰呭畬鎴�
             return;
         }
 
@@ -837,7 +839,7 @@
         } else {
             staProtocol = staProtocol.clone();
         }
-        if (staProtocol.isAutoing() && staProtocol.isLoading()){
+        if (staProtocol.isAutoing() && staProtocol.isLoading()) {
 //            boolean result1 = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, staProtocol));
 
             wrkMast.setWrkSts(64L);
@@ -847,6 +849,7 @@
             return;
         }
     }
+
     /**
      * 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱  鎷嗗灈浣嶇疆
      */
@@ -864,18 +867,18 @@
                     staProtocol = staProtocol.clone();
                 }
                 BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
-                if (Cools.isEmpty(basDevp) || basDevp.getReportSign()!=1){
+                if (Cools.isEmpty(basDevp) || basDevp.getReportSign() != 1) {
                     continue;
                 }
 
-                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
-                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
+                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo() == 0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
+                    WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(), "3");
                     if (wrkMast == null) {
-                        WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
-                        if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
+                        WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(), "3");
+                        if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()) {
                             WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
-                            if (Cools.isEmpty(wrkMastSta)){
-                                WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
+                            if (Cools.isEmpty(wrkMastSta)) {
+                                WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(), staProtocol.getSiteId());
                                 wrkMastSta1.setType(2);
                                 wrkMastSta1.setWrkType(1);
                                 wrkMastStaMapper.insert(wrkMastSta1);
@@ -886,6 +889,7 @@
             }
         }
     }
+
     /**
      * 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
      */
@@ -970,7 +974,7 @@
 
                         // 涓嬪彂绔欑偣淇℃伅
                         staProtocol.setWorkNo(wrkMast.getWrkNo());
-                        staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
+                        staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(), wrkMast.getSourceStaNo()));
                         if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                             continue;
                         }
@@ -996,7 +1000,7 @@
      * 鍏ュ嚭搴�  ===>>  鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
      */
     public synchronized void crnIoExecute() {
-        try{
+        try {
             for (CrnSlave crn : slaveProperties.getCrn()) {
                 // 鑾峰彇鍫嗗灈鏈轰俊鎭�
                 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -1042,8 +1046,8 @@
 //            this.crnRebackHp(crnProtocol, crnThread);
 
             }
-        }catch (Exception e){
-            log.error("鍫嗗灈鏈哄嚭鍏ュ簱涓嬪彂鎶ラ敊"+e);
+        } catch (Exception e) {
+            log.error("鍫嗗灈鏈哄嚭鍏ュ簱涓嬪彂鎶ラ敊" + e);
         }
     }
 
@@ -1051,7 +1055,7 @@
      * 鎼滅储RGV杞︺�傞�氳繃鐩爣绔欐悳绱㈠摢鍙拌溅鍙敤
      */
     public synchronized Integer searchRgvNo(Integer staNo) {
-        try{
+        try {
             BasDevp basDevp = basDevpService.selectById(staNo);
             if (basDevp == null) {
                 return null;//鐩爣绔欎笉瀛樺湪
@@ -1092,7 +1096,7 @@
                         return rgvThread.getSlave().getId();
                     }
                 }
-            }else {
+            } else {
                 //灏忎簬鎴栫瓑浜�1鍙拌溅锛屽垎閰嶅叏璺緞
                 BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//鑾峰彇榛樿璺緞
                 if (basRgvPath == null) {
@@ -1106,8 +1110,8 @@
             }
 
             return null;
-        }catch (Exception e){
-            log.error("鎼滅储RGV杞︺�傞�氳繃鐩爣绔欐悳绱㈠摢鍙拌溅鍙敤"+e);
+        } catch (Exception e) {
+            log.error("鎼滅储RGV杞︺�傞�氳繃鐩爣绔欐悳绱㈠摢鍙拌溅鍙敤" + e);
             return null;
         }
     }
@@ -1306,19 +1310,19 @@
      */
     public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol) {
         List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
-        for(WrkMast wrkMast : wrkMasts){
+        for (WrkMast wrkMast : wrkMasts) {
             if (wrkMast == null) {
                 continue;
             }
 
             CrnSlave.CrnStn crnStn = null;
-            for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
-                if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
+            for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()) {
+                if (crnStn1.getStaNo().equals(wrkMast.getStaNo())) {
                     crnStn = crnStn1;
                     break;
                 }
             }
-            if(Cools.isEmpty(crnStn)){
+            if (Cools.isEmpty(crnStn)) {
                 continue;
             }
 
@@ -1438,7 +1442,7 @@
                 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());
-                }else {
+                } else {
                     log.info("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� cg锛侊紒锛屽伐浣滃彿={}锛寊huangty={}", wrkMast.getWrkNo(), wrkMast.getWrkSts());
                 }
             }
@@ -1593,13 +1597,23 @@
         Integer count = wrkMastMapper.countPakOut();
 
         for (WrkMast wrkMast : wrkMasts) {
-            if(count > 30){ //璁惧涓婅蛋鎵樼洏涓嶈秴杩�30涓�
-                log.info("鎵樼洏鏁伴噺涓嶈秴杩囨寚瀹氭暟閲�");
-                continue;
+            if (wrkMast.getIoType() == 110 && wrkMast.getStaNo() == 2101) {
+
+            } else {
+                if (count > 30) { //璁惧涓婅蛋鎵樼洏涓嶈秴杩�30涓�
+//                    log.info("鎵樼洏鏁伴噺涓嶈秴杩囨寚瀹氭暟閲�");
+                    continue;
+                }
             }
+            // 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;
+            }
+
             // 鍒ゆ柇鍫嗗灈鏈虹珯鐐规槸鍚﹀彲鐢�
-            if (!crnEnabled(wrkMast)){
-                continue;
+            if (!crnEnabled(wrkMast)) {
+                break;
             }
 
             if (wrkMast == null) {
@@ -1607,20 +1621,20 @@
             }
 
             CrnSlave.CrnStn crnStn = null;
-            for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
-                if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){
+            for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()) {
+                if (crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())) {
                     crnStn = crnStn1;
                     break;
                 }
             }
-            if(Cools.isEmpty(crnStn)){
+            if (Cools.isEmpty(crnStn)) {
                 continue;
             }
 
-            log.info("{}鍙峰爢鍨涙満閫夊畾鐨勫嚭搴撳彛鏄瘂}",crnProtocol.getCrnNo(),crnStn.getPlatNo());
+            log.info("{}鍙峰爢鍨涙満閫夊畾鐨勫嚭搴撳彛鏄瘂}", crnProtocol.getCrnNo(), crnStn.getPlatNo());
 
             // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
-            if ((wrkMast.getIoType() < 100 && wrkMast.getIoType()!=12) || wrkMast.getSourceStaNo() == null) {
+            if ((wrkMast.getIoType() < 100 && wrkMast.getIoType() != 12) || 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;
             }
@@ -1709,11 +1723,6 @@
                     }
                 }
 
-                // 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�   鍑哄簱鍛戒护
                 CrnCommand crnCommand = new CrnCommand();
@@ -1748,16 +1757,17 @@
 
     /**
      * 纭鍑哄簱鐮佸ご鏄惁鍙敤
+     *
      * @param wrkMast 宸ヤ綔妗�
      * @return 鏄惁鍙敤
      */
     private boolean crnEnabled(WrkMast wrkMast) {
 
         // 鑾峰彇璇锋眰澶�
-        Map<String,Object> headers = new HashMap<>();
-        headers.put("digi-type","sync ");
-        headers.put("digi-protocol","raw");
-        headers.put("digi-datakey"," XCommon.ImportData");
+        Map<String, Object> headers = new HashMap<>();
+        headers.put("digi-type", "sync ");
+        headers.put("digi-protocol", "raw");
+        headers.put("digi-datakey", " XCommon.ImportData");
 
         // 鏋勯�犺姹備綋
         JSONObject jsonObject = new JSONObject();
@@ -1777,9 +1787,9 @@
                     .doPost();
             if (!Cools.isEmpty(response)) {
                 JSONObject jsonObject1 = JSONObject.parseObject(response);
-                if ((Integer) jsonObject1.get("code") == 200 && (Integer) jsonObject1.get("data") == 1){
+                if ((Integer) jsonObject1.get("code") == 200 && (Integer) jsonObject1.get("data") == 1) {
                     success = true;
-                }else {
+                } else {
                     success = false;
                     log.info("纭鍑哄簱鐮佸ご鏄惁鍙敤澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", GhjtApiConstant.GWCS_IP_PORT + GhjtApiConstant.GWCS_CKMT_URL, body, response);
                 }
@@ -1789,7 +1799,7 @@
             }
         } catch (Exception e) {
             success = false;
-            log.error("纭鍑哄簱鐮佸ご鏄惁鍙敤寮傚父锛屽伐浣滃彿锛歿}锛寋}", wrkMast.getWrkNo(),e.getMessage());
+            log.error("纭鍑哄簱鐮佸ご鏄惁鍙敤寮傚父锛屽伐浣滃彿锛歿}锛寋}", wrkMast.getWrkNo(), e.getMessage());
         } finally {
 
 //            try {
@@ -1812,23 +1822,24 @@
 
     /**
      * 鏌ユ壘宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級,涓擱GV鍏ュ簱鎺ラ┏绔欑鍚堢殑鐨勫叆搴撳伐浣滄。锛屾彁鍙栧嚭鏈�澶�2绗�
+     *
      * @param slave
      * @return
      */
-    public synchronized List<WrkMast> getRgvInTask(RgvSlave slave){
+    public synchronized List<WrkMast> getRgvInTask(RgvSlave slave) {
         List<WrkMast> wrkMastTask = new ArrayList<>();
         List<Integer> staNos = new ArrayList<>();
         for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) {
             staNos.add(rgvStn.getStaNo());
         }
-        if(staNos.size() < 1){
+        if (staNos.size() < 1) {
             return null;
         }
         List<WrkMast> wrkMasts = wrkMastMapper.selectRgvInStep1(slave.getId(), staNos);
-        for(WrkMast wrkMast : wrkMasts){
+        for (WrkMast wrkMast : wrkMasts) {
             Integer plcId = 0;
             for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) {
-                if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
+                if (rgvStn.getStaNo() == wrkMast.getRgvSstaNo()) {
                     plcId = rgvStn.getDevpPlcId();
                     break;
                 }
@@ -1873,9 +1884,9 @@
                 flag2 = true;
             }
 
