zy-wcs.git - Gitblit

			@@ -3,19 +3,18 @@
			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.baomidou.mybatisplus.mapper.Wrapper;
			import com.core.common.Cools;
			import com.core.common.SpringUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.Utils;
			import com.zy.common.model.*;
			import com.zy.common.model.enums.WrkChargeType;
			import com.zy.common.model.enums.NavigationMapType;
			import com.zy.common.service.CommonService;
			import com.zy.common.service.erp.ErpService;
			import com.zy.common.utils.*;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			import com.zy.core.News;
			import com.zy.core.cache.MessageQueue;
			@@ -52,6 +51,8 @@
			@Autowired
			private WrkMastMapper wrkMastMapper;
			@Autowired
			private WrkMastService wrkMastService;
			@Autowired
			private WrkDetlService wrkDetlService;
			@Autowired
			private LocMastService locMastService;
			@@ -60,15 +61,17 @@
			@Autowired
			private StaDescService staDescService;
			@Autowired
			private BasCrnpService basCrnpService;
			@Autowired
			private BasDevpService basDevpService;
			@Autowired
			private BasErrLogService basErrLogService;
			@Autowired
			private BasSteErrLogService basSteErrLogService;
			@Autowired
			private BasShuttleService basShuttleService;
			@Autowired
			private BasShuttleErrLogService basShuttleErrLogService;
			@Autowired
			private BasLiftErrLogService basLiftErrLogService;
			@Autowired
			private BasShuttleErrService basShuttleErrService;
			@Autowired
			@@ -92,7 +95,14 @@
			@Autowired
			private OrderDetlMapper orderDetlMapper;
			@Autowired
			private BasLiftService basLiftService;
			@Autowired
			private ShuttleDispatchUtils shuttleDispatchUtils;
			@Autowired
			private RedisUtil redisUtil;
			@Autowired
			private WrkMastLocMapper wrkMastLocMapper;


			/**
			* 组托
			@@ -152,11 +162,12 @@
			}
			continue;
			}

			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo >= 9990 && workNo <= 9999))
			&& staProtocol.isPakMk()) {
			) {

			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			@@ -167,10 +178,10 @@
			if(!Cools.isEmpty(barcode)) {
			// News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)\|\| "00000000".equals(barcode)) {
			staProtocol.setWorkNo((short) 32002);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// staProtocol.setWorkNo((short) 32002);
			// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			@@ -181,10 +192,10 @@
			continue;
			}
			} else {
			staProtocol.setWorkNo((short) 32002);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// staProtocol.setWorkNo((short) 32002);
			// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			@@ -196,16 +207,17 @@
			}

			// 过滤盘点/拣料/并板任务
			// if (null != wrkMastMapper.selectPickStepByBarcode(barcode)) {
			// continue;
			// }
			WrkMast wrkMast1 = wrkMastMapper.selectPickStepByBarcode(barcode);
			if (null != wrkMast1) {
			continue;
			}

			// 判断重复工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			// if (wrkMast != null) {
			// News.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			// continue;
			// }
			WrkMast wrkMast2 = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast2 != null) {
			News.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast2.getWrkNo());
			continue;
			}

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			@@ -213,7 +225,7 @@
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			// param.setLocType1(locTypeDto.getLocType1());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			@@ -227,14 +239,26 @@
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			// plc 处理
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			// staProtocol.setStaNo(dto.getStaNo().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			//
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }

			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			if (wrkMast == null) { continue; }

			// 更新工作主档
			wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			}

			} else if (code == 500){
			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			@@ -244,10 +268,10 @@
			}
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			} else if (code == 700) {
			staProtocol.setWorkNo((short) 32002);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// staProtocol.setWorkNo((short) 32002);
			// staProtocol.setRollback102(1);//102站回退信号
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));

			// led 异常显示
			if (ledThread != null) {
			@@ -366,6 +390,7 @@
			/**
			* 拣料、并板、盘点再入库
			*/
			@Transactional
			public synchronized void stnToCrnStnPick(){
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			@@ -381,25 +406,20 @@
			}
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			// 0 - 9990 或者 9996
			&& (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990)
			&& staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
			// && (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9999)
			// && staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
			&& staProtocol.isPakMk()){

			// 获取条码扫描仪信息
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			// if (barcodeThread == null) {
			// continue;
			// }
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();

			WrkMast wrkMast = null;
			if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
			wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
			if (null == wrkMast) {
			continue;
			}
			} else {
			wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
			if (wrkMast == null) {
			continue;
			}
			// if (staProtocol.getWorkNo() == 9996) {
			@@ -439,6 +459,7 @@
			// News.error("{}条码错误，暂无拣料任务！", barcode);
			// }
			// }

			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
			continue;
			@@ -487,14 +508,20 @@
			}

			String sourceLocNo = wrkMast.getSourceLocNo().trim();
			LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(sourceLocNo));//获取回库提升机目标站
			if (liftStaProtocol == null) {
			continue;
			}

			// 更新工作档数据状态
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			wrkMast.setSourceStaNo(pickSta.getStaNo()); // 源站
			wrkMast.setStaNo(dto.getStaNo()); // 目标站
			wrkMast.setCrnNo(dto.getCrnNo());
			wrkMast.setLocNo(dto.getLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			// wrkMast.setStaNo(dto.getStaNo()); // 目标站
			// wrkMast.setCrnNo(dto.getCrnNo());
			wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
			wrkMast.setLocNo(sourceLocNo); // 目标库位 = 出库时的源库位
			wrkMast.setShuttleNo(null); // 穿梭车清空
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			@@ -503,14 +530,24 @@
			throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			}

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			// 修改库位状态 Q.拣料/盘点/并板再入库
			LocMast locMast = locMastService.selectById(sourceLocNo);
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException("修改库位状态失败");
			}

			// // 更新站点信息且下发plc命令
			// staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			// staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			// }

			barcodeThread.setBarcode("");//清理条码

			} else if (code == 500){
			if (ledThread != null) {
			@@ -521,10 +558,10 @@
			}
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			} else {
			staProtocol.setWorkNo((short) 32002);
			staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// staProtocol.setWorkNo((short) 32002);
			// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			// led 异常显示
			if (ledThread != null) {
			@@ -549,7 +586,7 @@
			* 初始化实时地图
			*/
			public synchronized void initRealtimeBasMap() {
			for (int i = 1; i <= 4; i++) {//总共四层楼
			for (int i = 1; i <= 10; i++) {//总共四层楼
			Object data = redisUtil.get("realtimeBasMap_" + i);
			if (data == null) {//redis地图数据为空，从数据库中获取
			BasMap basMap = basMapService.selectLatestMap(i);
			@@ -557,7 +594,7 @@
			//数据库中也不存在地图数据，从地图文件中获取
			//载入地图
			NavigateMapData mapData = new NavigateMapData(i);
			List<List<MapNode>> lists = mapData.getJsonData(-1);//获取完整地图(包括入库出库)
			List<List<MapNode>> lists = mapData.getJsonData(-1, null, null);//获取完整地图(包括入库出库)

			//存入数据库
			basMap = new BasMap();
			@@ -595,6 +632,9 @@
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			continue;
			}
			if (!liftProtocol.isIdle()) {
			continue;
			}
			@@ -602,7 +642,6 @@
			//提升机处于空闲状态，进行任务的恢复
			liftProtocol.setTaskNo(redisCommand.getWrkNo());//将提升机线程分配任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//工作状态
			liftProtocol.setLiftLock(true);//提升机锁定

			}else if(key.toString().contains("shuttle_wrk_no_")){//四向穿梭车任务
			ShuttleRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), ShuttleRedisCommand.class);
			@@ -611,17 +650,20 @@
			}

			Short shuttleNo = redisCommand.getShuttleNo();
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
			if (shuttleThread == null) {
			continue;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}
			if (!shuttleProtocol.isIdle()) {
			continue;
			}

			//四向穿梭车处于空闲状态，进行任务的恢复
			shuttleProtocol.setTaskNo(redisCommand.getWrkNo());//将四向穿梭车线程分配任务号
			shuttleProtocol.setTaskNo(redisCommand.getWrkNo().intValue());//将四向穿梭车线程分配任务号
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//工作状态
			}
			}
			@@ -631,439 +673,247 @@
			/**
			* 入库 ===>> 四向穿梭车入库作业下发
			*/
			public synchronized void shuttleIoInExecute() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库站
			for (DevpSlave.StaRack rackInStn : devp.getRackInStn()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			public synchronized void shuttleInExecute() {
			List<WrkMast> wrkMasts = wrkMastMapper.selectInStep4();
			for (WrkMast wrkMast : wrkMasts) {
			//获取源站
			BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
			if (sourceBasDevp == null) {
			continue;//站点不存在
			}

			StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
			// StaProtocol staProtocol105 = devpThread.getStation().get(105);
			// staProtocol105.setWorkNo((short) 752);
			// staProtocol105.setStaNo((short) 100);
			//
			// StaProtocol staProtocol106 = devpThread.getStation().get(106);
			// staProtocol106.setWorkNo((short) 753);
			// staProtocol106.setStaNo((short) 100);
			//获取目标站
			LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(sourceBasDevp.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
			if (liftStaProtocol == null) {
			continue;//站点不存在
			}

			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Short workNo = staProtocol.getWorkNo();
			// 判断是否满足入库条件，自动、空闲、有物
			if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
			continue;
			}

			// 判断是否满足入库条件
			if (true \|\| staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
			WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
			if (wrkMast != null) {
			if (wrkMast.getWrkSts() == 4 \|\| wrkMast.getWrkSts() == 8) {
			ShuttleThread shuttleThread = null;
			HashMap<String, Object> searchIdleShuttle = null;
			if (wrkMast.getWrkSts() == 4) {
			//寻找最近且空闲的四向穿梭车
			searchIdleShuttle = this.searchIdleShuttle(wrkMast);
			shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
			}else {
			//状态8，四向穿梭车已在提升机口，等待命令进行入库搬运动作
			Integer shuttleNo = wrkMast.getShuttleNo();//四向穿梭车号
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
			}

			if (shuttleThread == null) {
			continue;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (!shuttleProtocol.isIdle()) {
			continue;
			}

			wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号

			//分配任务号
			shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
			//分配源库位
			shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());

			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//入出库模式
			String currentLocNo = shuttleProtocol.getCurrentLocNo();
			assignCommand.setSourceLocNo(currentLocNo);//源库位(小车当前位置)

			String locNo = wrkMast.getLocNo();//当前工作档库位号
			Integer lev = Integer.parseInt(locNo.substring(locNo.length() - 2, locNo.length()));//当前工作档库位层高
			Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));//小车当前层高

			//获取提升机
			LiftSlave liftSlave = slaveProperties.getLift().get(0);
			//提升机库位号
			String liftLocNo = liftSlave.getLiftLocNo(currentLev);

			if (wrkMast.getWrkSts() == 8 \|\| Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
			//同一层直接取货无需经过提升机
			//直接计算车到提升机取货再到库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo, assignCommand,shuttleThread);
			if (wrkMast.getWrkSts() == 8) {
			//此时车在提升机内部，需要多下达一步指令让车移动到提升机口
			BasDevp basDevp = basDevpService.selectById(109);//获取提升机信息
			short startCode = Short.parseShort(basDevp.getQrCodeValue());//提升机内部二维码
			Short distCode = commands.get(0).getStartCodeNum();//提升机口二维码
			Short runDirection = commands.get(0).getRunDirection();//运行方向
			//获取命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1300, runDirection);
			commands.add(0, moveCommand);//将该指令添加到队头
			}
			assignCommand.setCommands(commands);
			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getLocNo());
			//目标库位
			assignCommand.setLocNo(wrkMast.getLocNo());
			wrkMast.setWrkSts(9L);//小车入库中
			}else {
			//不同层，将目标库位分配成提升机库位号

			//小车移动到提升机口，计算路径
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
			//分配目标库位
			shuttleProtocol.setLocNo(liftLocNo);
			//目标库位
			assignCommand.setLocNo(liftLocNo);
			assignCommand.setCommands(commands);
			wrkMast.setWrkSts(5L);//小车迁移状态
			}

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}

			}
			}

			boolean step1 = this.shuttleInExecuteStep1(wrkMast, liftStaProtocol);//小车搬入库中
			if (!step1) {
			continue;
			}
			}