-            if(flag1 && flag2){
+            if (flag1 && flag2) {
                 wrkMastTask.add(wrkMast);
-                if(wrkMastTask.size() >= 2) break;
+                if (wrkMastTask.size() >= 2) break;
             }
         }
         return wrkMastTask;
@@ -1883,23 +1894,24 @@
 
     /**
      * 鏌ユ壘宸ヤ綔鐘舵�佷负14锛堝嚭搴撳畬鎴愶級,涓擱GV鍑哄簱鎺ラ┏绔欑鍚堢殑鐨勫嚭搴撳伐浣滄。锛屾彁鍙栧嚭鏈�澶�2绗�
+     *
      * @param slave
      * @return
      */
-    public synchronized List<WrkMast> getRgvOutTask(RgvSlave slave){
+    public synchronized List<WrkMast> getRgvOutTask(RgvSlave slave) {
         List<WrkMast> wrkMastTask = new ArrayList<>();
         List<Integer> staNos = new ArrayList<>();
         for (RgvSlave.RgvStn rgvStn : slave.getRgvOutSStn()) {
             staNos.add(rgvStn.getStaNo());
         }
-        if(staNos.size() < 1){
+        if (staNos.size() < 1) {
             return null;
         }
         List<WrkMast> wrkMasts = wrkMastMapper.selectRgvOutStep1(slave.getId(), staNos);
-        for(WrkMast wrkMast : wrkMasts){
+        for (WrkMast wrkMast : wrkMasts) {
             Integer plcId = 0;
             for (RgvSlave.RgvStn rgvStn : slave.getRgvOutSStn()) {
-                if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
+                if (rgvStn.getStaNo() == wrkMast.getRgvSstaNo()) {
                     plcId = rgvStn.getDevpPlcId();
                     break;
                 }
@@ -1944,9 +1956,9 @@
                 flag2 = true;
             }
 
-            if(flag1 && flag2){
+            if (flag1 && flag2) {
                 wrkMastTask.add(wrkMast);
-                if(wrkMastTask.size() >= 2) break;
+                if (wrkMastTask.size() >= 2) break;
             }
         }
         return wrkMastTask;
@@ -2003,7 +2015,7 @@
                         if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                             log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
                         }
-                       return;
+                        return;
                     } else {
 
                     }
@@ -2366,7 +2378,7 @@
      */
     public synchronized void storeEmptyPlt() {
         for (DevpSlave devp : slaveProperties.getDevp()) {
-            if (devp.getId()==1) continue;
+            if (devp.getId() == 1) continue;
             // 閬嶅巻绌烘澘鍏ュ簱鍙�
             for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
                 // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
@@ -2380,7 +2392,7 @@
 
                 // 绔欑偣鏉′欢鍒ゆ柇
                 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
-                        && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0)  && staProtocol.isPakMk()) {
+                        && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo() == 0) && staProtocol.isPakMk()) {
 
                     try {
                         LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -2424,7 +2436,7 @@
      */
     public synchronized void storeEmptyPlt2() {
         for (DevpSlave devp : slaveProperties.getDevp()) {
-            if (devp.getId()==2) continue;
+            if (devp.getId() == 2) continue;
             // 閬嶅巻绌烘澘鍏ュ簱鍙�
             for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
                 // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
@@ -2438,11 +2450,11 @@
 
                 // 绔欑偣鏉′欢鍒ゆ柇
                 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
-                        && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
+                        && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo() == 0) && staProtocol.isPakMk()) {
                     try {
                         WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
-                        if (Cools.isEmpty(wrkMastSta)){
-                            WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
+                        if (Cools.isEmpty(wrkMastSta)) {
+                            WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(), staProtocol.getSiteId());
                             wrkMastSta1.setType(2);
                             wrkMastSta1.setWrkType(1);//宸ヤ綔绫诲瀷  1:鍙栵紙鍙犵洏锛�  2锛氭媶鐩�  3锛氬彇鏀� 5锛氭弧鍙�  6锛氭弧鏀�
                             wrkMastStaMapper.insert(wrkMastSta1);
@@ -2460,12 +2472,12 @@
      * 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
      */
     public synchronized void storeEmptyPlt3() {
-        try{
+        try {
             RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
-            if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
+            if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign() == 1) {
                 return;
             }
-            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+            for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
                 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                 RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                 if (rgvProtocol == null) {
@@ -2482,13 +2494,13 @@
                         && rgvProtocol.getModeType() == RgvModeType.AUTO
                         && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                         && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
-                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
+                        && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
 //                        &&  (rgvProtocol.getLoaded2()==2  || rgvProtocol.getLoaded2()==3 ) ////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗�  锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3  1銆�2灞傞兘鏈夌墿  4锛氾紙锛夊彧鍏佽鎷嗙洏
-                        &&  rgvProtocol.getLoaded2()==3 ////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗�  锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3  1銆�2灞傞兘鏈夌墿  4锛氾紙锛夊彧鍏佽鎷嗙洏
+                        && rgvProtocol.getLoaded2() == 3 ////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗�  锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3  1銆�2灞傞兘鏈夌墿  4锛氾紙锛夊彧鍏佽鎷嗙洏
                 ) {
                     try {
                         WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122);
-                        if (!Cools.isEmpty(wrkMast1)){
+                        if (!Cools.isEmpty(wrkMast1)) {
                             continue;
                         }
                         // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
@@ -2496,7 +2508,7 @@
                         SearchLocParam param = new SearchLocParam();
                         param.setIoType(10);
                         param.setSourceStaNo(122);
-                        param.setLocType1((short)1);
+                        param.setLocType1((short) 1);
                         param.setRgvNo(rgvProtocol.getRgvNo());
                         String response = new HttpHandler.Builder()
                                 .setUri(wmsUrl)
@@ -2509,10 +2521,10 @@
                             StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                             // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
                             WrkMast wrkMast = wrkMastMapper.selectPakInStep3(dto.getWorkNo());
-                            if (!Cools.isEmpty(wrkMast) && wrkMast.getIoType()==10 && wrkMast.getWrkSts()==2){
+                            if (!Cools.isEmpty(wrkMast) && wrkMast.getIoType() == 10 && wrkMast.getWrkSts() == 2) {
                                 WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
-                                if (Cools.isEmpty(wrkMastSta)){
-                                    WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),wrkMast.getStaNo());
+                                if (Cools.isEmpty(wrkMastSta)) {
+                                    WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(), wrkMast.getStaNo());
                                     wrkMastSta1.setWrkNo(wrkMast.getWrkNo().longValue());
                                     wrkMastSta1.setType(2);
                                     wrkMastSta1.setWrkType(6);//宸ヤ綔绫诲瀷  1:鍙栵紙鍙犵洏锛�  2锛氭媶鐩�  3锛氬彇鏀� 5锛氭弧鍙�  6锛氭弧鏀�
@@ -2528,9 +2540,9 @@
                     }
                 }
             }
-        }catch (Exception e){
+        } catch (Exception e) {
             log.error("3933琛屾墽琛屽皬杞︽斁绌烘澘浠诲姟涓嬪彂澶辫触");
-            log.error("3933琛�"+e);
+            log.error("3933琛�" + e);
         }
     }
 
@@ -2617,12 +2629,12 @@
             // 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
             if (!commands.isEmpty()) {
 //                if (led.getId() == 7) {
-                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
-                        log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
-                        continue;
-                    } else {
-                        ledThread.setLedMk(false);
-                    }
+                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
+                    log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+                    continue;
+                } else {
+                    ledThread.setLedMk(false);
+                }
 //                }
 //                else {
 //                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
@@ -2794,7 +2806,7 @@
 
             for (Integer row : rows) {
                 if (Utils.isDeepLoc(slaveProperties, row)) {
-                    loc = locMastService.queryFreeLocMastNotBay(row, shallowLoc.getLocType1(),bay1);
+                    loc = locMastService.queryFreeLocMastNotBay(row, shallowLoc.getLocType1(), bay1);
 
                     if (loc != null) {
                         if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
@@ -2813,7 +2825,7 @@
             if (null == loc) {
                 for (Integer row : rows) {
                     if (Utils.isShallowLoc(slaveProperties, row)) {
-                        loc = locMastService.queryFreeLocMastNotBay(row, shallowLoc.getLocType1(),bay1);
+                        loc = locMastService.queryFreeLocMastNotBay(row, shallowLoc.getLocType1(), bay1);
 
                         if (null != loc) {//瀵瑰簲娣卞簱浣嶉潪鍦ㄥ簱鐘舵��,涓嶈兘绉诲簱
                             String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
@@ -3208,14 +3220,14 @@
      */
     public synchronized void stackingCompletionDriveTray() {
         try {
-            int[] staNos=new int[]{215,219};//(2妤间袱涓叆搴撶爜鍨涚珯)
-            for (int staNo : staNos){
+            int[] staNos = new int[]{215, 219};//(2妤间袱涓叆搴撶爜鍨涚珯)
+            for (int staNo : staNos) {
                 BasDevp basDevp = basDevpService.selectById(staNo);
-                if ((basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 || basDevp.getWrkNo()>9999)) || Cools.isEmpty(basDevp.getBarcode())){
+                if ((basDevp.getWrkNo() != 0 && (basDevp.getWrkNo() < 9900 || basDevp.getWrkNo() > 9999)) || Cools.isEmpty(basDevp.getBarcode())) {
                     continue;
                 }
-                Integer zpallet = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet", basDevp.getBarcode()).eq("status","N"));
-                if (zpallet<=0){
+                Integer zpallet = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet", basDevp.getBarcode()).eq("status", "N"));
+                if (zpallet <= 0) {
                     continue;
                 }
                 // 鑾峰彇鍏ュ簱绔欎俊鎭�
@@ -3233,8 +3245,8 @@
 //                    continue;
 //                }
 
-                if (!staProtocol.isLoading()){
-                    log.info("{}绔欑偣鏃犵墿锛屾鍦ㄨ嚜鍔ㄨ皟鍑虹┖鏉匡紒",staNo);
+                if (!staProtocol.isLoading()) {
+                    log.info("{}绔欑偣鏃犵墿锛屾鍦ㄨ嚜鍔ㄨ皟鍑虹┖鏉匡紒", staNo);
                     continue;
                 }
                 // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
@@ -3242,7 +3254,7 @@
                         && staProtocol.isLoading()
                         && staProtocol.isInEnable()
                         && !staProtocol.isEmptyMk()
-                        && (basDevp.getWrkNo()==0 || (basDevp.getWrkNo()>=9900 && basDevp.getWrkNo()<=9999))
+                        && (basDevp.getWrkNo() == 0 || (basDevp.getWrkNo() >= 9900 && basDevp.getWrkNo() <= 9999))
                 ) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
                     int workNo = commonService.getWorkNo(5);
                     staProtocol.setWorkNo(workNo);
@@ -3255,28 +3267,29 @@
 