			}

			//获取起点-终点指令。mapType：1=》无货地图，2=》有货地图
			public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
			//计算小车起点到中点所需命令
			List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType);
			List<ShuttleCommand> commands = new ArrayList<>();
			if (calc == null) {
			return null;
			// /**
			// * 入库 ===>> 四向穿梭车入库作业下发
			// */
			// public synchronized void shuttleInExecute() {
			// // 根据输送线plc遍历
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历入库站
			// for (DevpSlave.StaRack staRack : devp.getRackInStn()) {
			// // 获取入库站信息
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(staRack.getStaNo());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// Short workNo = staProtocol.getWorkNo();
			// BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
			// if (basDevp == null) {
			// continue;//站点信息不存在
			// }
			//
			// // 判断是否满足入库条件，自动、有物、四向穿梭车可取信号
			// if (!(staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isShuttleTakeEnable())) {
			// continue;
			// }
			//
			// WrkMast wrkMast = wrkMastMapper.selectRackInStep4(workNo, staProtocol.getSiteId());
			// if (wrkMast == null) {
			// continue;
			// }
			//
			// boolean step1 = this.shuttleInExecuteStep1(wrkMast, basDevp);//小车搬入库中
			// if (!step1) {
			// continue;
			// }
			//
			// }
			// }
			//
			// }

			/**
			* 入库-小车搬入库中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			public boolean shuttleInExecuteStep1(WrkMast wrkMast, LiftStaProtocol liftStaProtocol) {
			if (wrkMast.getWrkSts() == 4) {
			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo());//调度小车到货物所在输送站点进行取货
			return false;
			}

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleProtocol.isIdle()) {
			return false;
			}
			//判断小车令牌是否未被占领
			if (shuttleProtocol.getToken() != 0) {
			return false;//小车已被独占，禁止再派发任务
			}

			//判断小车是否存在移动任务
			WrkMast hasMoveWorking = wrkMastMapper.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
			if (hasMoveWorking != null) {
			return false;//存在移动任务，禁止执行入库任务
			}

			//判断小车是否到达输送站点库位
			if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
			//小车不在输送站点位置
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货
			return false;
			}

			//小车已抵达输送站点位置，进行搬运货物
			NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo());
			if (result == null) {//路径计算失败
			return false;
			}

			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//入库模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			assignCommand.setCommands(result.getCommands());//运行命令
			assignCommand.setNodes(result.getNodes());//路径节点

			wrkMast.setWrkSts(5L);//4.提升机搬运完成 => 5.小车搬运中
			wrkMast.setModiTime(new Date());
			shuttleProtocol.setToken(wrkMast.getWrkNo());//独占小车令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}

			return false;
			}

			List<NavigateNode> allNode = new ArrayList<>();
			allNode.addAll(calc);

			//获取分段路径
			ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
			//将每一段路径分成command指令
			for (ArrayList<NavigateNode> nodes : data) {
			//开始路径
			NavigateNode startPath = nodes.get(0);
			//目标路径
			NavigateNode endPath = nodes.get(nodes.size() - 1);
			Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
			//通过xy坐标小车二维码
			Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
			//通过xy坐标小车二维码
			Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
			//获取移动命令
			ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id);
			commands.add(command);
			}

			assignCommand.setNodes(allNode);//当前任务所占用的节点list
			//所使用的路径进行锁定禁用
			NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
			navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////所使用的路径进行锁定禁用

			return commands;
			}

			//获取起点-中点-终点指令
			public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
			//计算小车起点到中点所需命令
			List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, 1);//小车无货，走入库地图
			List<ShuttleCommand> commands = new ArrayList<>();
			if (calc == null) {
			return null;
			}

			List<NavigateNode> allNode = new ArrayList<>();
			allNode.addAll(calc);

			//获取分段路径
			ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
			//将每一段路径分成command指令
			for (ArrayList<NavigateNode> nodes : data) {
			//开始路径
			NavigateNode startPath = nodes.get(0);
			//目标路径
			NavigateNode endPath = nodes.get(nodes.size() - 1);
			Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离

			//通过xy坐标小车二维码
			Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
			//通过xy坐标小车二维码
			Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
			//获取移动命令
			ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id);
			commands.add(command);
			}

			//小车指令到达目标位置后，再发出一条顶升指令
			commands.add(shuttleThread.getPalletCommand((short) 1));

			//计算小车中点到终点所需命令
			List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, 2);//小车有货，走出库地图(出库地图有专用货道)
			if (calc2 == null) {
			return null;
			}

			allNode.addAll(calc2);

			//获取分段路径
			ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2);
			for (ArrayList<NavigateNode> nodes : data2) {
			//开始路径
			NavigateNode startPath = nodes.get(0);
			//目标路径
			NavigateNode endPath = nodes.get(nodes.size() - 1);
			Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离

			//通过xy坐标小车二维码
			Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
			//通过xy坐标小车二维码
			Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id);
			commands.add(moveCommand);
			}

			//小车指令到达目标位置后，再发出一条托盘下降指令
			commands.add(shuttleThread.getPalletCommand((short) 2));

			assignCommand.setNodes(allNode);//当前任务所占用的节点list
			//所使用的路径进行锁定禁用
			NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
			navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////所使用的路径进行锁定禁用

			return commands;
			return true;
			}

			/**
			* 出库 ===>> 四向穿梭车出库作业下发
			*/
			public synchronized void shuttleIoOutExecute() {
			public synchronized void shuttleOutExecute() {
			for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
			//提取一条待出库任务
			if (wrkMast != null) {
			String outStaLocNo = null;//出库站点库位号
			//获取出库站点
			for (DevpSlave devpSlave : slaveProperties.getDevp()) {
			for (DevpSlave.StaRack staOutRack : devpSlave.getRackOutStn()) {
			if (staOutRack.getStaNo().equals(wrkMast.getStaNo())) {
			//出库站点和工作档出库站点一致
			outStaLocNo = CommonUtils.getLocNoFromRBL(staOutRack.getRow(), staOutRack.getBay(), staOutRack.getLev());
			}
			}

			}

			if (wrkMast.getWrkSts() == 21
			\|\| wrkMast.getWrkSts() == 25
			\|\| wrkMast.getWrkSts() == 31) {
			ShuttleThread shuttleThread = null;
			HashMap<String, Object> searchIdleShuttle = null;
			if (wrkMast.getWrkSts() == 21) {
			//寻找最近且空闲的四向穿梭车
			searchIdleShuttle = this.searchIdleShuttle(wrkMast);
			shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
			}else if(wrkMast.getWrkSts() == 31 \|\| wrkMast.getWrkSts() == 25) {
			//继续完成之前小车未完成的任务
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			}

			if (shuttleThread == null) {
			continue;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			if (!shuttleProtocol.isIdle()) {
			continue;
			}

			if (outStaLocNo == null) {
			continue;
			}

			wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号
			//源库位(小车当前位置)
			String currentLocNo = shuttleProtocol.getCurrentLocNo();

			//小车当前层高
			Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
			//获取提升机
			LiftSlave liftSlave = slaveProperties.getLift().get(0);
			//提升机库位号
			String liftLocNo = liftSlave.getLiftLocNo(currentLev);

			//分配任务号
			shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
			//分配源库位
			shuttleProtocol.setSourceLocNo(currentLocNo);

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			//四向穿梭车号
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			//任务号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			//入出库模式
			assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
			assignCommand.setSourceLocNo(currentLocNo);

			if (wrkMast.getWrkSts() == 21) {
			//判断小车和库位是否在同一层
			if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
			//同一层(将小车移动到货物位置)

			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand, shuttleThread);
			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
			//目标库位
			assignCommand.setLocNo(wrkMast.getSourceLocNo());
			assignCommand.setCommands(commands);
			wrkMast.setWrkSts(26L);//小车搬运中
			}else {
			//不同层，将目标库位分配成提升机库位号(将小车移动到提升机位置)

			//小车到提升机口指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
			shuttleProtocol.setLocNo(liftLocNo);
			//目标库位
			assignCommand.setLocNo(liftLocNo);
			assignCommand.setCommands(commands);
			wrkMast.setWrkSts(22L);//小车迁移状态
			}
			} else if (wrkMast.getWrkSts() == 25) {
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand, shuttleThread);
			//此时车在提升机内部，需要多下达一步指令让车移动到提升机口
			BasDevp basDevp = basDevpService.selectById(109);//获取提升机信息
			short startCode = Short.parseShort(basDevp.getQrCodeValue());//提升机二维码
			Short distCode = commands.get(0).getStartCodeNum();//目标二维码
			//获取移动命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1300, commands.get(0).getRunDirection());
			commands.add(0, moveCommand);//将该指令添加到队头

			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
			//目标库位
			assignCommand.setLocNo(wrkMast.getSourceLocNo());
			assignCommand.setCommands(commands);
			wrkMast.setWrkSts(26L);//小车搬运中
			}

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}
			boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
			if (!step1) {
			continue;
			}
			}
			}

			/**
			* 搜索空闲且最近的四向穿梭车(以工作档目标库位为基点计算最近且空闲的车)
			* 出库-小车搬出库中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
			HashMap<String, Object> map = new HashMap<>();
			String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//库位号
			LocMast locMast = locMastService.queryByLoc(locNo);//找到库位记录
			String lay = locNo.substring(locNo.length() - 2, locNo.length());//当前工作档库位层高
			ShuttleThread recentShuttle = null;//当前距离最近的四向穿梭车线程
			public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
			//21.生成出库任务 => 22.小车搬运中
			if (wrkMast.getWrkSts() == 21) {
			EntityWrapper<StaDesc> wrapper = new EntityWrapper<>();
			wrapper.eq("type_no", wrkMast.getIoType());//路径类型
			wrapper.eq("stn_no", wrkMast.getStaNo());//出库站点编号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (staDesc == null) {
			return false;//出库路径不存在
			}

			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取出库站点
			BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
			if (basDevp == null) {
			return false;//出库站点不存在
			}

			if (!basDevp.getOutEnable().equals("Y")) {
			return false;//出库站点不可出
			}

			//获取源站
			LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
			if (liftStaProtocol == null) {
			return false;//找不到站点
			}

			if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && !liftStaProtocol.getHasTray())) {
			return false;//站点必须自动、空闲、没有托盘
			}

			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
			return false;
			}

			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			return false;
			}
			if (!shuttleProtocol.isIdle()) {
			continue;
			return false;
			}
			//判断小车令牌是否未被占领
			if (shuttleProtocol.getToken() != 0) {
			return false;//小车已被独占，禁止再派发任务
			}

			String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//二维码对应库位号
			String shuttleLocNoLay = shuttleLocNo.substring(shuttleLocNo.length() - 2, shuttleLocNo.length());//库位号对应层高
			if (lay.equals(shuttleLocNoLay)) {
			//当前四向穿梭车和工作档任务在同一层，则调配该车辆
			map.put("sameLay", true);//同一层
			map.put("result", shuttleThread);
			return map;
			//判断小车是否到达货物库位
			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			//小车不在输送站点位置
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
			return false;
			}

			//更新当前最近的四向穿梭车
			if (recentShuttle == null) {
			recentShuttle = shuttleThread;
			}else {
			ShuttleProtocol recentShuttleProtocol = recentShuttle.getShuttleProtocol();//目前最近穿梭车
			String recentShuttleLocNo = recentShuttleProtocol.getCurrentLocNo();//二维码对应库位号
			String recentShuttleLocNoLay = recentShuttleLocNo.substring(recentShuttleLocNo.length() - 2, recentShuttleLocNo.length());//库位号对应层高

			int recentShuttleLocNoLayInt = Integer.parseInt(recentShuttleLocNoLay);
			int layInt = Integer.parseInt(lay);
			int shuttleLocNoLayInt = Integer.parseInt(shuttleLocNoLay);
			int i = Math.abs(layInt - recentShuttleLocNoLayInt);//工作档楼层减最近穿梭车楼层，取绝对值
			int j = Math.abs(layInt - shuttleLocNoLayInt);//工作档楼层减当前穿梭车楼层，取绝对值
			if (i < j) {
			//更新最近穿梭车
			recentShuttle = shuttleThread;
			} else if (i == j) {
			//楼层相同情况
			//找距离出库点最近的车

			if (!(recentShuttleProtocol.isIdle() && shuttleProtocol.isIdle())) {
			//只要有一辆车不是空闲则不进行调度
			map.put("sameLay", false);//不同层
			map.put("result", null);
			return map;
			}

			//获取提升机
			LiftSlave liftSlave = slaveProperties.getLift().get(0);
			//提升机库位号
			String recentLiftLocNo = liftSlave.getLiftLocNo(recentShuttleLocNoLayInt);
			String shuttleLiftLocNo = liftSlave.getLiftLocNo(shuttleLocNoLayInt);

			//当前最近四向穿梭车到提升机路径
			List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentShuttleLocNo, recentLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
			//当前楼层四向穿梭车到提升机路径
			List<NavigateNode> shuttlePath = NavigateUtils.calc(shuttleLocNo, shuttleLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
			//判断哪一个路径最短
			if (shuttlePath.size() < recentShuttlePath.size()) {
			//如果当前楼层的车路径更小，则更新最近穿梭车
			recentShuttle = shuttleThread;
			}
			}
			//小车已抵达货物位置，进行搬运货物
			NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), liftStaProtocol.getLocNo());//将货物搬运至提升机输送站点
			if (result == null) {//出库路径计算失败
			return false;
			}

			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());//出库模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			assignCommand.setCommands(result.getCommands());//运行命令
			assignCommand.setNodes(result.getNodes());//路径节点

			wrkMast.setWrkSts(22L);//21.生成出库任务 => 22.小车搬运中
			wrkMast.setModiTime(new Date());
			shuttleProtocol.setToken(wrkMast.getWrkNo());//独占小车令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			return false;
			}

			map.put("sameLay", false);//不同层
			map.put("result", recentShuttle);
			return map;
			return true;
			}

			/**
			@@ -1072,94 +922,104 @@
			public synchronized void shuttleFinished() {
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取四向穿梭车信息
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			//四向穿梭车状态为等待确认
			//四向穿梭车状态为等待确认、小车处于空闲状态


			if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //任务完成等待确认
			&& shuttleProtocol.getTaskNo() != 0) {
			&& shuttleProtocol.getTaskNo() != 0
			&& shuttleProtocol.getFree() == ShuttleStatusType.IDLE.id
			) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo());
			if (wrkMast != null) {
			switch (wrkMast.getWrkSts().intValue()) {
			case 9://9.小车入库搬运中 ==> 14.入库完成
			wrkMast.setWrkSts(14L);
			case 5://5.小车搬运中 ==> 9.入库完成
			wrkMast.setWrkSts(9L);
			shuttleProtocol.setTaskNo(0);
			if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放小车令牌
			shuttleProtocol.setToken(0);
			}
			break;
			case 5://5.迁移小车至提升机口 ==> 6.迁移小车至提升机口完成
			wrkMast.setWrkSts(6L);
			break;
			case 22://22.迁移小车至提升机口 ==> 23.迁移小车至提升机口完成
			case 22://22.小车搬运中 ==> 23.小车搬运完成
			wrkMast.setWrkSts(23L);
			shuttleProtocol.setTaskNo(0);
			if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放小车令牌
			shuttleProtocol.setToken(0);
			}
			break;
			case 26://26.小车出库搬运中 ==> 27.小车出库搬运完成
			wrkMast.setWrkSts(27L);
			case 102://102.小车移动至站点 ==> 103.小车移动至站点完成
			wrkMast.setWrkSts(103L);
			break;
			default:
			}

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//标记复位
			shuttleProtocol.setPakMk(true);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			} else {
			News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
			}
			}

			}

			//四向穿梭车状态为充电状态
			if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id //充电标识
			&& shuttleProtocol.getTaskNo() != 0) {
			//查询是否有充电任务
			WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
			if (wrkCharge != null) {
			switch (wrkCharge.getWrkSts().intValue()) {
			case 52://四向穿梭车迁移到提升机口
			wrkCharge.setWrkSts(53L);//迁移完成
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
			case 104://104.小车迁入提升机中 ==> 105.小车迁入提升机完成
			wrkMast.setWrkSts(105L);
			shuttleProtocol.setTaskNo(0);//清理工作号
			break;
			case 56:
			if (shuttleProtocol.getBatteryPower() == 1000) {
			wrkCharge.setWrkSts(60L);//充电完成
			case 108://108.小车迁出提升机中 ==> 109.小车迁出提升机完成
			wrkMast.setWrkSts(109L);
			break;
			case 110://110.小车移动中 ==> 111.小车移动完成
			wrkMast.setWrkSts(111L);
			shuttleProtocol.setTaskNo(0);
			if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放小车令牌
			shuttleProtocol.setToken(0);
			}
			break;
			default:
			}

			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			if (wrkCharge.getWrkSts() == 60) {
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			if (wrkMast.getWrkSts() == 111) {
			// 保存工作主档历史档
			if (wrkMastLocMapper.save(wrkMast.getWrkNo()) <= 0) {
			log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
			}
			// 删除工作主档
			if (!wrkMastService.deleteById(wrkMast)) {
			log.info("删除工作主档[workNo={0}]失败", wrkMast.getWrkNo());
			}
			}
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);

			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//标记复位
			shuttleProtocol.setPakMk(true);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			} else {
			News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
			}
			}else {
			ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand();
			if (!assignCommand.getAuto()) {
			//手动模式
			//工作号清零
			shuttleProtocol.setTaskNo(0);
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			//清零令牌
			shuttleProtocol.setToken(0);
			News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			}
			}

			}

			}
			@@ -1179,124 +1039,239 @@
			continue;
			}

			//判断提升机是否处于空闲状态
			if (!liftProtocol.isIdle()) {
			continue;
			}

			//搜索是否有待处理的任务
			WrkMast wrkMast = wrkMastMapper.selectLiftStep262327();
			if (wrkMast == null) {
			//判断提升机令牌是否被占用
			if (liftProtocol.getToken() != 0) {
			continue;
			}

			//给提升机分配任务
			liftProtocol.setLiftLock(true);//锁定提升机
			liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中
			//搜索是否有待处理的任务
			List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep223103();
			if (wrkMasts.isEmpty()) {
			continue;
			}

			//命令list
			ArrayList<LiftCommand> commands = new ArrayList<>();

			if (wrkMast.getWrkSts() == 2) {
			//工作档目标库位号
			String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
			//工作档目标库位楼层
			int wrkMastLocNoLey = Integer.parseInt(wrkMastLocNo.substring(wrkMastLocNo.length() - 2, wrkMastLocNo.length()));

			//提升机当前楼层
			int liftLev = liftProtocol.getLev().intValue();
			if (liftLev != 1) {
			//提升机不在1层，获取到1层的提升机命令
			LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) 1);
			commands.add(command1);//将命令添加进list
			}

			//输送线将货物运进来(正转)
			LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
			commands.add(command2);//将命令添加进list

			//提升机前往目标楼层(工作档目标楼层)
			LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) wrkMastLocNoLey);
			commands.add(command3);//将命令添加进list

			//提升机到达指定楼层，输送线将货物移出去(反转)
			//输送线将货物移出去
			LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
			commands.add(command4);//将命令添加进list
			}else {
			liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

			//找到四向穿梭车的线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			continue;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			for (WrkMast wrkMast : wrkMasts) {
			//搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行
			WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
			if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
			continue;
			}

			//当前穿梭车库位号
			String currentLocNo = shuttleProtocol.getCurrentLocNo();
			//当前穿梭车楼层
			int currentLocNoLey = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));

			//工作档目标库位号
			String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
			//工作档目标库位楼层
			int wrkMastLocNoLey = Integer.parseInt(wrkMastLocNo.substring(wrkMastLocNo.length() - 2, wrkMastLocNo.length()));

			//提升机当前楼层
			int liftLev = liftProtocol.getLev().intValue();
			if (liftLev != currentLocNoLey) {
			//不同楼层
			//获取目标楼层(穿梭车所在楼层)命令
			LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) currentLocNoLey);
			commands.add(command1);//将命令添加进list
			boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
			if (!stepIn) {
			continue;
			}

			//输送线将四向穿梭车移动进来(正转)
			LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
			commands.add(command2);//将命令添加进list

			if (liftLev != currentLocNoLey) {
			//提升机前往目标楼层(工作档目标楼层)
			LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) wrkMastLocNoLey);
			commands.add(command3);//将命令添加进list
			boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//提升机出库
			if (!stepOut) {
			continue;
			}

			//提升机到达指定楼层，输送线将四向穿梭车移出去
			//输送线将四向穿梭车移动出去(反转)
			LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
			commands.add(command4);//将命令添加进list
			}

			switch (wrkMast.getWrkSts().intValue()) {
			case 2://2.设备上走
			wrkMast.setWrkSts(3L);//3.提升机搬运中
			break;//3.提升机搬运中
			case 6://6.迁移小车至提升机口完成
			wrkMast.setWrkSts(7L);//7.提升机迁移小车中
			break;
			case 23://23.迁移小车至提升机口完成
			wrkMast.setWrkSts(24L);//24.提升机迁移小车中
			break;
			case 27://27.小车出库搬运完成
			wrkMast.setWrkSts(28L);//28.提升机搬运中
			break;
			}
			}

			/**
			* 提升机入库
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean liftIoExecuteStepIn(WrkMast wrkMast) {
			//--------------------------------------提升机入库-----------------------------------------//
			Date now = new Date();

			//2.设备上走 ==> 3.提升机搬运中
			if (wrkMast.getWrkSts() == 2) {
			//获取源站
			BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
			if (sourceBasDevp == null) {
			return false;//找不到站点
			}

			//所需命令组合完毕，更新数据库，提交到线程去工作
			if (!sourceBasDevp.getInEnable().equals("Y")) {
			return false;//站点不可入
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, sourceBasDevp.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}
			if (!liftProtocol.isIdle()) {
			return false;
			}
			//判断提升机令牌是否未被占领
			if (liftProtocol.getToken() != 0) {
			return false;//提升机已被独占，禁止再派发任务
			}

			//判断提升机内是否有小车
			if (liftProtocol.getHasCar()) {
			return false;//有小车，禁止派发
			}

			//判断提升机内是否有托盘
			if (liftProtocol.getHasTray()) {
			return false;//有托盘，禁止派发
			}

			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
			if (liftWrkMast != null) {
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}

			//获取源站对应的牛眼提升机站点编号(起点编号)
			Integer startSta = Integer.parseInt(sourceBasDevp.getQrCodeValue());
			//获取提升机站点
			LiftStaProtocol targetStaProtocol = NyLiftUtils.getLiftStaByLev(liftThread.getSlave().getId(), Utils.getLev(wrkMast.getLocNo()));
			if (targetStaProtocol == null) {
			return false;//站点不存在
			}

			if (targetStaProtocol.getHasTray()) {
			return false;//提升机站点有托盘，禁止派发
			}

			Integer targetSta = targetStaProtocol.getStaNo();

			//获取提升机命令
			NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
			if (wrkMast.getIoType() == 53) {
			//拣料再回库，重新分配设备工作号
			Random random = new Random();
			int deviceWrk = Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999)));//获取设备工作号
			liftCommand.setTaskNo((short) deviceWrk);
			}
			ArrayList<NyLiftCommand> commands = new ArrayList<>();
			commands.add(liftCommand);

			//提交到线程去工作
			LiftAssignCommand assignCommand = new LiftAssignCommand();
			assignCommand.setCommands(commands);
			assignCommand.setLiftNo(liftProtocol.getLiftNo());
			assignCommand.setTaskNo(liftProtocol.getTaskNo());
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());

			wrkMast.setWrkSts(3L);//2.设备上走 ==> 3.提升机搬运中
			wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
			wrkMast.setModiTime(now);
			liftProtocol.setToken(wrkMast.getWrkNo());//独占提升机令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			}

			return false;
			}
			return true;
			}

			/**
			* 提升机出库
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean liftIoExecuteStepOut(WrkMast wrkMast) {
			//--------------------------------------提升机出库-----------------------------------------//
			Date now = new Date();

			//23.小车搬运完成 ==> 24.提升机搬运中
			if (wrkMast.getWrkSts() == 23) {
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}

			//获取出库站点(目标站)
			BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
			if (basDevp == null) {
			return false;//出库站点不存在
			}

			//获取源站对应的牛眼提升机站点编号(起点编号)
			LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
			if (liftStaProtocol == null) {
			return false;//找不到站点
			}
			Integer startSta = liftStaProtocol.getStaNo();