                 }
             }
-        }catch (Exception e){
+        } catch (Exception e) {
 //            e.printStackTrace();
 //            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
-            log.error("鍏朵粬  ===>> 鐮佸灈瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝ワ紙鍏ュ簱鍓嶆壂鐮侊級"+e);
+            log.error("鍏朵粬  ===>> 鐮佸灈瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝ワ紙鍏ュ簱鍓嶆壂鐮侊級" + e);
         }
     }
+
     /**
      * 鍏朵粬  ===>> 鐮佸灈瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝�
      */
     public synchronized void stackingCompletionDriveTray2() {
         try {
-            int[] staNos=new int[]{131,135};//(2涓叆搴撶珯鐐癸紝1妤�2涓嚭搴撶爜鍨涚珯,鏍规嵁鐜板満淇敼)
-            for (int staNo : staNos){
+            int[] staNos = new int[]{131, 135};//(2涓叆搴撶珯鐐癸紝1妤�2涓嚭搴撶爜鍨涚珯,鏍规嵁鐜板満淇敼)
+            for (int staNo : staNos) {
                 BasDevp basDevp = basDevpService.selectById(staNo);
-                if (Cools.isEmpty(basDevp) || basDevp.getReportSign()!=1){
+                if (Cools.isEmpty(basDevp) || basDevp.getReportSign() != 1) {
                     continue;
                 }
-                if (basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 || basDevp.getWrkNo()>9999)){
+                if (basDevp.getWrkNo() != 0 && (basDevp.getWrkNo() < 9900 || basDevp.getWrkNo() > 9999)) {
                     continue;
                 }
                 WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
-                if (Cools.isEmpty(wrkMast)){
+                if (Cools.isEmpty(wrkMast)) {
                     continue;
                 }
                 // 鑾峰彇绔欑偣淇℃伅
@@ -3294,15 +3307,15 @@
 //                    continue;
 //                }
 
-                if (!staProtocol.isLoading()){
-                    log.info("{}绔欑偣鏃犵墿锛屽紓甯革紒",staNo);
+                if (!staProtocol.isLoading()) {
+                    log.info("{}绔欑偣鏃犵墿锛屽紓甯革紒", staNo);
                     continue;
                 }
                 // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
                 if (staProtocol.isAutoing()
                         && staProtocol.isLoading()
                         && staProtocol.isInEnable()
-                        && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000))
+                        && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo() > 9899 && staProtocol.getWorkNo() < 10000))
                 ) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
 
                     //浠诲姟瀹屾垚
@@ -3325,10 +3338,10 @@
 
                 }
             }
-        }catch (Exception e){
+        } catch (Exception e) {
 //            e.printStackTrace();
 //            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
-            log.error("鍏朵粬  ===>> 鐮佸灈瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝�"+e);
+            log.error("鍏朵粬  ===>> 鐮佸灈瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝�" + e);
         }
     }
 
@@ -3349,23 +3362,23 @@
                     staProtocol = staProtocol.clone();
                 }
 
-                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk()  && staProtocol.getWorkNo()!=0 && staProtocol.isOutEnable()) {//
+                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo() != 0 && staProtocol.isOutEnable()) {//
                     WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
 
                     if (wrkMast == null) {
-                        log.error("绔欑偣鍙�"+staProtocol.getSiteId()+"鏈煡璇㈠埌宸ヤ綔妗ｆ锛�");
+                        log.error("绔欑偣鍙�" + staProtocol.getSiteId() + "鏈煡璇㈠埌宸ヤ綔妗ｆ锛�");
                         // 鏃犳嫞鏂欐暟鎹�
                         continue;
                     }
-                    if (Cools.isEmpty(wrkMast.getSheetNo()) || !wrkMast.getSheetNo().equals("2") || wrkMast.getIoType()<100 || wrkMast.getWrkSts()!=14){
+                    if (Cools.isEmpty(wrkMast.getSheetNo()) || !wrkMast.getSheetNo().equals("2") || wrkMast.getIoType() < 100 || wrkMast.getWrkSts() != 14) {
                         continue;
                     }
-                    if (wrkMast.getIoType()==101){
+                    if (wrkMast.getIoType() == 101) {
                         //浠诲姟瀹屾垚
                         boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
                         wrkMast.setSheetNo("3");
                         wrkMastMapper.updateById(wrkMast);
-                    }else {
+                    } else {
                         if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
                                 || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                             continue;
@@ -3375,9 +3388,9 @@
                         wrkMast.setSheetNo("3");
                         wrkMastMapper.updateById(wrkMast);
 
-                        try{
+                        try {
                             Thread.sleep(100);
-                        }catch (Exception e){
+                        } catch (Exception e) {
 
                         }
 
@@ -3388,19 +3401,20 @@
             }
         }
     }
+
     /**
      * 鍏朵粬  ===>> 璐存爣瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝�
      */
     public synchronized void stackingCompletionDriveTray3() {
         try {
-            int[] staNos=new int[]{144};//(1妤�1涓创鏍囦綅,鏍规嵁鐜板満淇敼)
-            for (int staNo : staNos){
+            int[] staNos = new int[]{144};//(1妤�1涓创鏍囦綅,鏍规嵁鐜板満淇敼)
+            for (int staNo : staNos) {
                 BasDevp basDevp = basDevpService.selectById(staNo);
-                if ((basDevp.getWrkNo()<9900 || basDevp.getWrkNo()>9999) && basDevp.getWrkNo()!=32222){
+                if ((basDevp.getWrkNo() < 9900 || basDevp.getWrkNo() > 9999) && basDevp.getWrkNo() != 32222) {
                     continue;
                 }
                 WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
-                if (Cools.isEmpty(wrkMast)){
+                if (Cools.isEmpty(wrkMast)) {
                     continue;
                 }
                 // 鑾峰彇绔欑偣淇℃伅
@@ -3418,12 +3432,12 @@
 //                    continue;
 //                }
 
-                if (!staProtocol.isLoading()){
-                    log.info("{}绔欑偣鏃犵墿锛屽紓甯革紒",staNo);
+                if (!staProtocol.isLoading()) {
+                    log.info("{}绔欑偣鏃犵墿锛屽紓甯革紒", staNo);
                     continue;
                 }
-                if (!staProtocol.getWorkNo().equals(wrkMast.getWrkNo())){
-                    log.info("绔欑偣宸ヤ綔鍙�={} 涓庤创鏍囧伐浣滃彿={} 涓嶄竴鑷达紝寮傚父锛�",staProtocol.getWorkNo(),wrkMast.getWrkNo().shortValue());
+                if (!staProtocol.getWorkNo().equals(wrkMast.getWrkNo())) {
+                    log.info("绔欑偣宸ヤ綔鍙�={} 涓庤创鏍囧伐浣滃彿={} 涓嶄竴鑷达紝寮傚父锛�", staProtocol.getWorkNo(), wrkMast.getWrkNo().shortValue());
                 }
                 // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
                 if (staProtocol.isAutoing()
@@ -3442,10 +3456,10 @@
 
                 }
             }
-        }catch (Exception e){
+        } catch (Exception e) {
 //            e.printStackTrace();
 //            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
-            log.error("鍏朵粬  ===>> 璐存爣瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝�"+e);
+            log.error("鍏朵粬  ===>> 璐存爣瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝�" + e);
         }
     }
 
@@ -3454,14 +3468,14 @@
      */
     public synchronized void stackingCompletionDriveTrayOk3() {
         try {
-            int[] staNos=new int[]{118};
-            for (int staNo : staNos){
+            int[] staNos = new int[]{118};
+            for (int staNo : staNos) {
                 BasDevp basDevp = basDevpService.selectById(staNo);
-                if (Cools.isEmpty(basDevp) || basDevp.getWrkNo()!=0 || basDevp.getReportSign()!=3){
+                if (Cools.isEmpty(basDevp) || basDevp.getWrkNo() != 0 || basDevp.getReportSign() != 3) {
                     continue;
                 }
                 WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne145(145);
-                if (Cools.isEmpty(wrkMast)){
+                if (Cools.isEmpty(wrkMast)) {
                     continue;
                 }
                 // 鑾峰彇绔欑偣淇℃伅
@@ -3480,13 +3494,13 @@
                     staProtocol147 = staProtocol147.clone();
                 }
 
-                if (!staProtocol.isLoading()){
-                    log.info("{}绔欑偣鏃犵墿锛屽紓甯革紒",staNo);
+                if (!staProtocol.isLoading()) {
+                    log.info("{}绔欑偣鏃犵墿锛屽紓甯革紒", staNo);
                     continue;
                 }
 
-                if (staProtocol147.isLoading()){
-                    log.info("{}绔欑偣鏈夌墿锛�",staProtocol147.getSiteId());
+                if (staProtocol147.isLoading()) {
+                    log.info("{}绔欑偣鏈夌墿锛�", staProtocol147.getSiteId());
                     continue;
                 }
                 // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
@@ -3512,10 +3526,10 @@
 
                 }
             }
-        }catch (Exception e){
+        } catch (Exception e) {
 //            e.printStackTrace();
 //            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
-            log.error("鍏朵粬  ===>> 閫�璐х爜鍨涘畬鎴愭墭鐩樼户缁笅涓�姝�"+e);
+            log.error("鍏朵粬  ===>> 閫�璐х爜鍨涘畬鎴愭墭鐩樼户缁笅涓�姝�" + e);
         }
     }
 