			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
			//小车还在输送站点
			//调度小车避让
			boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
			if (!result) {
			return false;
			}
			}

			if (!basDevp.getOutEnable().equals("Y")) {
			return false;//出库站点不可出
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}

			if (!liftProtocol.isIdle()) {
			return false;
			}
			//判断提升机令牌是否未被占领
			if (liftProtocol.getToken() != 0) {
			return false;//提升机已被独占，禁止再派发任务
			}
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
			if (liftWrkMast != null) {
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}

			//获目标站源站对应的输送站点
			BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo());
			if (targetBasDevp == null) {
			return false;//站点不存在
			}
			//获取牛眼提升机站点编号(目标编号)
			Integer targetSta = Integer.parseInt(targetBasDevp.getQrCodeValue());

			//获取提升机命令
			NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftThread.getSlave().getId(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());

			ArrayList<NyLiftCommand> commands = new ArrayList<>();
			commands.add(liftCommand);

			//提交到线程去工作
			LiftAssignCommand assignCommand = new LiftAssignCommand();
			assignCommand.setCommands(commands);
			assignCommand.setLiftNo(liftProtocol.getLiftNo());
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());

			wrkMast.setWrkSts(24L);//23.小车搬运完成 ==> 24.提升机搬运中
			wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
			wrkMast.setModiTime(now);
			liftProtocol.setToken(wrkMast.getWrkNo());//独占提升机令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			}

			return false;
			}
			return true;
			}

			/**
			@@ -1311,24 +1286,41 @@
			continue;
			}

			//提升机为等待确认
			if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
			//提升机为等待确认且空闲
			if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
			&& liftProtocol.getTaskNo() != 0
			&& !liftProtocol.getBusy()
			) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(liftProtocol.getTaskNo().intValue());
			if (wrkMast != null) {
			switch (wrkMast.getWrkSts().intValue()) {
			case 3://3.提升机搬运中 ==> 4.提升机搬运完成
			wrkMast.setWrkSts(4L);
			wrkMast.setLiftNo(null);//释放提升机
			if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放提升机令牌
			liftProtocol.setToken(0);
			}
			break;
			case 7://7.提升机迁移小车中 ==> 8.提升机迁移小车完成
			wrkMast.setWrkSts(8L);
			break;
			case 24://24.提升机迁移小车中 ==> 25.提升机迁移小车完成
			case 24://24.提升机搬运中 ==> 25.提升机搬运完成
			wrkMast.setWrkSts(25L);
			if (wrkMast.getIoType() == 11) {//库位移转
			wrkMast.setWrkSts(4L);//4.提升机搬运完成
			}
			if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放提升机令牌
			liftProtocol.setToken(0);
			}

			if (wrkMast.getMk() == null \|\| !wrkMast.getMk().equals("Y")) {
			//不需要用到机械臂，直接转29.出库完成
			wrkMast.setWrkSts(29L);
			}

			break;
			case 28://28.提升机搬运中 ==> 29.提升机搬运完成
			wrkMast.setWrkSts(29L);
			wrkMast.setWrkSts(34L);//34.出库完成，暂时先直接完成出库工作档，后续需要根据输送线给出的状态来确定34.出库完成状态
			case 106://106.提升机搬运中 ==> 107.提升机搬运完成
			wrkMast.setWrkSts(107L);
			break;
			default:
			}
			@@ -1336,44 +1328,23 @@
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			//标记复位
			liftProtocol.setPakMk(true);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			//提升机解锁
			liftProtocol.setLiftLock(false);
			News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
			News.info("提升机已确认且任务完成状态。提升机号={}", liftProtocol.getLiftNo());
			} else {
			News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
			}
			}

			//查询是否有充电任务
			WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue());
			if (wrkCharge != null) {
			switch (wrkCharge.getWrkSts().intValue()) {
			case 54://提升机搬运中
			wrkCharge.setWrkSts(55L);//提升机搬运完成
			break;
			default:
			}

			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			//标记复位
			liftProtocol.setPakMk(true);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			//提升机解锁
			liftProtocol.setLiftLock(false);
			News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
			} else {
			News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
			}else {
			LiftAssignCommand assignCommand = liftProtocol.getAssignCommand();
			if (assignCommand != null) {
			if (!assignCommand.getAuto()) {
			//手动操作
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			News.info("提升机已确认手动操作。提升机号={}", liftProtocol.getLiftNo());
			}
			}
			}
			}
			@@ -1381,285 +1352,302 @@
			}

			/**
			* 当前库位组是否存在空闲小车
			* 库位移转
			*/
			public Integer hasCar(String locNo) {
			for (SteSlave ste : slaveProperties.getSte()) {
			// 获取堆垛机信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
			SteProtocol steProtocol = steThread.getSteProtocol();
			BasSte basSte = basSteService.selectById(ste.getId());
			if (Cools.isEmpty(steProtocol, basSte)) { continue; }
			if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(basSte.getRow(), true))
			&& basSte.getBay() == Utils.getBay(locNo)
			&& basSte.getLev() == Utils.getLev(locNo)) {
			return ste.getId();
			}
			}
			return null;
			}

			/**
			* 当前库位组是否存在其他小车
			*/
			public Integer existOtherSte(String locNo, Integer steNo) {
			Integer otherSteNo = null;
			for (SteSlave ste : slaveProperties.getSte()) {
			if (ste.getId().equals(steNo)) { continue; }
			// 获取堆垛机信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.isEnable()) {
			BasSte basSte = basSteService.selectById(ste.getId());
			if (basSte != null) {
			if ((Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(basSte.getRow(), true))
			&& basSte.getBay() == Utils.getBay(locNo)
			&& basSte.getLev() == Utils.getLev(locNo))
			\|\|
			(Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
			&& steProtocol.getBay() == Utils.getBay(locNo)
			&& steProtocol.getLev() == Utils.getLev(locNo))
			) {
			otherSteNo = ste.getId();
			break;
			}
			}
			}
			}
			return otherSteNo;
			}

			/**
			* 当前库位组是否存在空闲小车
			*/
			public Integer hasCarOfIdle(String locNo) {
			for (SteSlave ste : slaveProperties.getSte()) {
			// 获取堆垛机信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.isIdle()) {
			if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
			&& steProtocol.getBay() == Utils.getBay(locNo)
			&& steProtocol.getLev() == Utils.getLev(locNo)) {
			return steProtocol.getSteNo().intValue();
			}
			}
			}
			return null;
			}

			/**
			* 查找当前库位最适合的穿梭车来作业
			*/
			public SteThread queryIdleCar(WrkMast wrkMast) {
			List<BasSte> basStes = basSteService.selectList(new EntityWrapper<>());
			int val = 0;
			SteThread result = null;
			for (BasSte basSte : basStes) {
			// 获取穿梭车信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (!steProtocol.isIdle()) { continue; }
			// if (steProtocol.getRow() == 1) { continue; }
			String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
			// 如果在同一个库位组
			if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
			&& steProtocol.getBay().intValue() == Utils.getBay(locNo)
			&& steProtocol.getLev().intValue() == Utils.getLev(locNo)) {
			return steThread;
			}
			LocMast locMast = locMastService.selectById(locNo);
			int lev = locMast.getLev1();
			int bay = locMast.getBay1();
			int levAbs = Math.abs(lev - steProtocol.getLev());
			int bayAbs = Math.abs(bay - steProtocol.getBay());
			if (val == 0) {
			val = levAbs + bayAbs;
			result = steThread;
			} else {
			if ((levAbs + bayAbs) < val) {
			val = levAbs + bayAbs;
			result = steThread;
			}
			}
			}
			return result;
			}

			public SteThread queryIdleCar(CrnProtocol crnProtocol) {
			List<BasSte> basStes = basSteService.selectList(new EntityWrapper<>());
			int val = 0;
			SteThread result = null;
			for (BasSte basSte : basStes) {
			// 获取穿梭车信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (!steProtocol.isIdle()) { continue; }
			if (steProtocol.getRow() == 1) { continue;}
			int lev = crnProtocol.getLevel();
			int bay = crnProtocol.getBay();
			int levAbs = Math.abs(lev - steProtocol.getLev());
			int bayAbs = Math.abs(bay - steProtocol.getBay());
			if (val == 0) {
			val = levAbs + bayAbs;
			result = steThread;
			} else {
			if ((levAbs + bayAbs) < val) {
			val = levAbs + bayAbs;
			result = steThread;
			}
			}
			}
			return result;
			}

			/**
			* 让小车行走至待机位
			*/
			public void letCarBeWaiting(WrkMast wrkMast, Integer steNo, String locNo) {
			// 获取穿梭车信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { return; }
			if (steProtocol.isIdle()) {

			// 如果处于待机位
			if (steProtocol.locaType.equals(SteLocaType.A_WAITING) \|\| steProtocol.locaType.equals(SteLocaType.B_WAITING)) {
			// 修改工作档状态绑定穿梭车
			wrkMast.setWrkSts(3L);
			wrkMast.setSteNo(steNo);
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error("修改工作档状态绑定穿梭车失败！！，工作号={}", wrkMast.getWrkNo());
			}
			} else {
			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(steNo); // 穿梭车编号
			steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.findWaiting(steProtocol.getRow().intValue())); // 任务模式: 行走至待机位

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());

			if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
			News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
			} else {
			// 修改工作档状态绑定穿梭车
			wrkMast.setSteNo(steNo);
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error("修改工作档状态绑定穿梭车失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			}
			}

			public void letCarBeWaiting(WrkCharge wrkCharge, Integer steNo) {
			// 获取穿梭车信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { return; }

			if (!basSteService.updatePakMk(steNo, "Y")) {
			News.error("修改穿梭车作业状态失败！！，穿梭车={}", steNo);
			public synchronized void locToLocExecute() {
			//获取出入库工作档
			List<WrkMast> wrkMasts = wrkMastMapper.selectInOutWrkMast();
			if (wrkMasts.size() > 0) {
			//有出入库任务，必须等待任务执行完毕再执行库位移转
			return;
			}

			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(steNo); // 穿梭车编号
			steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue())); // 任务模式: 去近点等待堆垛机叉取
			//查询库位移转工作档
			List<WrkMast> wrkMasts1 = wrkMastMapper.selectLocToLocWrkMast();
			for (WrkMast wrkMast : wrkMasts1) {
			if (Utils.getLev(wrkMast.getSourceLocNo()) == Utils.getLev(wrkMast.getLocNo())) {
			boolean step1 = this.locToLocExecuteStep1(wrkMast);//同楼层库位移转
			if (!step1) {
			continue;
			}
			}else {
			//跨楼层库位移转
			boolean step2 = this.locToLocExecuteStep2(wrkMast);//调度车辆取货并运送到出库口
			if (!step2) {
			continue;
			}

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());
			boolean step3 = this.locToLocExecuteStep3(wrkMast);//提升机搬运货物
			if (!step3) {
			continue;
			}

			if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
			News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
			} else {
			// 修改工作档状态绑定穿梭车
			wrkCharge.setSteNo(steNo);
			wrkCharge.setModiTime(new Date());
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.error("修改工作档状态绑定穿梭车失败！！，工作号={}", wrkCharge.getWrkNo());
			boolean step4 = this.locToLocExecuteStep4(wrkMast);//调度车辆取货并运送到目标库位
			if (!step4) {
			continue;
			}

			}

			}
			}

			/**
			* 让小车从远点 ====>> 移动到近点
			* 等待堆垛机搬运
			* 同楼层库位移转
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			public void letCarBeReady(WrkMast wrkMast, Integer steNo, String locNo) {
			// 获取穿梭车信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { return; }
			if (steProtocol.isIdle()) {

			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(steNo); // 穿梭车编号
			steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式: 去近点等待堆垛机叉取

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());

			if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
			News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
			} else {
			// 修改工作档状态绑定穿梭车
			wrkMast.setSteNo(steNo);
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error("修改工作档状态绑定穿梭车失败！！，工作号={}", wrkMast.getWrkNo());
			}
			private boolean locToLocExecuteStep1(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == 21) {//21.生成出库任务
			if (wrkMast.getShuttleNo() == null) {
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到源库位进行取货
			return false;
			}

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleProtocol.isIdle()) {
			return false;
			}

			//判断小车是否到达源库位
			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			//小车不在源库位位置
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到源库位进行取货
			return false;
			}

			//小车已抵达源库位，进行搬运货物
			NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getLocNo());
			if (result == null) {//路径计算失败
			return false;
			}

			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//入库模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			assignCommand.setCommands(result.getCommands());//运行命令
			assignCommand.setNodes(result.getNodes());//路径节点

			wrkMast.setWrkSts(5L);//21.生成出库任务 => 5.小车搬运中
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}

			return false;
			}
			return true;
			}

			/**
			* 让小车从远点 ====>> 移动到近点
			* 等待堆垛机搬运
			* 跨楼层库位移转-调度车辆取货并运送到出库口
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			public void letCarBeReady(WrkCharge wrkCharge, Integer steNo) {
			// 获取穿梭车信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { return; }
			if (steProtocol.isIdle()) {

			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(steNo); // 穿梭车编号
			steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式: 去近点等待堆垛机叉取

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());

			if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
			News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
			} else {
			// 修改工作档状态绑定穿梭车
			wrkCharge.setSteNo(steNo);
			wrkCharge.setModiTime(new Date());
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.error("修改工作档状态绑定穿梭车失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			private boolean locToLocExecuteStep2(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == 21) {//21.生成出库任务
			if (wrkMast.getShuttleNo() == null) {
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到源库位进行取货
			return false;
			}

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleProtocol.isIdle()) {
			return false;
			}

			//判断小车是否到达源库位
			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			//小车不在源库位位置
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到源库位进行取货
			return false;
			}

			//获取穿梭车最近且空闲的提升机输送站点
			LiftStaProtocol liftSta = shuttleDispatchUtils.getRecentLiftSta(shuttleThread.getSlave().getId());
			if (liftSta == null) {
			return false;//没有可用且空闲的输送站点
			}
			//源站
			Integer sourceStaNo = liftSta.getStaNo();
			//提升机号*100+目标楼层=目标站点
			Integer staNo = liftSta.getLiftNo() * 100 + Utils.getLev(wrkMast.getLocNo());//目标站

			//小车已抵达源库位，将货物搬运到输送站点
			NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), liftSta.getLocNo());
			if (result == null) {//路径计算失败
			return false;
			}

			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_LOC_TO_LOC.id.shortValue());//库位移转模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			assignCommand.setCommands(result.getCommands());//运行命令
			assignCommand.setNodes(result.getNodes());//路径节点

			wrkMast.setWrkSts(22L);//21.生成出库任务 => 22.小车搬运中
			wrkMast.setSourceStaNo(sourceStaNo);//源站
			wrkMast.setStaNo(staNo);//目标站
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}

			return false;
			}
			return true;
			}

			/**
			* 跨楼层库位移转-提升机搬运货物
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean locToLocExecuteStep3(WrkMast wrkMast) {
			Date now = new Date();
			if (wrkMast.getWrkSts() == 23) {//23.小车搬运完成
			//获取提升机线程
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}

			if (!liftProtocol.isIdle()) {
			return false;
			}

			//搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行
			WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
			if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
			return false;
			}

			//源站
			Integer sourceStaNo = wrkMast.getSourceStaNo();
			//目标站
			Integer staNo = wrkMast.getStaNo();
			if (sourceStaNo == null \|\| staNo == null) {
			return false;//源站或目标站为空
			}

			//获取提升机命令
			NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceStaNo, staNo, wrkMast.getWrkNo());

			ArrayList<NyLiftCommand> commands = new ArrayList<>();
			commands.add(liftCommand);

			//提交到线程去工作
			LiftAssignCommand assignCommand = new LiftAssignCommand();
			assignCommand.setCommands(commands);
			assignCommand.setLiftNo(liftProtocol.getLiftNo());
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());

			wrkMast.setWrkSts(24L);//23.小车搬运完成 ==> 24.提升机搬运中
			wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
			wrkMast.setShuttleNo(null);//清空小车号，等货物搬运完成后，到目标楼层重新搜索小车
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			}
			return false;
			}
			return true;
			}

			/**
			* 跨楼层库位移转-调度车辆取货并运送到目标库位
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean locToLocExecuteStep4(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == 4) {//4.提升机搬运完成
			//获取目标站对应的输送站点
			BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), wrkMast.getLiftNo());
			if (targetBasDevp == null) {
			return false;//缺少站点信息
			}

			if (wrkMast.getShuttleNo() == null) {
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), targetBasDevp.getLocNo());//调度小车到目标输送站点进行取货
			return false;
			}

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleProtocol.isIdle()) {
			return false;
			}

			//判断小车是否到达目标输送站点
			if (!shuttleProtocol.getCurrentLocNo().equals(targetBasDevp.getLocNo())) {
			//小车不在目标输送站点
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), targetBasDevp.getLocNo(), wrkMast.getShuttleNo());//调度小车到目标输送站点进行取货
			return false;
			}

			//小车已抵达目标输送站点，将货物搬运到目标库位
			NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), targetBasDevp.getLocNo(), wrkMast.getLocNo());
			if (result == null) {//路径计算失败
			return false;
			}

			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_LOC_TO_LOC.id.shortValue());//库位移转模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			assignCommand.setCommands(result.getCommands());//运行命令
			assignCommand.setNodes(result.getNodes());//路径节点

			wrkMast.setWrkSts(5L);//4.提升机搬运完成 => 5.小车搬运中
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}

			return false;
			}
			return true;
			}

			/**
			@@ -1668,6 +1656,7 @@
			public void recErr() {
			try {
			this.recShuttleErr();
			this.recLiftErr();
			} catch (Exception e) {
			News.error("recErr fail", e);
			}
			@@ -1679,27 +1668,27 @@
			private void recShuttleErr() {
			Date now = new Date();
			for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
			// 获取堆垛机信息
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
			// 获取四向穿梭车信息
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
			if (shuttleThread == null) {
			continue;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			if (shuttleProtocol.getTaskNo() != 0) {
			//有任务
			BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo().intValue());
			BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo());
			// 有异常
			if (latest == null) {
			if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
			if (shuttleProtocol.getErrState() != null && shuttleProtocol.getErrState() == 1) {
			WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
			BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getErrCode());
			String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
			BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
			null, // 编号
			@@ -1715,14 +1704,15 @@
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			(int) shuttleProtocol.getStatusErrorCode(), // 异常码
			shuttleProtocol.getErrCode(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			"任务中异常", // 备注
			JSON.toJSONString(shuttleProtocol) // 系统状态数据
			);
			if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
			News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
			@@ -1730,7 +1720,7 @@
			}
			} else {
			// 异常修复
			if (shuttleProtocol.getStatusErrorCode() == null \|\| shuttleProtocol.getStatusErrorCode() == 0) {
			if (shuttleProtocol.getErrState() == null \|\| shuttleProtocol.getErrState() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			@@ -1740,50 +1730,135 @@
			}
			}
			}else {
			//无任务
			BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
			// //无任务
			// BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
			// // 有异常
			// if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
			// // 记录新异常
			// if (latest == null \|\| (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) {
			// BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
			// String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
			// BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
			// null, // 编号
			// null, // 工作号
			// now, // 发生时间
			// null, // 结束时间
			// null, // 工作状态
			// null, // 入出库类型
			// shuttleSlave.getId(), // 四向穿梭车
			// null, // plc
			// null, // 目标库位
			// null, // 目标站
			// null, // 源站
			// null, // 源库位
			// null, // 条码
			// (int)shuttleProtocol.getStatusErrorCode(), // 异常码
			// errName, // 异常
			// 1, // 异常情况
			// now, // 添加时间
			// null, // 添加人员
			// now, // 修改时间
			// null, // 修改人员
			// "无任务异常" // 备注
			// );
			// if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
			// News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
			// }
			// }
			// // 无异常
			// } else {
			// // 异常修复
			// if (latest != null && latest.getStatus() == 1) {
			// latest.setEndTime(now);
			// latest.setUpdateTime(now);
			// latest.setStatus(2);
			// if (!basShuttleErrLogService.updateById(latest)) {
			// News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
			// }
			// }
			// }
			}
			}
			}

			/**
			* 提升机异常信息记录
			*/
			private void recLiftErr() {
			Date now = new Date();
			for (LiftSlave liftSlave : slaveProperties.getLift()) {
			// 获取提升机信息
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			continue;
			}

			if (liftProtocol.getTaskNo() != 0) {
			//有任务
			BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(liftSlave.getId(), liftProtocol.getTaskNo().intValue());
			// 有异常
			if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) {
			BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
			String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
			BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
			if (latest == null) {
			if (liftProtocol.getDeviceError() != null && liftProtocol.getDeviceError()) {
			WrkMast wrkMast = wrkMastMapper.selectById(liftProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}

			String errName = "";
			if (liftProtocol.getFrontOverrun()) {
			errName = "前超限";
			} else if (liftProtocol.getBackOverrun()) {
			errName = "后超限";
			} else if (liftProtocol.getLeftOverrun()) {
			errName = "左超限";
			} else if (liftProtocol.getRightOverrun()) {
			errName = "右超限";
			} else if (liftProtocol.getOverHeight()) {
			errName = "超高";
			} else if (liftProtocol.getOverWeight()) {
			errName = "超重";
			}

			BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
			null, // 编号
			null, // 工作号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			shuttleSlave.getId(), // 四向穿梭车
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			liftSlave.getId(), // 提升机
			null, // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int)shuttleProtocol.getStatusErrorCode(), // 异常码
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			null, // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			"任务中异常", // 备注
			JSON.toJSONString(liftProtocol) // 系统状态数据
			);
			if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
			News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
			if (!basLiftErrLogService.insert(basLiftErrLog)) {
			News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", liftSlave.getId(), errName);
			}
			}
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			if (liftProtocol.getDeviceError() == null \|\| !liftProtocol.getDeviceError()) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basShuttleErrLogService.updateById(latest)) {
			News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
			if (!basLiftErrLogService.updateById(latest)) {
			News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", liftSlave.getId(), latest.getId());
			}
			}
			}
			@@ -1829,6 +1904,13 @@
			}
			}

			if (!Cools.isEmpty(barcode)) {
			WrkMast wrkMast = wrkMastMapper.selectByBarcode(barcode);//条码存在工作档
			if (wrkMast != null) {
			continue;
			}
			}

			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());

			try {
			@@ -1851,15 +1933,15 @@
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			barcodeThread.setBarcode("");
			// // 更新站点信息且下发plc命令
			// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			// staProtocol.setStaNo(dto.getStaNo().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }
			} else {
			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			@@ -1877,6 +1959,248 @@
			}


			}
			}
			}

			/**
			* AGV补货 => 机械臂拣料
			*/
			public void agvRestockByRobot() {
			//检测300站是否自动、有物、工作号
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(300);
			if (staProtocol == null) {
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0) {
			//查询是否有工作档
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
			if (wrkMast == null) {
			continue;
			}

			if (wrkMast.getWrkSts() != 25) {//25.提升机搬运完成
			continue;
			}

			if (wrkMast.getMk() != null && wrkMast.getMk().equals("Y")) {//标记为Y表示需要用到机械臂拣料
			Short targetSta = null;//目标站
			//判断机械臂拣料站是否空闲
			StaProtocol staProtocol303 = devpThread.getStation().get(303);
			StaProtocol staProtocol317 = devpThread.getStation().get(317);
			if (staProtocol303.isAutoing() && !staProtocol303.isLoading()) {
			//自动、无物
			targetSta = (short) 303;
			} else if (staProtocol317.isAutoing() && !staProtocol317.isLoading()) {
			//自动、无物
			targetSta = (short) 317;
			}else {
			continue;//没有空闲站点
			}

			targetSta = (short) 317;

			if (wrkMast.getStaNo() != 303 && wrkMast.getStaNo() != 317) {
			//向AGV发起组托请求
			// try {
			// HashMap<String, Object> param = new HashMap<>();
			// param.put("wrkNo", wrkMast.getWrkNo());
			// String response = new HttpHandler.Builder()
			// .setUri(wmsUrl)
			// .setPath("/openAGV")
			// .setJson(JSON.toJSONString(param))
			// .build()
			// .doPost();
			// JSONObject jsonObject = JSON.parseObject(response);
			// Integer code = jsonObject.getInteger("code");
			// if (code.equals(200)) {//AGV组托成功
			// //覆盖工作档目标站
			// wrkMast.setStaNo(targetSta.intValue());
			// wrkMast.setShuttleNo(null);//释放小车
			// if (wrkMastMapper.updateById(wrkMast) > 0) {
			// //向300站写入目标站
			// staProtocol = staProtocol.clone();
			// staProtocol.setStaNo(targetSta);//移动到目标站
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// try {
			// Thread.sleep(500);
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// continue;
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }

			//覆盖工作档目标站
			wrkMast.setStaNo(targetSta.intValue());
			wrkMast.setShuttleNo(null);//释放小车
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//向300站写入目标站
			staProtocol = staProtocol.clone();
			staProtocol.setStaNo(targetSta);//移动到目标站
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			try {
			Thread.sleep(500);
			} catch (Exception e) {
			e.printStackTrace();
			}
			continue;
			}
			}
			}
			}

			StaProtocol staProtocol303 = devpThread.getStation().get(303);
			StaProtocol staProtocol317 = devpThread.getStation().get(317);
			if (staProtocol303.isAutoing() && staProtocol303.isLoading() && staProtocol303.getWorkNo() != 0) {
			//调度机械臂
			//查询是否有工作档
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol303.getWorkNo().intValue());
			if (wrkMast == null) {
			continue;
			}
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			if (wrkDetls.isEmpty()) {
			continue;
			}

			if (wrkMast.getInvWh() == null) {
			wrkMast.setInvWh("Y");//标记已经下发机械臂任务
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetls.size(), "303");
			}
			}
			}else if (staProtocol317.isAutoing() && staProtocol317.isLoading() && staProtocol317.getWorkNo() != 0) {
			//调度机械臂
			//查询是否有工作档
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol317.getWorkNo().intValue());
			if (wrkMast == null) {
			continue;
			}
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			if (wrkDetls.isEmpty()) {
			continue;
			}
			if (wrkMast.getInvWh() == null) {
			wrkMast.setInvWh("Y");//标记已经下发机械臂任务
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			RobotUtils.sendTask(staProtocol317.getWorkNo().toString(), wrkDetls.size(), "317");
			}
			}
			}
			}
			}

			/**
			* AGV补货(通知AGV取货)
			*/
			public void agvRestockInto() {
			//检测309和312站是否自动、有物
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol309 = devpThread.getStation().get(309);
			StaProtocol staProtocol312 = devpThread.getStation().get(312);
			if (staProtocol309 == null \|\| staProtocol312 == null) {
			continue;
			}

			if (staProtocol309.isAutoing() && staProtocol309.isLoading()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 11);//308站条码器
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			//通知AGV取货
			agvRestockCall("CS-301-001-01@3", barcode);
			}
			} else if (staProtocol312.isAutoing() && staProtocol312.isLoading()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 12);//311站条码器
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			//通知AGV取货
			agvRestockCall("CS-302-001-01@3", barcode);
			}
			}
			}
			}

			//通知AGV取货
			private boolean agvRestockCall(String staNo, String barcode) {
			try {
			HashMap<String, Object> param = new HashMap<>();
			param.put("staNo", staNo);
			param.put("barcode", barcode);
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/callAGV")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {//呼叫AGV
			return true;
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			return false;
			}

			// 300站拣料
			public void pick300() {
			//检测300站是否自动、有物、工作号
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(300);
			if (staProtocol == null) {
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0) {
			//查询是否有工作档
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
			if (wrkMast == null) {
			continue;
			}

			if (wrkMast.getWrkSts() != 25) {//25.提升机搬运完成
			continue;
			}

			if (wrkMast.getMk() == null) {
			Integer sourceStaNo = wrkMast.getSourceStaNo();//源站
			Integer staNo = wrkMast.getStaNo();//目标站
			//覆盖工作档目标站
			wrkMast.setStaNo(sourceStaNo);
			wrkMast.setSourceStaNo(staNo);
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//向300站写入目标站
			staProtocol = staProtocol.clone();
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());//移动到目标站
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			try {
			Thread.sleep(500);
			} catch (Exception e) {
			e.printStackTrace();
			}
			}
			}
			}
			}
			}
			@@ -2049,641 +2373,845 @@
			* 四向穿梭车电量检测 ===>> 发起充电
			*/
			public synchronized void loopShuttleCharge() {
			for (DevpSlave devpSlave : slaveProperties.getDevp()) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			//判断当前小车是否满足需要充电要求
			if (!shuttleProtocol.isRequireCharge()) {
			continue;
			}

			WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttleProtocol.getShuttleNo().intValue());
			if (wrkCharge != null) {//已有充电任务
			continue;
			}

			//小车所在楼层
			int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
			ShuttleChargeType shuttleCharge = null;

			//搜索小车所在楼层有没有充电桩
			for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
			if (lev != Utils.getLev(chargeType.locNo)) {
			continue;//小车和充电桩不在同一层
			}

			//判断当前小车是否满足需要充电要求
			if (!shuttleProtocol.isRequireCharge()) {
			continue;
			//小车和充电桩在同一层
			if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
			shuttleCharge = chargeType;
			break;
			}
			}

			WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
			if (wrkCharge != null) {//已有充电任务
			continue;
			}

			ShuttleChargeType shuttleCharge = null;
			String locNo;
			if (shuttleCharge == null) {
			//同楼层没有找到充电桩，找可用充电桩
			//小车同楼层没有充电桩，只要充电桩可用就生成充电任务
			for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
			switch (chargeType.id) {
			case 1:
			if (devpThread.charge0 == false) {
			ShuttleChargeType first = ShuttleChargeType.FIRST;
			locNo = first.locNo;
			if (wrkChargeService.selectWorkingOfCharge(first.id) == null) {
			shuttleCharge = first;
			}
			}
			break;
			default:
			if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
			//判断当前充电桩楼层是否有小车，如有小车，不分配该充电桩
			int chargeLev = Utils.getLev(chargeType.locNo);//充电桩楼层
			boolean checkLevHasShuttle = Utils.checkLevHasShuttle(chargeLev);//检测楼层是否有穿梭车
			if (checkLevHasShuttle) {
			//当前充电桩楼层有穿梭车，不分配该充电桩
			continue;
			}

			shuttleCharge = chargeType;
			break;
			}
			}

			if (shuttleCharge == null) {
			continue;
			}

			String chargeLocNo = shuttleCharge.locNo;
			wrkCharge = new WrkCharge();
			wrkCharge.setShuttleNo(shuttle.getId());
			wrkCharge.setCharge(shuttleCharge.id);
			wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
			wrkCharge.setWrkSts(51L); // 21.准备充电
			wrkCharge.setIoPri((double) 10);
			wrkCharge.setLocNo(chargeLocNo);
			wrkCharge.setMemo("charge");
			wrkCharge.setAppeTime(new Date());
			if (!wrkChargeService.insert(wrkCharge)) {
			News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
			continue;
			}

			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);//充电中
			News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
			}

			if (shuttleCharge == null) {
			continue;
			}

			String chargeLocNo = shuttleCharge.locNo;
			wrkCharge = new WrkCharge();
			wrkCharge.setShuttleNo(shuttle.getId());
			wrkCharge.setCharge(shuttleCharge.id);
			wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
			wrkCharge.setWrkSts(51L); // 21.准备充电
			wrkCharge.setIoPri((double) 10);
			wrkCharge.setLocNo(chargeLocNo);
			wrkCharge.setMemo("charge");
			wrkCharge.setAppeTime(new Date());
			if (!wrkChargeService.insert(wrkCharge)) {
			News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
			continue;
			}

			News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
			}


			}

			/**
			* 执行四向穿梭车充电任务
			*/
			public synchronized void executeShuttleCharge() {
			WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
			if (wrkCharge == null) {
			return;
			}
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
			if (wrkCharge == null) {
			continue;
			}

			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
			if (shuttleThread == null) {
			continue;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
			if (shuttleThread == null) {
			return;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return;
			}
			if (wrkCharge.getWrkSts() == 51) {
			if (!shuttleProtocol.isIdleNoCharge()) {
			continue;
			}

			//当前穿梭车库位号
			String currentLocNo = shuttleProtocol.getCurrentLocNo();
			//小车当前层高
			Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
			//获取提升机
			LiftSlave liftSlave = slaveProperties.getLift().get(0);
			//提升机库位号
			String liftLocNo = liftSlave.getLiftLocNo(currentLev);
			//充电库位号
			String chargeLocNo = wrkCharge.getLocNo();
			//充电库位层高
			Integer chargeLocNoLev = Integer.parseInt(chargeLocNo.substring(chargeLocNo.length() - 2, chargeLocNo.length()));
			if (!shuttleProtocol.getCurrentLocNo().equals(wrkCharge.getLocNo())) {
			//小车不在充电桩位置
			shuttleDispatchUtils.dispatchShuttle(wrkCharge.getWrkNo(), wrkCharge.getLocNo(), shuttle.getId());//调度小车去充电桩
			continue;
			}

			if (wrkCharge.getWrkSts() == 51 \|\| wrkCharge.getWrkSts() == 55) {
			if (currentLev == chargeLocNoLev) {
			//同一层无需经过提升机
			//直接计算车到充电库位

			//小车已经在充电桩位置，下发充电命令
			NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), true);
			ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
			commands.add(chargeCommand);
			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//出库模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			assignCommand.setCommands(commands);//运行命令

			//获取小车到充电库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
			//进行充电中
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);

			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			assignCommand.setTaskMode((short) 9);//充电
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			assignCommand.setCharge(true);//充电任务

			//创建充电指令
			ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//开始充电
			commands.add(command);

			//指令集分配
			assignCommand.setCommands(commands);

			wrkCharge.setWrkSts(56L);//充电中状态
			wrkCharge.setWrkSts(52L);//51.生成充电任务 => 52.小车去充电中
			wrkCharge.setModiTime(new Date());
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}else {
			//不同层，将目标库位分配成提升机库位号
			} else if (wrkCharge.getWrkSts() == 52) {
			//检测小车是否满电
			int maxPower = 95;
			if (shuttleProtocol.getPowerPercent() < maxPower) {
			continue;
			}

			//小车满电，结束充电任务
			NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), false);
			ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
			commands.add(chargeCommand);
			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//出库模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			assignCommand.setCommands(commands);//运行命令

			//小车移动到提升机口，计算路径
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
			//分配目标库位
			shuttleProtocol.setLocNo(liftLocNo);
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			try {
			Thread.sleep(3000);
			} catch (Exception e) {
			e.printStackTrace();
			}


			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			assignCommand.setTaskMode((short) 9);//充电
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			assignCommand.setCharge(true);//充电任务
			//目标库位
			assignCommand.setLocNo(liftLocNo);
			//源库位
			assignCommand.setSourceLocNo(currentLocNo);
			assignCommand.setCommands(commands);
			wrkCharge.setWrkSts(52L);//小车迁移状态
			wrkCharge.setWrkSts(53L);//52.小车去充电中 => 53.小车充电完成
			wrkCharge.setModiTime(new Date());
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE.id);
			shuttleProtocol.setTaskNo(0);
			shuttleProtocol.setPakMk(false);
			}
			} else if (wrkCharge.getWrkSts() == 53) {
			if (shuttleProtocol.getChargState() == 0) {//小车处于未充电状态
			boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkCharge.getLocNo()), shuttleThread.getSlave().getId(), shuttleThread);
			if (!result) {
			continue;
			}

			wrkCharge.setWrkSts(60L);//53.小车充电完成 => 60.充电任务完成
			wrkCharge.setModiTime(new Date());
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {

			}
			}
			}

			}else if(wrkCharge.getWrkSts() == 53){
			//小车已经达到提升机口
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
			}

			}

			/**
			* 执行小车移库任务
			*/
			public synchronized void shuttleMoveExecute() {
			//查询小车移库任务
			List<WrkMast> wrkMasts = wrkMastMapper.selectShuttleMoveWrk();
			for (WrkMast wrkMast : wrkMasts) {
			boolean stepMoveSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//小车移动到站点
			if (!stepMoveSta) {
			continue;
			}

			boolean stepIntoLift = this.shuttleMoveExecuteStepIntoLift(wrkMast);//小车迁入提升机
			if (!stepIntoLift) {
			continue;
			}

			boolean stepLiftMove = this.shuttleMoveExecuteStepLiftMove(wrkMast);//提升机搬运中
			if (!stepLiftMove) {
			continue;
			}

			boolean stepOutLift = this.shuttleMoveExecuteStepOutLift(wrkMast);//小车迁出提升机
			if (!stepOutLift) {
			continue;
			}

			boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//小车移动到目标库位中
			if (!stepMoveLoc) {
			continue;
			}

			// this.shuttleMoveExecuteStepClearWrkMast(wrkMast);//清理111.小车移动完成

			}
			}

			/**
			* 小车迁移-小车移动到站点
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean shuttleMoveExecuteStepMoveSta(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