@@ -3524,18 +3538,18 @@
      */
     public synchronized void stackingCompletionDriveTray4() {
         try {
-            int[] staNos=new int[]{134};//(134鏈変换鍔★紝135绌洪棽锛屽垯閬胯)
-            for (int staNo : staNos){
+            int[] staNos = new int[]{134};//(134鏈変换鍔★紝135绌洪棽锛屽垯閬胯)
+            for (int staNo : staNos) {
                 BasDevp basDevp = basDevpService.selectById(staNo);
                 BasDevp basDevp135 = basDevpService.selectById(135);
-                if (basDevp.getWrkNo()==0 || (basDevp.getWrkNo()<10000 && basDevp.getWrkNo()>9899) ){
+                if (basDevp.getWrkNo() == 0 || (basDevp.getWrkNo() < 10000 && basDevp.getWrkNo() > 9899)) {
                     continue;
                 }
-                if (basDevp135.getReportSign()!=0){
+                if (basDevp135.getReportSign() != 0) {
                     continue;
                 }
                 WrkMast wrkMast131 = wrkMastMapper.selectWrkMastUnstackingOne202Two(131);
-                if (Cools.isEmpty(wrkMast131)){
+                if (Cools.isEmpty(wrkMast131)) {
                     continue;
                 }
                 // 鑾峰彇绔欑偣淇℃伅
@@ -3546,8 +3560,8 @@
                 } else {
                     staProtocol135 = staProtocol135.clone();
                 }
-                if (staProtocol135.getWorkNo()<9900 || staProtocol135.getWorkNo()>9999 || staProtocol135.getWorkNo()==0
-                        || !staProtocol135.isLoading() || !staProtocol135.isAutoing()){
+                if (staProtocol135.getWorkNo() < 9900 || staProtocol135.getWorkNo() > 9999 || staProtocol135.getWorkNo() == 0
+                        || !staProtocol135.isLoading() || !staProtocol135.isAutoing()) {
                     continue;
                 }
                 StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -3557,7 +3571,7 @@
                     staProtocol = staProtocol.clone();
                 }
 
-                if (!staProtocol.isLoading()){
+                if (!staProtocol.isLoading()) {
                     continue;
                 }
 //                if (!staProtocol.getWorkNo().equals(wrkMast131.getWrkNo())){
@@ -3566,7 +3580,7 @@
                 // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
                 if (staProtocol.isAutoing()
                         && staProtocol.isLoading()
-                        && basDevp.getReportSign()==0
+                        && basDevp.getReportSign() == 0
                 ) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
 //                    if (true){
 //                        return;
@@ -3574,9 +3588,10 @@
 
                     //浠诲姟瀹屾垚
                     boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol135));
-                    try{
+                    try {
                         Thread.sleep(100);
-                    }catch (Exception e){ }
+                    } catch (Exception e) {
+                    }
                     basDevp135.setReportSign(2);
                     basDevpService.updateById(basDevp135);
                     int workNo = commonService.getWorkNo(5);
@@ -3591,19 +3606,19 @@
 
                 }
             }
-        }catch (Exception e){
+        } catch (Exception e) {
 //            e.printStackTrace();
 //            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
-            log.error("鍏朵粬  ===>> 璐存爣瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝�"+e);
+            log.error("鍏朵粬  ===>> 璐存爣瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝�" + e);
         }
     }
 
     /**
-     *  瀹屾垚灏忚溅浠诲姟
+     * 瀹屾垚灏忚溅浠诲姟
      */
     public synchronized void rgvCompleteWrkMastSta() {
-        try{
-            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+        try {
+            for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
                 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                 RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                 if (rgvProtocol == null) {
@@ -3618,28 +3633,28 @@
                 // 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
                 if (rgvProtocol.getStatusType() == RgvStatusType.WORKING
                         && rgvProtocol.getModeType() == RgvModeType.AUTO
-                        && ((rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.WAITING ) ||
-                        (rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING ))
+                        && ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType2() == RgvStatusType.WAITING) ||
+                        (rgvProtocol.getStatusType1() == RgvStatusType.FETCHWAITING || rgvProtocol.getStatusType2() == RgvStatusType.FETCHWAITING))
                 ) {
-                    log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
-                    if (rgvProtocol.getTaskNo1()!=0 && (rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)){
-                        if (rgvProtocol.getTaskNo1()==(short)32222){
+                    log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}", rgvProtocol.getRgvNo(), rgvProtocol.getStatusType(), rgvProtocol);
+                    if (rgvProtocol.getTaskNo1() != 0 && (rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1() == RgvStatusType.FETCHWAITING)) {
+                        if (rgvProtocol.getTaskNo1() == (short) 32222) {
                             boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
-                            if (!rgvComplete){
-                                log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+                            if (!rgvComplete) {
+                                log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
                             }
                             BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                             basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
-                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+                            rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute());
                             break;
                         }
                         WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue());
-                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=1 || wrkMastSta.getWrkSts()!=1){
-                            log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�"+wrkMastSta);
+                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType() != 1 || wrkMastSta.getWrkSts() != 1) {
+                            log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�" + wrkMastSta);
                             continue;
                         }
                         WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
-                        if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
+                        if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType() != 5) {
                             Thread.sleep(200);
                             SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                             StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
@@ -3648,7 +3663,7 @@
                             } else {
                                 staProtocol = staProtocol.clone();
                             }
-                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
+                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()) {
                                 continue;
                             }
                             // 涓嬪彂绔欑偣淇℃伅
@@ -3657,7 +3672,7 @@
                             if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
                                 continue;
                             }
-                            log.error("灏忚溅浠诲姟瀹屾垚涓嬪彂杈撻�佺嚎浠诲姟锛�"+staProtocol);
+                            log.error("灏忚溅浠诲姟瀹屾垚涓嬪彂杈撻�佺嚎浠诲姟锛�" + staProtocol);
 //                            try{
 //                                Thread.sleep(1000);
 //                                DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
@@ -3676,37 +3691,37 @@
 //                            }
                         }
                         boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
-                        if (!rgvComplete){
-                            log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+                        if (!rgvComplete) {
+                            log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
                             break;
                         }
                         wrkMastSta.setWrkSts(3);
                         wrkMastStaMapper.updateById(wrkMastSta);
                         BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                         basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
-                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
-                    }else if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){
-                        if (rgvProtocol.getTaskNo2()==(short)32222){
+                        rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute());
+                    } else if (rgvProtocol.getTaskNo2() != 0 && (rgvProtocol.getStatusType2() == RgvStatusType.WAITING || rgvProtocol.getStatusType2() == RgvStatusType.FETCHWAITING)) {
+                        if (rgvProtocol.getTaskNo2() == (short) 32222) {
                             boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
-                            if (!rgvComplete){
-                                log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+                            if (!rgvComplete) {
+                                log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
                             }
                             BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                             basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
-                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+                            rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute());
                             break;
                         }
                         WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().longValue());
-                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=2){
-                            log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�"+wrkMastSta);
+                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType() != 2) {
+                            log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�" + wrkMastSta);
                             continue;
                         }
                         WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
-                        if (!Cools.isEmpty(wrkMast)  && wrkMastSta.getWrkType()!=5){
+                        if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType() != 5) {
                             Thread.sleep(200);
                             DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                             StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
-                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
+                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()) {
                                 continue;
                             }
                             // 涓嬪彂绔欑偣淇℃伅
@@ -3715,7 +3730,7 @@
                             if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
                                 continue;
                             }
-                            log.error("灏忚溅浠诲姟瀹屾垚涓嬪彂杈撻�佺嚎浠诲姟锛�"+staProtocol);
+                            log.error("灏忚溅浠诲姟瀹屾垚涓嬪彂杈撻�佺嚎浠诲姟锛�" + staProtocol);
 //                            try{
 //                                Thread.sleep(1000);
 //                                DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
@@ -3734,31 +3749,32 @@
 //                            }
                         }
                         boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
-                        if (!rgvComplete){
-                            log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+                        if (!rgvComplete) {
+                            log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
                             break;
                         }
                         wrkMastSta.setWrkSts(3);
                         wrkMastStaMapper.updateById(wrkMastSta);
                         BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                         basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
-                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
-                    }else {
-                        log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{},绛夊緟wcs纭浣嗘槸娌℃湁宸ヤ綔鍙凤紒",rgvProtocol.getRgvNo());
+                        rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute());
+                    } else {
+                        log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{},绛夊緟wcs纭浣嗘槸娌℃湁宸ヤ綔鍙凤紒", rgvProtocol.getRgvNo());
                     }
                 }
             }
-        }catch (Exception e){
-            log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
+        } catch (Exception e) {
+            log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�" + e);
         }
     }
+
     /**
      * 鍏ュ嚭搴�  ===>>  灏忚溅浣滀笟涓嬪彂
      */
     public synchronized boolean rgvIoExecute(Integer sign) {
         boolean rgvIoExecuteSign = false;
-        try{
-            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+        try {
+            for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
                 // 鑾峰彇灏忚溅淇℃伅
                 boolean signWork = false;
                 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
@@ -3777,10 +3793,10 @@
                         && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                         && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                         && rgvProtocol.getModeType() == RgvModeType.AUTO
-                        && rgvProtocol.getLoaded1()==0
-                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
+                        && rgvProtocol.getLoaded1() == 0
+                        && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
                 ) {
-                    switch (sign){
+                    switch (sign) {
                         //鎵ц灏忚溅璐х墿鎼繍浠诲姟
                         case 1:
                             signWork = rgvRunWrkMastFullSta(rgvSlave);
@@ -3804,8 +3820,8 @@
                         default:
                             break;
                     }
-                    for (int signCount = 1;!signWork && signCount<7;signCount++){
-                        switch (signCount){
+                    for (int signCount = 1; !signWork && signCount < 7; signCount++) {
+                        switch (signCount) {
                             case 1://鎵ц灏忚溅璐х墿鎼繍浠诲姟
                                 signWork = rgvRunWrkMastFullSta(rgvSlave);
                                 break;
@@ -3828,10 +3844,10 @@
                                 break;
                         }
                     }
-                }else {
+                } else {
                     continue;
                 }
-                if (!rgvIoExecuteSign){
+                if (!rgvIoExecuteSign) {
                     rgvIoExecuteSign = signWork;
                 }
             }
@@ -3840,185 +3856,204 @@
 //
 //                }
 //            }
-        }catch (Exception e){
-            log.error("RGV灏忚溅浠诲姟涓嬪彂鎶ラ敊"+e);
+        } catch (Exception e) {
+            log.error("RGV灏忚溅浠诲姟涓嬪彂鎶ラ敊" + e);
         }
         return rgvIoExecuteSign;
     }
+
     /**
      * 鎵ц灏忚溅鎼繍浠诲姟
      */
     public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) {
-        try{
+        try {
 //            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
-                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
-                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
-                if (rgvProtocol == null) {
+            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+            if (rgvProtocol == null) {
+                return false;
+            }
+            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+            if (basRgv == null) {
+                log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+                return false;
+            }
+
+            // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+                    && rgvProtocol.getModeType() == RgvModeType.AUTO
+                    && rgvProtocol.getLoaded1() == 0
+                    && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+            ) {
+                BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
+                if (basRgvMap == null) {
+                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
                     return false;
                 }
-                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
-                if (basRgv == null) {
-                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
-                    return false;
+                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+                List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+                if (rgvProtocol.getRgvNo() == 1) {//鍒囨崲杩戣寖鍥�
+                    route = routeNear;
                 }
+                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
+                for (WrkMastSta wrkMastSta : wrkMastStaList) {
+                    if (wrkMastSta.getType() != 1 || wrkMastSta.getWrkType() != 3) {//1:婊＄増   3锛氬彇鏀�
+                        continue;
+                    }
+                    BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
+                    if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo() != 0) {
+                        continue;
+                    }
+                    List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
+                        add(101);
+                        add(102);
+                        add(104);
+                        add(105);
+                        add(107);
+                        add(108);
+                        add(118);
+                        add(119);
+                        add(122);
+                    }};
+                    List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
+                        add(110);
+                        add(111);
+                        add(113);
+                        add(114);
+                        add(116);
+                        add(117);
+                        add(120);
+                        add(121);
+                        add(122);
+                        add(123);
+                    }};
+                    if (basRgv.getRgvNo() == 1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())) {
+                        continue;
+                    } else if (basRgv.getRgvNo() == 2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())) {
+                        continue;
+                    }
 
-                // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
-                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
-                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
-                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
-                        && rgvProtocol.getModeType() == RgvModeType.AUTO
-                        && rgvProtocol.getLoaded1()==0
-                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
-                ) {
-                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
-                    if (basRgvMap == null) {
-                        log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
-                        return false;
+                    if (basDevp.getDevNo() >= 118 && basDevp.getDevNo() <= 123) {
+                        if (!basDevp.getEmptyMk().equals("Y")) {
+                            continue;
+                        }
                     }
-                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
-                    List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
-                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
-                    if (rgvProtocol.getRgvNo()==1){//鍒囨崲杩戣寖鍥�
-                        route = routeNear;
-                    }
-                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
-                    for (WrkMastSta wrkMastSta : wrkMastStaList){
-                        if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:婊＄増   3锛氬彇鏀�
-                            continue;
-                        }
-                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
-                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
-                            continue;
-                        }
-                        List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
-                            add(101);add(102);add(104);add(105);add(107);add(108);add(118);add(119);add(122);
-                        }};
-                        List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
-                            add(110);add(111);add(113);add(114);add(116);add(117);add(120);add(121);add(122);add(123);
-                        }};
-                        if (basRgv.getRgvNo()==1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())){
-                            continue;
-                        }else if (basRgv.getRgvNo()==2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())){
-                            continue;
-                        }
-
-                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
-                            if (!basDevp.getEmptyMk().equals("Y")){
-                                continue;
+                    Date date = new Date();
+                    log.info(date + "鍙栨斁浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�" + wrkMastSta);
+                    log.info(date + "鍙栨斁浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細" + basDevp);
+                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
+                    if (sign) {
+                        boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(), rgvProtocol.getRgvNo() == 1);
+                        if (signMap) {
+                            wrkMastSta.setWrkSts(1);
+                            try {
+                                wrkMastStaMapper.updateById(wrkMastSta);
+                            } catch (Exception e) {
+                                log.error("鏇存柊灏忚溅浠诲姟澶辫触");
                             }
+                            return true;
+                        } else {
+                            log.error("3864琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触", wrkMastSta.getWrkNo());
                         }
-                        Date date = new Date();
-                        log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
-                        log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
-                        boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
-                        if (sign){
-                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),rgvProtocol.getRgvNo()==1);
-                            if (signMap){
-                                wrkMastSta.setWrkSts(1);
-                                try{
-                                    wrkMastStaMapper.updateById(wrkMastSta);
-                                }catch (Exception e){
-                                    log.error("鏇存柊灏忚溅浠诲姟澶辫触");
-                                }
-                                return true;
-                            }else {
-                                log.error("3864琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
-                            }
-                        }else {
-                            log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
-                        }
-                        break;
+                    } else {
+                        log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�", wrkMastSta.getWrkNo());
                     }
+                    break;
                 }
+            }
 //            }
-        }catch (Exception e){
+        } catch (Exception e) {
             log.error("3875琛屾墽琛屽皬杞︽惉杩愪换鍔′笅鍙戝け璐�");
-            log.error("3875琛�"+e);
+            log.error("3875琛�" + e);
         }
         return false;
     }
+
     /**
      * 鎵ц灏忚溅鎼繍浠诲姟//鎷嗙洏
      */
     public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//鎷嗙洏
-        try{
+        try {
 //            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
-                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
-                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
-                if (rgvProtocol == null) {
-                    return false;
-                }
-                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
-                if (basRgv == null) {
-                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
-                    return false;
-                }
+            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+            if (rgvProtocol == null) {
+                return false;
+            }
+            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+            if (basRgv == null) {
+                log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+                return false;
+            }
 
-                // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤//鎷嗙洏
-                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
-                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
-                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
-                        && rgvProtocol.getModeType() == RgvModeType.AUTO
-                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
-                        && (rgvProtocol.getLoaded2()==3  || rgvProtocol.getLoaded2()==1 || rgvProtocol.getLoaded2()==4)////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗� 锛堝彧鑳芥媶鍙狅級 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗�() 锛�3  1銆�2灞傞兘鏈夌墿  4锛氾紙锛夊彧鍏佽鎷嗙洏
-                ) {
-                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-                    if (basRgvMap == null) {
-                        log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
-                        return false;
+            // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤//鎷嗙洏
+            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+                    && rgvProtocol.getModeType() == RgvModeType.AUTO
+                    && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+                    && (rgvProtocol.getLoaded2() == 3 || rgvProtocol.getLoaded2() == 1 || rgvProtocol.getLoaded2() == 4)////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗� 锛堝彧鑳芥媶鍙狅級 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗�() 锛�3  1銆�2灞傞兘鏈夌墿  4锛氾紙锛夊彧鍏佽鎷嗙洏
+            ) {
+                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+                if (basRgvMap == null) {
+                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+                    return false;
+                }
+                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
+                List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+                if (rgvProtocol.getRgvNo() == 2) {//鍒囨崲杩戣寖鍥�
+                    route = routeNear;
+                }
+                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//鏌ヨ鍙墽琛屼换鍔�
+                for (WrkMastSta wrkMastSta : wrkMastStaList) {
+                    if (wrkMastSta.getType() != 2 || wrkMastSta.getWrkType() != 2) {// 2:绌烘澘  || 宸ヤ綔绫诲瀷  1:鍙栵紙鍙犵洏锛�  2锛氭媶鐩�  5锛氭弧鍙�  6锛氭弧鏀�
+                        continue;
                     }
-                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
-                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
-                    List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
-                    if (rgvProtocol.getRgvNo()==2){//鍒囨崲杩戣寖鍥�
-                        route = routeNear;
-                    }
-                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//鏌ヨ鍙墽琛屼换鍔�
-                    for (WrkMastSta wrkMastSta : wrkMastStaList){
-                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=2){// 2:绌烘澘  || 宸ヤ綔绫诲瀷  1:鍙栵紙鍙犵洏锛�  2锛氭媶鐩�  5锛氭弧鍙�  6锛氭弧鏀�
+                    boolean sign = false;
+                    if (wrkMastSta.getStaEnd() != 0) {//鏀�
+                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
+                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo() != 0) {
                             continue;
                         }
-                        boolean sign = false;
-                        if ( wrkMastSta.getStaEnd()!=0){//鏀�
-                            BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
-                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
+                        if (basDevp.getDevNo() >= 118 && basDevp.getDevNo() <= 123) {
+                            if (!basDevp.getEmptyMk().equals("Y")) {
                                 continue;
                             }
-                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
-                                if (!basDevp.getEmptyMk().equals("Y")){
-                                    continue;
-                                }
-                            }
-                            Date date = new Date();
-                            log.info(date+"鎷嗙洏浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
-                            log.info(date+"鎷嗙洏浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
-                            sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//鎷嗙洏
-                        }else {
-                            continue;
                         }
-                        if (sign){
-                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd(),rgvProtocol.getRgvNo()==2);
-                            if (signMap){
-                                wrkMastSta.setWrkSts(2);
-                                try{
-                                    wrkMastStaMapper.updateById(wrkMastSta);
-                                }catch (Exception e){
-                                    log.error("鏇存柊灏忚溅浠诲姟澶辫触");
-                                }
-                                return true;
-                            }else {
-                                log.error("3857琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
-                            }
-                        }else {
-                            log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
-                        }
-                        break;
+                        Date date = new Date();
+                        log.info(date + "鎷嗙洏浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�" + wrkMastSta);
+                        log.info(date + "鎷嗙洏浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細" + basDevp);
+                        sign = rgvPutEmpty(rgvProtocol.getRgvNo(), wrkMastSta);//鎷嗙洏
+                    } else {
+                        continue;
                     }
+                    if (sign) {
+                        boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd(), rgvProtocol.getRgvNo() == 2);
+                        if (signMap) {
+                            wrkMastSta.setWrkSts(2);
+                            try {
+                                wrkMastStaMapper.updateById(wrkMastSta);
+                            } catch (Exception e) {
+                                log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+                            }
+                            return true;
+                        } else {
+                            log.error("3857琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触", wrkMastSta.getWrkNo());
+                        }
+                    } else {
+                        log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�", wrkMastSta.getWrkNo());
+                    }
+                    break;
                 }
+            }
 //            }
-        }catch (Exception e){
+        } catch (Exception e) {
             log.error("3933琛屾墽琛屽皬杞︽斁绌烘澘浠诲姟涓嬪彂澶辫触");
-            log.error("3933琛�"+e);
+            log.error("3933琛�" + e);
         }
         return false;
     }
@@ -4027,285 +4062,302 @@
      * 鎵ц灏忚溅鎼繍浠诲姟
      */
     public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//婊℃斁
-        try{
+        try {
 //            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
-                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
-                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
-                if (rgvProtocol == null) {
-                    return false;
-                }
-                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
-                if (basRgv == null) {
-                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
-                    return false;
-                }
+            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+            if (rgvProtocol == null) {
+                return false;
+            }
+            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+            if (basRgv == null) {
+                log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+                return false;
+            }
 