			//小车移动至站点 101.生成小车移库任务 ==> 102.小车移动至站点中
			if (wrkMast.getWrkSts() == 101) {
			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}

			//小车处于空闲状态
			if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
			return false;
			}

			//判断小车令牌是否未被占领
			if (shuttleProtocol.getToken() != 0) {
			return false;//小车已被独占，禁止再派发任务
			}

			if (Utils.getLev(wrkMast.getLocNo()) == shuttleProtocol.getPoint().getZ()) {
			//目标库位和小车库位处于同一楼层，不需要通过提升机调度
			wrkMast.setWrkSts(109L);// 109.小车迁出提升机完成 ==> 110.小车移动中
			wrkMast.setModiTime(now);
			shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			return true;//直接进入109.小车迁出提升机完成 ==> 110.小车移动中
			}
			return false;
			}

			//获取源输送站
			LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			if (liftSta == null) {
			return false;//找不到站点
			}

			//判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
			WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftSta.getLiftNo());
			if (liftWrkMast != null) {
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}

			//获取小车到输送站点行走命令
			NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id);
			List<NyShuttleHttpCommand> commands = result.getCommands();

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//小车移库任务
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setAuto(true);//自动模式
			assignCommand.setCommands(commands);
			assignCommand.setNodes(result.getNodes());

			wrkMast.setWrkSts(102L);//小车移动到提升机中 101.生成小车移库任务 ==> 102.小车移动至站点
			wrkMast.setModiTime(now);
			wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
			shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 小车迁移-小车迁入提升机
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean shuttleMoveExecuteStepIntoLift(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();

			//小车移动到提升机中 103.小车移动至站点完成 ==> 104.小车迁入提升机中
			if (wrkMast.getWrkSts() == 103) {
			//获取源站
			LiftStaProtocol sourceLiftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			if (sourceLiftSta == null) {
			return false;//找不到站点
			}

			//获取目标输送站
			LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (liftSta == null) {
			return false;//找不到站点
			}

			//获取提升机数据
			BasLift basLift = basLiftService.selectById(liftSta.getLiftNo());
			if (basLift == null) {
			return false;//没有提升机数据
			}

			if (basLift.getPoint() == null) {
			return false;//没有设置提升机点位坐标
			}

			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(basLift.getLiftNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSta.getLiftNo());
			if (liftThread == null) {
			return;
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return;
			return false;
			}

			//判断提升机是否处于空闲状态
			if (!liftProtocol.isIdle()) {
			return;
			if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			return false;
			}

			//给提升机分配任务
			liftProtocol.setLiftLock(true);//锁定提升机
			liftProtocol.setTaskNo(wrkCharge.getWrkNo().shortValue());//设置任务号
			liftProtocol.setShuttleNo(wrkCharge.getShuttleNo().shortValue());//设置四向穿梭车号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

			//命令list
			ArrayList<LiftCommand> commands = new ArrayList<>();

			//提升机当前楼层
			int liftLev = liftProtocol.getLev().intValue();
			if (liftLev != currentLev) {
			//穿梭车和提升机处于不同楼层
			//获取目标楼层(穿梭车所在楼层)命令
			LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), currentLev.shortValue());
			commands.add(command1);//将命令添加进list
			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}

			//输送线将四向穿梭车移动进来(正转)
			LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
			commands.add(command2);//将命令添加进list
			//小车处于空闲状态
			if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
			return false;
			}

			//提升机前往目标楼层
			//获取充电库位目标楼层命令
			LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), chargeLocNoLev.shortValue());
			commands.add(command3);//将命令添加进list
			//小车令牌是否被任务独占
			if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			return false;
			}

			//提升机到达指定楼层，输送线将四向穿梭车移出去
			//输送线将四向穿梭车移动出去(反转)
			LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
			commands.add(command4);//将命令添加进list
			//判断提升机楼层
			if (liftProtocol.getLev().intValue() != shuttleProtocol.getPoint().getZ()) {
			//提升机不在小车楼层
			//调度提升机

			wrkCharge.setWrkSts(54L);//提升机搬运中
			//所需命令组合完毕，更新数据库，提交到线程去工作
			if (liftProtocol.getToken() != 0) {
			return false;//提升机令牌被占用
			}

			//获取提升机命令，调度提升机到源站位置
			NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceLiftSta.getStaNo(), sourceLiftSta.getStaNo(), wrkMast.getWrkNo());

			Random random = new Random();
			int deviceWrk = Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999)));//获取设备工作号
			liftCommand.setTaskNo((short) deviceWrk);//更换随机任务号

			ArrayList<NyLiftCommand> commands = new ArrayList<>();
			commands.add(liftCommand);

			//提交到线程去工作
			LiftAssignCommand assignCommand = new LiftAssignCommand();
			assignCommand.setCommands(commands);
			assignCommand.setLiftNo(liftProtocol.getLiftNo());
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());
			assignCommand.setAuto(false);

			wrkMast.setLiftNo(liftThread.getSlave().getId());//锁定提升机防止被占用
			wrkMast.setModiTime(now);
			liftProtocol.setToken(wrkMast.getShuttleNo());//提升机令牌绑定当前小车
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			}
			return false;//等待提升机到小车楼层
			}

			if (liftProtocol.getToken() == 0) {//提升机令牌未被占用
			//独占提升机
			liftProtocol.setToken(wrkMast.getShuttleNo());
			return false;//等待下一次执行
			}

			//判断提升机令牌是否为当前小车
			if (!liftProtocol.getToken().equals(wrkMast.getShuttleNo())) {
			return false;//提升机已被独占，禁止再派发任务
			}

			//判断小车是否为当前任务独占
			if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			return false;
			}

			//站点节点
			NavigateNode staNode = NavigatePositionConvert.locNoToNode(sourceLiftSta.getLocNo());

			//提升机节点
			NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
			liftNode.setZ(staNode.getZ());

			//获取小车进提升机行走命令
			NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), staNode, liftNode, true);
			List<NyShuttleHttpCommand> commands = new ArrayList<>();
			commands.add(moveCommand);
			List<NavigateNode> nodes = new ArrayList<>();//行走节点路径
			nodes.add(staNode);
			nodes.add(liftNode);

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//小车移库任务
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setAuto(true);//自动模式
			assignCommand.setCommands(commands);
			assignCommand.setNodes(nodes);

			wrkMast.setWrkSts(104L);//小车移动到提升机中 103.小车移动至站点完成 ==> 104.小车迁入提升机中
			wrkMast.setModiTime(now);
			wrkMast.setLiftNo(liftThread.getSlave().getId());//锁定提升机防止被占用
			liftProtocol.setToken(wrkMast.getShuttleNo());//提升机令牌绑定当前小车
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			return false;
			}
			return false;
			}

			return true;
			}

			/**
			* 小车迁移-提升机搬运中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean shuttleMoveExecuteStepLiftMove(WrkMast wrkMast) {
			//--------------------------------------提升机搬运中-----------------------------------------//
			Date now = new Date();

			//提升机搬运中 105.小车迁入提升机完成 ==> 106.提升机搬运中
			if (wrkMast.getWrkSts() == 105) {

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}
			if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			return false;
			}
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}
			}

			//判断提升机令牌是否为当前小车
			if (!liftProtocol.getToken().equals(wrkMast.getShuttleNo())) {
			return false;//提升机令牌和当前小车不一致，禁止派发
			}

			//判断提升机内是否有小车
			if (!liftProtocol.getHasCar()) {
			return false;//提升机内无小车
			}

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}

			//小车处于空闲状态
			if (!shuttleProtocol.isIdleNoCharge()) {
			return false;
			}

			//判断小车是否为当前任务独占
			if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			return false;
			}

			//获取源站
			LiftStaProtocol sourceLiftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			//获取目标站
			LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (sourceLiftSta == null \|\| liftSta == null) {
			return false;//缺少站点信息
			}

			//获取提升机命令
			NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceLiftSta.getStaNo(), liftSta.getStaNo(), wrkMast.getWrkNo());

			ArrayList<NyLiftCommand> commands = new ArrayList<>();
			commands.add(liftCommand);

			//提交到线程去工作
			LiftAssignCommand assignCommand = new LiftAssignCommand();
			assignCommand.setCommands(commands);
			assignCommand.setLiftNo(liftProtocol.getLiftNo());
			assignCommand.setTaskNo(liftProtocol.getTaskNo());
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());

			wrkMast.setWrkSts(106L);//提升机搬运中 105.小车迁入提升机完成 ==> 106.提升机搬运中
			wrkMast.setLiftNo(liftThread.getSlave().getId());//锁定提升机防止被占用
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			}

			} else if (wrkCharge.getWrkSts() == 56) {
			//充电中
			//判断小车是否充满电量，满电1000或电压54V以上
			if (shuttleProtocol.getBatteryPower() >= 1000 \|\| shuttleProtocol.getCurrentVoltage() >= 540) {
			//充满，断开充电
			List<ShuttleCommand> commands = new ArrayList<>();
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			assignCommand.setTaskMode((short) 0);
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			assignCommand.setCharge(true);
			}
			return true;
			}

			//创建充电指令
			ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//断开充电
			commands.add(command);
			/**
			* 小车迁移-小车迁出提升机
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean shuttleMoveExecuteStepOutLift(WrkMast wrkMast) {
			//--------------------------------------小车迁出提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中 107.提升机搬运完成 ==> 108.小车迁出提升机中
			if (wrkMast.getWrkSts() == 107) {

			//指令集分配
			assignCommand.setCommands(commands);
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}
			if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			return false;
			}

			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}
			}

			//判断提升机令牌是否为当前小车
			if (!liftProtocol.getToken().equals(wrkMast.getShuttleNo())) {
			return false;//提升机令牌和当前小车不一致，禁止派发
			}

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}

			//小车处于空闲状态
			if (!shuttleProtocol.isIdleNoCharge()) {
			return false;
			}

			//判断小车是否为当前任务独占
			if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			return false;
			}

			//获取目标站
			LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (liftSta == null) {
			return false;//找不到站点
			}

			//获取提升机数据
			BasLift basLift = basLiftService.selectById(liftProtocol.getLiftNo().intValue());
			if (basLift == null) {
			return false;//没有提升机数据
			}
			if (basLift.getPoint() == null) {
			return false;//没有设置提升机点位坐标
			}
			NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
			liftNode.setZ(liftSta.getLev());

			List<NyShuttleHttpCommand> commands = new ArrayList<>();
			//获取小车更新楼层命令
			NyShuttleHttpCommand updateZCommand = NyHttpUtils.getUpdateZCommand(shuttleThread.getSlave().getId(), liftProtocol.getLev().intValue(), wrkMast.getWrkNo());
			commands.add(updateZCommand);

			//获取小车出提升机行走命令
			NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), liftNode, NavigatePositionConvert.locNoToNode(liftSta.getLocNo()), false);
			commands.add(moveCommand);//添加小车迁出提升机命令

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//小车移库任务
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setAuto(true);//自动模式
			assignCommand.setCommands(commands);
			assignCommand.setNodes(null);

			wrkMast.setWrkSts(108L);//小车迁出提升机中 107.提升机搬运完成 ==> 108.小车迁出提升机中
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 小车迁移-小车移动到目标库位中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean shuttleMoveExecuteStepMoveLoc(WrkMast wrkMast) {
			//--------------------------------------小车移动到目标库位中-----------------------------------------//
			Date now = new Date();

			//小车移动到目标库位中 109.小车迁出提升机完成 ==> 110.小车移动中
			if (wrkMast.getWrkSts() == 109) {

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}

			//小车处于空闲状态
			if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
			return false;
			}

			//判断小车令牌是否为当前任务
			if (shuttleProtocol.getToken() != 0 && !shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			return false;
			}

			// //获取目标站对应的输送站点
			// BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), wrkMast.getLiftNo());
			// if (targetBasDevp == null) {
			// return false;//缺少站点信息
			// }
			//
			// //获取提升机数据
			// BasLift basLift = basLiftService.selectById(targetBasDevp.getLiftNo());
			// if (basLift == null) {
			// return false;//没有提升机数据
			// }
			// if (basLift.getPoint() == null) {
			// return false;//没有设置提升机点位坐标
			// }
			// NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
			// liftNode.setZ(basLift.getPoint$().getZ());