-                // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤
-                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
-                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
-                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
-                        && rgvProtocol.getModeType() == RgvModeType.AUTO
-                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
-                        &&  (rgvProtocol.getLoaded2()==2  || rgvProtocol.getLoaded2()==3 ) ////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗�  锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3  1銆�2灞傞兘鏈夌墿  4锛氾紙锛夊彧鍏佽鎷嗙洏
-                ) {
-                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-                    if (basRgvMap == null) {
-                        log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
-                        return false;
+            // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤
+            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+                    && rgvProtocol.getModeType() == RgvModeType.AUTO
+                    && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+                    && (rgvProtocol.getLoaded2() == 2 || rgvProtocol.getLoaded2() == 3) ////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗�  锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3  1銆�2灞傞兘鏈夌墿  4锛氾紙锛夊彧鍏佽鎷嗙洏
+            ) {
+                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+                if (basRgvMap == null) {
+                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+                    return false;
+                }
+                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
+                List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+                if (rgvProtocol.getRgvNo() == 2) {//鍒囨崲杩戣寖鍥�
+                    route = routeNear;
+                }
+                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//鏌ヨ鍙墽琛屼换鍔�
+                for (WrkMastSta wrkMastSta : wrkMastStaList) {
+                    if (wrkMastSta.getType() != 2 || wrkMastSta.getWrkType() != 6) {// 2:绌烘澘  || 宸ヤ綔绫诲瀷  1:鍙栵紙鍙犵洏锛�  2锛氭媶鐩�  5锛氭弧鍙�  6锛氭弧鏀�  7:鎻愬崌
+                        continue;
                     }
-                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
-                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
-                    List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
-                    if (rgvProtocol.getRgvNo()==2){//鍒囨崲杩戣寖鍥�
-                        route = routeNear;
-                    }
-                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//鏌ヨ鍙墽琛屼换鍔�
-                    for (WrkMastSta wrkMastSta : wrkMastStaList){
-                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=6){// 2:绌烘澘  || 宸ヤ綔绫诲瀷  1:鍙栵紙鍙犵洏锛�  2锛氭媶鐩�  5锛氭弧鍙�  6锛氭弧鏀�  7:鎻愬崌
+                    boolean sign = false;
+                    if (wrkMastSta.getStaEnd() != 0) {//婊℃斁
+                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
+                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo() != 0) {
                             continue;
                         }
-                        boolean sign = false;
-                        if ( wrkMastSta.getStaEnd()!=0){//婊℃斁
-                            BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
-                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
+                        if (basDevp.getDevNo() >= 118 && basDevp.getDevNo() <= 123) {
+                            if (!basDevp.getEmptyMk().equals("Y")) {
                                 continue;
                             }
-                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
-                                if (!basDevp.getEmptyMk().equals("Y")){
-                                    continue;
-                                }
-                            }
-                            Date date = new Date();
-                            log.info(date+"婊℃斁浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
-                            log.info(date+"婊℃斁浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
-                            sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
-                        }else {
-                            continue;
                         }
-                        if (sign){
-                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd(),rgvProtocol.getRgvNo()==2);
-                            if (signMap){
-                                wrkMastSta.setWrkSts(2);
-                                try{
-                                    wrkMastStaMapper.updateById(wrkMastSta);
-                                }catch (Exception e){
-                                    log.error("鏇存柊灏忚溅浠诲姟澶辫触");
-                                }
-                                return true;
-                            }else {
-                                log.error("3857琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
-                            }
-                        }else {
-                            log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
-                        }
-                        break;
+                        Date date = new Date();
+                        log.info(date + "婊℃斁浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�" + wrkMastSta);
+                        log.info(date + "婊℃斁浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細" + basDevp);
+                        sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(), wrkMastSta);
+                    } else {
+                        continue;
                     }
+                    if (sign) {
+                        boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd(), rgvProtocol.getRgvNo() == 2);
+                        if (signMap) {
+                            wrkMastSta.setWrkSts(2);
+                            try {
+                                wrkMastStaMapper.updateById(wrkMastSta);
+                            } catch (Exception e) {
+                                log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+                            }
+                            return true;
+                        } else {
+                            log.error("3857琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触", wrkMastSta.getWrkNo());
+                        }
+                    } else {
+                        log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�", wrkMastSta.getWrkNo());
+                    }
+                    break;
                 }
+            }
 //            }
-        }catch (Exception e){
+        } catch (Exception e) {
             log.error("3933琛屾墽琛屽皬杞︽斁绌烘澘浠诲姟涓嬪彂澶辫触");
-            log.error("3933琛�"+e);
+            log.error("3933琛�" + e);
         }
         return false;
     }
 
     public synchronized boolean rgvRunWrkMastEmptyStaTake(RgvSlave rgvSlave) {//鍙犵洏
-        try{
+        try {
 //            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
-                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
-                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
-                if (rgvProtocol == null) {
-                    return false;
-                }
-                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
-                if (basRgv == null) {
-                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
-                    return false;
-                }
+            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+            if (rgvProtocol == null) {
+                return false;
+            }
+            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+            if (basRgv == null) {
+                log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+                return false;
+            }
 
-                // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾棤鐗�//rgv鍙敤
-                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
-                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
-                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
-                        && rgvProtocol.getModeType() == RgvModeType.AUTO
-                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
-                        &&  (rgvProtocol.getLoaded2()==0  || rgvProtocol.getLoaded2()==1 ) //鐜板満淇敼锛氬彔鐩樻満锛�////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗╋紙鍙兘鎷嗗彔锛�   锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3  1銆�2灞傞兘鏈夌墿  4锛氾紙锛夊彧鍏佽鎷嗙洏
-                ) {
-                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-                    if (basRgvMap == null) {
-                        log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
-                        return false;
-                    }
-                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
-                    List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
-                    if (rgvProtocol.getRgvNo()==2){//鍒囨崲杩戣寖鍥�
-                        route = routeNear;
-                    }
-                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
-                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
-                    for (WrkMastSta wrkMastSta : wrkMastStaList){
-                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=1){// 2:绌烘澘  || 宸ヤ綔绫诲瀷  1:鍙栵紙鍙犵洏锛�  2锛氭媶鐩�  5锛氭弧鍙�  6锛氭弧鏀�
-                            continue;
-                        }
-                        boolean sign = false;
-                        if ( wrkMastSta.getStaStart()!=0){//鍙�
-                            BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
-                            if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
-                                continue;
-                            }
-                            List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
-                                add(101);add(102);add(104);add(105);add(107);add(108);add(118);add(119);add(122);
-                            }};
-                            List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
-                                add(110);add(111);add(113);add(114);add(116);add(117);add(120);add(121);add(122);add(123);
-                            }};
-                            if (basRgv.getRgvNo()==1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())){
-                                continue;
-                            }else if (basRgv.getRgvNo()==2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())){
-                                continue;
-                            }
-                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
-                                if (!basDevp.getEmptyMk().equals("Y")){
-                                    continue;
-                                }
-                            }
-                            Date date = new Date();
-                            log.info(date+"鍙犵洏浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
-                            log.info(date+"鍙犵洏浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
-                            sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//鍙犵洏
-                        }else {
-                            continue;
-                        }
-                        if (sign){
-                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute(),rgvProtocol.getRgvNo()==2);
-                            if (signMap){
-                                wrkMastSta.setWrkSts(1);
-                                try{
-                                    wrkMastStaMapper.updateById(wrkMastSta);
-                                }catch (Exception e){
-                                    log.error("鏇存柊灏忚溅浠诲姟澶辫触");
-                                }
-                                return true;
-                            }else {
-                                log.error("3879琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
-                            }
-                        }else {
-                            log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
-                        }
-                        break;
-                    }
+            // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾棤鐗�//rgv鍙敤
+            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+                    && rgvProtocol.getModeType() == RgvModeType.AUTO
+                    && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+                    && (rgvProtocol.getLoaded2() == 0 || rgvProtocol.getLoaded2() == 1) //鐜板満淇敼锛氬彔鐩樻満锛�////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗╋紙鍙兘鎷嗗彔锛�   锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3  1銆�2灞傞兘鏈夌墿  4锛氾紙锛夊彧鍏佽鎷嗙洏
+            ) {
+                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+                if (basRgvMap == null) {
+                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+                    return false;
                 }
+                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+                List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+                if (rgvProtocol.getRgvNo() == 2) {//鍒囨崲杩戣寖鍥�
+                    route = routeNear;
+                }
+                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
+                for (WrkMastSta wrkMastSta : wrkMastStaList) {
+                    if (wrkMastSta.getType() != 2 || wrkMastSta.getWrkType() != 1) {// 2:绌烘澘  || 宸ヤ綔绫诲瀷  1:鍙栵紙鍙犵洏锛�  2锛氭媶鐩�  5锛氭弧鍙�  6锛氭弧鏀�
+                        continue;
+                    }
+                    boolean sign = false;
+                    if (wrkMastSta.getStaStart() != 0) {//鍙�
+                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
+                        if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")) {
+                            continue;
+                        }
+                        List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
+                            add(101);
+                            add(102);
+                            add(104);
+                            add(105);
+                            add(107);
+                            add(108);
+                            add(118);
+                            add(119);
+                            add(122);
+                        }};
+                        List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
+                            add(110);
+                            add(111);
+                            add(113);
+                            add(114);
+                            add(116);
+                            add(117);
+                            add(120);
+                            add(121);
+                            add(122);
+                            add(123);
+                        }};
+                        if (basRgv.getRgvNo() == 1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())) {
+                            continue;
+                        } else if (basRgv.getRgvNo() == 2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())) {
+                            continue;
+                        }
+                        if (basDevp.getDevNo() >= 118 && basDevp.getDevNo() <= 123) {
+                            if (!basDevp.getEmptyMk().equals("Y")) {
+                                continue;
+                            }
+                        }
+                        Date date = new Date();
+                        log.info(date + "鍙犵洏浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�" + wrkMastSta);
+                        log.info(date + "鍙犵洏浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細" + basDevp);
+                        sign = rgvTakeEmpty(rgvProtocol.getRgvNo(), wrkMastSta);//鍙犵洏
+                    } else {
+                        continue;
+                    }
+                    if (sign) {
+                        boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute(), rgvProtocol.getRgvNo() == 2);
+                        if (signMap) {
+                            wrkMastSta.setWrkSts(1);
+                            try {
+                                wrkMastStaMapper.updateById(wrkMastSta);
+                            } catch (Exception e) {
+                                log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+                            }
+                            return true;
+                        } else {
+                            log.error("3879琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触", wrkMastSta.getWrkNo());
+                        }
+                    } else {
+                        log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�", wrkMastSta.getWrkNo());
+                    }
+                    break;
+                }
+            }
 //            }
-        }catch (Exception e){
+        } catch (Exception e) {
             log.error("3989琛屾墽琛屽皬杞﹀彇绌烘澘浠诲姟涓嬪彂澶辫触");
-            log.error("3989琛�"+e);
+            log.error("3989琛�" + e);
         }
         return false;
     }
 
     public synchronized boolean rgvRunWrkMastEmptyStaTakeFull(RgvSlave rgvSlave) {//婊″彇
-        try{
+        try {
 //            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
-                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
-                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
-                if (rgvProtocol == null) {
-                    return false;
-                }
-                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
-                if (basRgv == null) {
-                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
-                    return false;
-                }
+            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+            if (rgvProtocol == null) {
+                return false;
+            }
+            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+            if (basRgv == null) {
+                log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+                return false;
+            }
 
-                // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾棤鐗�//rgv鍙敤
-                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
-                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
-                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
-                        && rgvProtocol.getModeType() == RgvModeType.AUTO
-                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
-                        &&  rgvProtocol.getLoaded2()==0  //鐜板満淇敼锛氬彔鐩樻満锛�////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗╋紙鍙兘鎷嗗彔锛�   锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3  1銆�2灞傞兘鏈夌墿  4锛氾紙锛夊彧鍏佽鎷嗙洏
-                ) {
-                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-                    if (basRgvMap == null) {
-                        log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
-                        return false;
-                    }
-                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
-                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
-                    List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
-                    if (rgvProtocol.getRgvNo()==2){//鍒囨崲杩戣寖鍥�
-                        route = routeNear;
-                    }
-                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
-                    WrkMast wrkMast = wrkMastMapper.selectBy122ManQu(122,110,15L);
-                    if (!Cools.isEmpty(wrkMast)){
-                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
-                        if (!Cools.isEmpty(wrkMastSta) && wrkMastSta.getType()==2 && wrkMastSta.getWrkType()==5 ){
-                            wrkMastStaList.add(wrkMastSta);
-                        }
-                    }
-                    for (WrkMastSta wrkMastSta : wrkMastStaList){
-                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=5){// 2:绌烘澘  || 宸ヤ綔绫诲瀷  1:鍙栵紙鍙犵洏锛�  2锛氭媶鐩�  5锛氭弧鍙�  6锛氭弧鏀�
-                            continue;
-                        }
-                        boolean sign = false;
-                        if (wrkMastSta.getStaStart()!=0){//婊″彇
-                            BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
-                            if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
-                                continue;
-                            }
-                            Date date = new Date();
-                            log.info(date+"婊″彇浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
-                            log.info(date+"婊″彇浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
-                            sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
-                        }else {
-                            continue;
-                        }
-                        if (sign){
-                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute(),rgvProtocol.getRgvNo()==2);
-                            if (signMap){
-                                wrkMastSta.setWrkSts(1);
-                                try{
-                                    wrkMastStaMapper.updateById(wrkMastSta);
-                                }catch (Exception e){
-                                    log.error("鏇存柊灏忚溅浠诲姟澶辫触");
-                                }
-                                return true;
-                            }else {
-                                log.error("3879琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
-                            }
-                        }else {
-                            log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
-                        }
-                        break;
+            // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾棤鐗�//rgv鍙敤
+            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+                    && rgvProtocol.getModeType() == RgvModeType.AUTO
+                    && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+                    && rgvProtocol.getLoaded2() == 0  //鐜板満淇敼锛氬彔鐩樻満锛�////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗╋紙鍙兘鎷嗗彔锛�   锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3  1銆�2灞傞兘鏈夌墿  4锛氾紙锛夊彧鍏佽鎷嗙洏
+            ) {
+                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+                if (basRgvMap == null) {
+                    log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+                    return false;
+                }
+                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+                List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+                if (rgvProtocol.getRgvNo() == 2) {//鍒囨崲杩戣寖鍥�
+                    route = routeNear;
+                }
+                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
+                WrkMast wrkMast = wrkMastMapper.selectBy122ManQu(122, 110, 15L);
+                if (!Cools.isEmpty(wrkMast)) {
+                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
+                    if (!Cools.isEmpty(wrkMastSta) && wrkMastSta.getType() == 2 && wrkMastSta.getWrkType() == 5) {
+                        wrkMastStaList.add(wrkMastSta);
                     }
                 }
+                for (WrkMastSta wrkMastSta : wrkMastStaList) {
+                    if (wrkMastSta.getType() != 2 || wrkMastSta.getWrkType() != 5) {// 2:绌烘澘  || 宸ヤ綔绫诲瀷  1:鍙栵紙鍙犵洏锛�  2锛氭媶鐩�  5锛氭弧鍙�  6锛氭弧鏀�
+                        continue;
+                    }
+                    boolean sign = false;
+                    if (wrkMastSta.getStaStart() != 0) {//婊″彇
+                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
+                        if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")) {
+                            continue;
+                        }
+                        Date date = new Date();
+                        log.info(date + "婊″彇浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�" + wrkMastSta);
+                        log.info(date + "婊″彇浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細" + basDevp);
+                        sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(), wrkMastSta);
+                    } else {
+                        continue;
+                    }
+                    if (sign) {
+                        boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute(), rgvProtocol.getRgvNo() == 2);
+                        if (signMap) {
+                            wrkMastSta.setWrkSts(1);
+                            try {
+                                wrkMastStaMapper.updateById(wrkMastSta);
+                            } catch (Exception e) {
+                                log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+                            }
+                            return true;
+                        } else {
+                            log.error("3879琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触", wrkMastSta.getWrkNo());
+                        }
+                    } else {
+                        log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�", wrkMastSta.getWrkNo());
+                    }
+                    break;
+                }
+            }
 //            }
-        }catch (Exception e){
+        } catch (Exception e) {
             log.error("3989琛屾墽琛屽皬杞﹀彇绌烘澘浠诲姟涓嬪彂澶辫触");
-            log.error("3989琛�"+e);
+            log.error("3989琛�" + e);
         }
         return false;
     }
 
     /*
-    * 鏈変换鍔′絾鏈墽琛�  姝ゆ椂闇�瑕佽皟鏁村皬杞︿綅缃�
-    * */
+     * 鏈変换鍔′絾鏈墽琛�  姝ゆ椂闇�瑕佽皟鏁村皬杞︿綅缃�
+     * */
     public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
-        try{
+        try {
 //            Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔�
 //            if (integer==0){
 //                return;
 //            }
             WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0);
-            if (Cools.isEmpty(wrkMastSta)){
+            if (Cools.isEmpty(wrkMastSta)) {
                 return;
             }
             Integer[] rgvRunSta = RouteUtils.RgvRunSta(wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
             boolean signRgv = true;
             boolean signRgv1 = true;
             boolean signRgv2 = true;
-            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+            for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
                 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                 RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                 if (rgvProtocol == null) {
@@ -4320,35 +4372,35 @@
                 // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
                 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                         && rgvProtocol.getModeType() == RgvModeType.AUTO
-                        && rgvProtocol.getLoaded1()==0  //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
-                        && rgvProtocol.getTaskNo1()==0
-                        && rgvProtocol.getTaskNo2()==0
+                        && rgvProtocol.getLoaded1() == 0  //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+                        && rgvProtocol.getTaskNo1() == 0
+                        && rgvProtocol.getTaskNo2() == 0
                         && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                         && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                 ) {
 //                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
 //                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
-                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
-                        if (rgvProtocol.getRgvNo()==1){
+                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(), rgvRunSta[rgvProtocol.getRgvNo() - 1], rgvProtocol.getRgvNo())) {
+                        if (rgvProtocol.getRgvNo() == 1) {
                             signRgv1 = false;
-                        }else {
+                        } else {
                             signRgv2 = false;
                         }
                     }
-                    if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
+                    if (rgvProtocol.getRgvNo() == 1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102))) {
                         signRgv = false;
                         break;
-                    } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
+                    } else if (rgvProtocol.getRgvNo() == 2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117))) {
                         signRgv = false;
                         break;
                     }
-                }else {
+                } else {
                     signRgv = false;
                     break;
                 }
             }
-            if (signRgv &&  (signRgv1 || signRgv2)){
-                for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+            if (signRgv && (signRgv1 || signRgv2)) {
+                for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
                     RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                     RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                     if (rgvProtocol == null) {
@@ -4358,21 +4410,21 @@
                     // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
                     if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                             && rgvProtocol.getModeType() == RgvModeType.AUTO
-                            && rgvProtocol.getLoaded1()==0  //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
-                            && rgvProtocol.getTaskNo1()==0
-                            && rgvProtocol.getTaskNo2()==0
+                            && rgvProtocol.getLoaded1() == 0  //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+                            && rgvProtocol.getTaskNo1() == 0
+                            && rgvProtocol.getTaskNo2() == 0
                             && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                             && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                     ) {
                         BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-                        rgvAvoidanceXY(rgvProtocol.getRgvNo(),rgvRunSta);
-                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+                        rgvAvoidanceXY(rgvProtocol.getRgvNo(), rgvRunSta);
+                        rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute());
                     }
                 }
             }
-        }catch (Exception e){
+        } catch (Exception e) {
             log.error("4109琛屾墽琛屽皬杞﹀垵濮嬪寲浠诲姟涓嬪彂澶辫触");
-            log.error("4109琛�"+e);
+            log.error("4109琛�" + e);
         }
     }
 
@@ -4380,8 +4432,8 @@
      * 鍒锋柊鍦板浘鏁版嵁
      * */
     public synchronized void refreshRgvMap() {
-        try{
-            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+        try {
+            for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
                 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                 RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                 if (rgvProtocol == null) {
@@ -4396,33 +4448,33 @@
                 // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
                 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                         && rgvProtocol.getModeType() == RgvModeType.AUTO
-                        && rgvProtocol.getLoaded1()==0  //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
-                        && rgvProtocol.getTaskNo1()==0
-                        && rgvProtocol.getTaskNo2()==0
+                        && rgvProtocol.getLoaded1() == 0  //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+                        && rgvProtocol.getTaskNo1() == 0
+                        && rgvProtocol.getTaskNo2() == 0
                 ) {
                     BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvSlave.getId());
                     basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
-                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+                    rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute());
                 }
             }
-        }catch (Exception e){
+        } catch (Exception e) {
             log.error("4109琛屾墽琛屽皬杞﹀垵濮嬪寲浠诲姟涓嬪彂澶辫触");
-            log.error("4109琛�"+e);
+            log.error("4109琛�" + e);
         }
     }
 
     /*
      * 灏忚溅XY绉诲姩  閬胯
      * */
-    public synchronized boolean rgvAvoidanceXY(Integer rgvId, Integer[] rgvRunSta){
-        if (rgvId==2){
-            try{
+    public synchronized boolean rgvAvoidanceXY(Integer rgvId, Integer[] rgvRunSta) {
+        if (rgvId == 2) {
+            try {
 //                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                 //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
                 RgvCommand rgvCommand = new RgvCommand();
                 rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
                 rgvCommand.setAckFinish1((short) 0);  // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
-                rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
+                rgvCommand.setTaskNo1((short) 32222); // 宸ヤ綅1宸ヤ綔鍙�
                 rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡:  鍥炲師鐐�
                 //basRgvMap.getLockStartRoute().shortValue()
                 rgvCommand.setSourceStaNo1(rgvRunSta[1].shortValue());
@@ -4434,18 +4486,18 @@
                 } else {
                     return true;
                 }
-            }catch (Exception e){
+            } catch (Exception e) {
                 return false;
 
             }
-        }else {
-            try{
+        } else {
+            try {
 //                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
                 //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
                 RgvCommand rgvCommand = new RgvCommand();
                 rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
                 rgvCommand.setAckFinish2((short) 0);  // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
-                rgvCommand.setTaskNo2((short)32222); // 宸ヤ綅2宸ヤ綔鍙�
+                rgvCommand.setTaskNo2((short) 32222); // 宸ヤ綅2宸ヤ綔鍙�
                 rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 宸ヤ綅2浠诲姟妯″紡:  鍥炲師鐐�
                 rgvCommand.setSourceStaNo2(rgvRunSta[0].shortValue());
                 rgvCommand.setCommand((short) 2);   //宸ヤ綅2浠诲姟纭
@@ -4456,7 +4508,7 @@
                 } else {
                     return true;
                 }
-            }catch (Exception e){
+            } catch (Exception e) {
                 return false;
 
             }
@@ -4465,10 +4517,10 @@
 
 
     /*
-    * 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
-    * */
-    public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
-        try{
+     * 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
+     * */
+    public synchronized boolean rgvTakeFullAll(Integer rgvId, WrkMastSta wrkMastSta) {
+        try {
             //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
             RgvCommand rgvCommand = new RgvCommand();
             rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
@@ -4485,7 +4537,7 @@
             } else {
                 return true;
             }
-        }catch (Exception e){
+        } catch (Exception e) {
             return false;
         }
     }
@@ -4493,8 +4545,8 @@
     /*
      * 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
      * */
-    public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
-        try{
+    public synchronized boolean rgvTakeFull(Integer rgvId, WrkMastSta wrkMastSta) {
+        try {
             //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
             RgvCommand rgvCommand = new RgvCommand();
             rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
@@ -4510,16 +4562,16 @@
             } else {
                 return true;
             }
-        }catch (Exception e){
+        } catch (Exception e) {
             return false;
         }
     }
 
     /*
-    * 灏忚溅鏀捐揣鑷宠緭閫佺嚎浠诲姟
-    * */
-    public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
-        try{
+     * 灏忚溅鏀捐揣鑷宠緭閫佺嚎浠诲姟
+     * */
+    public synchronized boolean rgvPutFull(Integer rgvId, WrkMastSta wrkMastSta) {
+        try {
             //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
             RgvCommand rgvCommand = new RgvCommand();
             rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
@@ -4535,7 +4587,7 @@
             } else {
                 return true;
             }
-        }catch (Exception e){
+        } catch (Exception e) {
             return false;
         }
     }
@@ -4543,8 +4595,8 @@
     /*
      * 灏忚溅鍙栫┖鏉胯嚦宸ヤ綅浠诲姟  鍙犵洏
      * */
-    public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
-        try{
+    public synchronized boolean rgvTakeEmpty(Integer rgvId, WrkMastSta wrkMastSta) {
+        try {
             //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
             RgvCommand rgvCommand = new RgvCommand();
             rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
@@ -4560,7 +4612,7 @@
             } else {
                 return true;
             }
-        }catch (Exception e){
+        } catch (Exception e) {
             return false;
         }
     }
@@ -4568,8 +4620,8 @@
     /*
      * 灏忚溅鏀剧┖鏉胯嚦杈撻�佺嚎浠诲姟   //鎷嗙洏
      * */
-    public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
-        try{
+    public synchronized boolean rgvPutEmpty(Integer rgvId, WrkMastSta wrkMastSta) {
+        try {
             //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
             RgvCommand rgvCommand = new RgvCommand();
             rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
@@ -4585,7 +4637,7 @@
             } else {
                 return true;
             }
-        }catch (Exception e){
+        } catch (Exception e) {
             return false;
         }
     }
@@ -4593,8 +4645,8 @@
     /*
      * 灏忚溅鍙栫┖鏉胯嚦宸ヤ綅浠诲姟  婊″彇
      * */
-    public synchronized boolean rgvTakeEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
-        try{
+    public synchronized boolean rgvTakeEmptyFull(Integer rgvId, WrkMastSta wrkMastSta) {
+        try {
             //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
             RgvCommand rgvCommand = new RgvCommand();
             rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
@@ -4610,7 +4662,7 @@
             } else {
                 return true;
             }
-        }catch (Exception e){
+        } catch (Exception e) {
             return false;
         }
     }
@@ -4618,8 +4670,8 @@
     /*
      * 灏忚溅鏀剧┖鏉胯嚦杈撻�佺嚎浠诲姟   //婊℃斁
      * */
-    public synchronized boolean rgvPutEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
-        try{
+    public synchronized boolean rgvPutEmptyFull(Integer rgvId, WrkMastSta wrkMastSta) {
+        try {
             //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
             RgvCommand rgvCommand = new RgvCommand();
             rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
@@ -4635,7 +4687,7 @@
             } else {
                 return true;
             }
-        }catch (Exception e){
+        } catch (Exception e) {
             return false;
         }
     }
@@ -4643,19 +4695,19 @@
     /*
      * 灏忚溅澶嶄綅
      * */
-    public synchronized boolean rgvComplete(Integer rgvId){
-        try{
+    public synchronized boolean rgvComplete(Integer rgvId) {
+        try {
             //  鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
             if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
                 //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱   step=4锛屽伐浣�1鍐欎换鍔★紱     step=5锛屽伐浣�2鍐欎换鍔�
-                log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}",rgvId);
+                log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}", rgvId);
                 return false;
             } else {
-                log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}",rgvId);
+                log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}", rgvId);
                 return true;
             }
-        }catch (Exception e){
-            log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}銆傚紓甯革細"+e,rgvId);
+        } catch (Exception e) {
+            log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}銆傚紓甯革細" + e, rgvId);
             return false;
         }
     }
@@ -4663,18 +4715,19 @@
     /*
      * 灏忚溅鍦板浘鏇存柊  鏇存柊閿�
      * */
-    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd,boolean sign){
-        if (sign){
-            staStart = RouteUtils.RouteIndexFarMasOtherNearUpMap(basRgvMapCurrent.getRgvNo(),staStart);
-            staEnd = RouteUtils.RouteIndexFarMasOtherNearUpMap(basRgvMapCurrent.getRgvNo(),staEnd);
+    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent, Integer staStart, Integer staEnd, boolean sign) {
+        if (sign) {
+            staStart = RouteUtils.RouteIndexFarMasOtherNearUpMap(basRgvMapCurrent.getRgvNo(), staStart);
+            staEnd = RouteUtils.RouteIndexFarMasOtherNearUpMap(basRgvMapCurrent.getRgvNo(), staEnd);
         }
-        return rgvMapUpdate(basRgvMapCurrent,staStart,staEnd);
+        return rgvMapUpdate(basRgvMapCurrent, staStart, staEnd);
     }
-    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
+
+    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent, Integer staStart, Integer staEnd) {
 
 //        List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
         //鏇存柊褰撳墠灏忚溅閿�
-        try{
+        try {
             Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//鑾峰彇鏈�杩滅珯鐐�
             Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //鑾峰彇鍚堝苟骞叉秹椤�
             basRgvMapCurrent.setLockEndRoute(fallMerge);
@@ -4686,10 +4739,10 @@
             List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
             Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//鍙︿竴鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�
             basRgvMapOther.setEndRoute(lockEndRoute);
-            basRgvMapOther.setEndRouteOther(RouteUtils.RouteIndexFarMasOtherNear(rgvNoOther,lockEndRoute));
+            basRgvMapOther.setEndRouteOther(RouteUtils.RouteIndexFarMasOtherNear(rgvNoOther, lockEndRoute));
             basRgvMapMapper.updateById(basRgvMapOther);
             return true;
-        }catch (Exception e){
+        } catch (Exception e) {
             log.error("灏忚溅鍦板浘鏇存柊鍑洪敊锛�");
             return false;
         }
@@ -4701,7 +4754,7 @@
     public synchronized void emptyTrayReflux() {
         for (CrnSlave crn : slaveProperties.getCrn()) {
             List<WrkMast> wrkMastList = wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 2)
-                    .eq("crn_no",crn.getId()).eq("io_type", 3));
+                    .eq("crn_no", crn.getId()).eq("io_type", 3));
             for (WrkMast wrkMast : wrkMastList) {
                 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
                 CrnProtocol crnProtocol = crnThread.getCrnProtocol();
@@ -4716,19 +4769,19 @@
 
                     CrnSlave.CrnStn crnStn = null;
                     CrnSlave.CrnStn crnStn2 = null;
-                    for (CrnSlave.CrnStn crnStn1 : crn.getCrnOutStn()){
-                        if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
+                    for (CrnSlave.CrnStn crnStn1 : crn.getCrnOutStn()) {
+                        if (crnStn1.getStaNo().equals(wrkMast.getStaNo())) {
                             crnStn = crnStn1;
                             break;
                         }
                     }
-                    for (CrnSlave.CrnStn crnStn1 : crn.getCrnInStn()){
-                        if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){
+                    for (CrnSlave.CrnStn crnStn1 : crn.getCrnInStn()) {
+                        if (crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())) {
                             crnStn2 = crnStn1;
                             break;
                         }
                     }
-                    if(Cools.isEmpty(crnStn) || Cools.isEmpty(crnStn2)){
+                    if (Cools.isEmpty(crnStn) || Cools.isEmpty(crnStn2)) {
                         continue;
                     }
 

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