			//小车已经在目标库位，直接认定小车移动任务完成
			if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
			if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放小车令牌
			shuttleProtocol.setToken(0);
			}
			wrkMast.setWrkSts(111L);//111.小车移动完成
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setModiTime(now);
			wrkMastMapper.updateById(wrkMast);

			shuttleProtocol.setShuttleNo((short) 0);//释放小车
			shuttleProtocol.setToken(0);//释放小车

			if (wrkMast.getWrkSts() == 111) {
			// 保存工作主档历史档
			if (wrkMastLocMapper.save(wrkMast.getWrkNo()) <= 0) {
			log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
			}
			// 删除工作主档
			if (!wrkMastService.deleteById(wrkMast)) {
			log.info("删除工作主档[workNo={0}]失败", wrkMast.getWrkNo());
			}
			}
			return false;
			}

			//获取小车到目标库位命令
			NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id);
			if (result == null) {
			return false;//路径计算失败
			}
			List<NyShuttleHttpCommand> commands = result.getCommands();

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//小车移库任务
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setAuto(true);//自动模式
			assignCommand.setCommands(commands);
			assignCommand.setNodes(result.getNodes());
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
			assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

			if (wrkMast.getLiftNo() != null) {
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}
			if (liftProtocol.getToken().equals(shuttleProtocol.getShuttleNo().intValue())) {
			liftProtocol.setToken(0);//释放提升机令牌
			}
			}

			wrkMast.setWrkSts(110L);//小车移动到目标库位中 109.小车迁出提升机完成 ==> 110.小车移动中
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setModiTime(now);

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}

			if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id) {
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
			}
			}

			return true;
			}

			/**
			* 轮询充电桩是否有空闲小车
			* 小车迁移-清理111.小车移动完成
			*/
			@Deprecated
			public synchronized void queryChargeLocOfComplete() {
			// 与充电任务不同步进行
			if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) { return; }
			if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) { return; }
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			// 检索充电桩
			for (SteChargeType value : SteChargeType.values()) {
			Integer steNo = basSteService.hasCarOfLocNo(value.locNo);
			if (steNo != null) {
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			BasSte basSte = basSteService.selectById(steNo);
			if (Cools.isEmpty(steProtocol, basSte)) {
			continue;
			}
			if (steProtocol.getCharge() < 99) {
			continue;
			}
			if (steProtocol.getMode() == 0) {
			continue;
			}
			if (!steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
			continue;
			}
			// // 1号充电桩
			// if (value.equals(SteChargeType.FIRST) && devpThread.charge0) {
			// continue;
			// }
			// // 2号充电桩
			// if (value.equals(SteChargeType.SECOND) && devpThread.charge1) {
			// continue;
			// }
			// // 3号充电桩
			// if (value.equals(SteChargeType.THIRD) && devpThread.charge2) {
			// continue;
			// }
			// // 小车是否处于充电状态
			// if (steProtocol.getChargeStatus() == 1) {
			// continue;
			// }
			// case 1 : 自动充电开馈电 ×
			// case 2 : 自动充电开满电 ✔
			// case 3 : 自动充电关馈电 ✔
			// case 4 : 自动充电关满电 ✔
			if (basSte.getAutoCharge().equals("Y")
			&& steProtocol.getCharge() < Float.parseFloat(basSte.getChargeLine())) {
			continue;
			}

			WrkCharge wrkCharge = wrkChargeService.selectWorking(steNo, WrkChargeType.reset);

			if (wrkCharge == null) {
			// 开始穿梭车复位任务
			wrkCharge = new WrkCharge();
			wrkCharge.setSteNo(steNo);
			wrkCharge.setWrkNo(commonService.getChargeWorkNo(6));
			wrkCharge.setWrkSts(41L); // 41.小车准备复位
			wrkCharge.setCrnNo(2); // 固定2号堆垛机
			wrkCharge.setIoPri((double) 10);
			wrkCharge.setSourceLocNo(value.locNo);
			wrkCharge.setLocNo(basSte.getIdleLoc());
			wrkCharge.setMemo("reset");
			wrkCharge.setAppeTime(new Date());
			if (!wrkChargeService.insert(wrkCharge)) {
			News.error("保存{}号穿梭车复位任务失败!!!", steNo);
			} else {
			break;
			}
			}
			private boolean shuttleMoveExecuteStepClearWrkMast(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == 111) {
			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}

			//小车处于空闲状态
			if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
			return false;
			}

			Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
			if (o != null) {
			ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
			ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
			int size = assignCommand.getCommands().size();
			NyShuttleHttpCommand command = assignCommand.getCommands().get(size - 1);//获取最后一段命令
			if (!command.getComplete()) {
			return false;//最后一段命令还未完成，不做操作
			}
			NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
			navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//解锁路径

			//删除redis
			redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
			}

			// 保存工作主档历史档
			if (wrkMastLocMapper.save(wrkMast.getWrkNo()) <= 0) {
			log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
			}
			// 删除工作主档
			if (!wrkMastService.deleteById(wrkMast)) {
			log.info("删除工作主档[workNo={0}]失败", wrkMast.getWrkNo());
			}

			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			//工作号清零
			shuttleProtocol.setTaskNo(0);
			//清除令牌
			shuttleProtocol.setToken(0);
			News.info("四向穿梭车已确认且移动任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			}

			return true;
			}

			/**
			* 小车从充电桩至待机库位
			*/
			@Deprecated
			public synchronized void steFromChargeToIdleLoc() {
			WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.reset);
			if (wrkCharge == null) { return; }
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
			SteProtocol steProtocol = steThread.getSteProtocol();
			BasSte basSte = basSteService.selectById(wrkCharge.getSteNo());
			if (Cools.isEmpty(steProtocol, basSte)) {
			return;
			}
			// 搬运至固定通道
			if (wrkCharge.getWrkSts() == 41L) {
			// 搬小车至小车走向通道
			List<String> channel = slaveProperties.getChannel();
			for (String channelLocNo : channel) {
			Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
			if (null != otherSte) {
			News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
			} else {
			// 固定堆垛机
			int crnNo = 1;
			if (null != wrkMastMapper.selectWorkingByCrn(crnNo)) {
			return;
			}

			LocMast channelLoc = locMastService.selectById(channelLocNo);

			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnNo); // 堆垛机编号
			crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(steProtocol.getRow()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), false).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
			News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改穿梭车运行中排列层
			steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), false), channelLoc.getBay1(), channelLoc.getLev1());
			// 修改工作档状态 41.小车准备复位 => 42.吊车搬运
			Date now = new Date();
			wrkCharge.setWrkSts(42L);
			wrkCharge.setCrnStrTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.error("修改复位任务状态 41.小车准备复位 => 42.吊车搬运失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			break;
			}

			}
			}
			} else if (wrkCharge.getWrkSts() == 43L) {
			// 小车行驶通道
			if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
			steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.BACK_ORIGIN); // 去左端

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());
			if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
			News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
			} else {
			// 修改工作档状态 43.小车到达 ===> 44.小车走行
			wrkCharge.setWrkSts(44L);
			Date now = new Date();
			wrkCharge.setCrnEndTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.error("修改复位任务状态 43.小车到达 ===> 44.小车走行失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			}
			} else if (wrkCharge.getWrkSts() == 45L) {
			if (null != wrkMastMapper.selectWorkingByCrn(wrkCharge.getCrnNo())) {
			return;
			}

			LocMast idleLoc = locMastService.selectById(basSte.getIdleLoc());

			Integer otherSte = existOtherSte(idleLoc.getLocNo(), wrkCharge.getSteNo());
			if (null != otherSte) {
			News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), idleLoc.getLocNo(), otherSte);
			} else {
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { return; }
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(idleLoc.getLocNo(), true).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(idleLoc.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(idleLoc.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
			News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改穿梭车运行中排列层
			steThread.modifyPos(Utils.getGroupRow(idleLoc.getLocNo(), true), idleLoc.getBay1(), idleLoc.getLev1());
			// 修改工作档状态 45.小车待搬 => 46.放至待机位
			Date now = new Date();
			wrkCharge.setWrkSts(46L);
			wrkCharge.setCrnStrTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.error("修改工作档状态 45.小车待搬 => 46.放至待机位失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			}

			}
			}
			}

			public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";
			public synchronized void demo() {
			if (Cools.isEmpty(crn2DemoLocs)) {
			crn2DemoLocs = locMastService.getDemoNextLoc(2);
			}
			for (CrnSlave crn : slaveProperties.getCrn()) {
			if (!crn.getDemo()) {
			continue;
			}
			// 必须为演示状态
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}

			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {

			// filter
			if (wrkChargeService.selectCount(new EntityWrapper<WrkCharge>()
			.eq("crn_no", crn.getId()).between("wrk_sts", 31, 36)) > 0) {
			continue;
			}

			SteThread steThread = queryIdleCar(crnProtocol);
			if (Cools.isEmpty(steThread)) {
			News.warn("没有空闲的小车进行演示功能");
			continue;
			}
			int steNo = steThread.getSlave().getId();
			SteProtocol steProtocol = steThread.getSteProtocol();
			BasSte basSte = basSteService.selectById(steNo);
			if (Cools.isEmpty(steProtocol, basSte)) { continue; }

			// 只有当穿梭车空闲并且无任务时才继续执行
			if (steProtocol.isIdle()) {

			String locNo = null;
			Iterator<String> iterator = crn2DemoLocs.iterator();
			while (iterator.hasNext()) {
			String next = iterator.next();
			if (!Cools.isEmpty(this.hasCar(next))) { continue; }
			String lastLoc = crn2LastLoc;
			if (!Cools.isEmpty(lastLoc)) {
			if (!lastLoc.substring(2, 7).equals(next.substring(2, 7))
			\|\| !Utils.getGroupRow(lastLoc, true).equals(Utils.getGroupRow(next, true))) {
			locNo = next;
			iterator.remove();
			break;
			} else {
			iterator.remove();
			}
			} else {
			locNo = next;
			iterator.remove();
			break;
			}

			}
			if (!Cools.isEmpty(locNo)) {
			crn2LastLoc = locNo;
			}

			News.info("{}号堆垛机对{}库位进行演示", crn.getId(), locNo);

			String sourceLocNo = Utils.getLocNo(steProtocol.getRow(), steProtocol.getBay(), steProtocol.getLev());

			WrkCharge wrkCharge = new WrkCharge();
			wrkCharge.setCrnNo(crn.getId());
			wrkCharge.setSteNo(steNo);
			wrkCharge.setWrkNo(commonService.getChargeWorkNo(5));
			wrkCharge.setWrkSts(31L); // 31.生成演示ID
			wrkCharge.setIoPri((double) 10);
			wrkCharge.setSourceLocNo(sourceLocNo);
			wrkCharge.setLocNo(locNo);
			wrkCharge.setMemo("demo");
			if (!wrkChargeService.insert(wrkCharge)) {
			News.error("生成演示任务失败，堆垛机号：{}，小车：{}，源库位：{}，目标库位：{}", crn.getId(), steNo, sourceLocNo, locNo);
			}
			}
			}
			}
			}

			/**
			* 演示取货
			*/
			private void steMoveDemo(CrnSlave slave, CrnProtocol crnProtocol) {
			// 获取工作档信息
			WrkCharge wrkCharge = wrkChargeService.selectOne(new EntityWrapper<WrkCharge>().eq("crn_no", slave.getId())
			.in("wrk_sts", 31, 33, 35));
			if (null == wrkCharge) {
			return;
			}
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (null == steProtocol) { return; }
			if (steProtocol.isIdle()) {
			// 31.生成演示ID
			if (wrkCharge.getWrkSts() == 31L) {
			this.letCarBeReady(wrkCharge, steProtocol.getSteNo().intValue());
			wrkCharge.setWrkSts(32L);
			wrkCharge.setModiTime(new Date());
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.error("修改演示任务{}工作档 31.生成演示ID ==>> 32.小车走行失败!", wrkCharge.getWrkNo());
			}
			// 33.小车待搬
			} else if (wrkCharge.getWrkSts() == 33L) {
			LocMast locMast = locMastService.selectById(wrkCharge.getLocNo());
			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
			News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改穿梭车运行中排列层
			steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
			// 修改工作档状态 33.小车待搬 => 34.吊车搬运
			Date now = new Date();
			wrkCharge.setWrkSts(34L);
			wrkCharge.setCrnStrTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.error("修改演示任务{}工作档 33.小车待搬 => 34.吊车搬运失败!", wrkCharge.getWrkNo());
			}
			}
			// 35.小车就绪
			} else if (wrkCharge.getWrkSts() == 35L) {

			int steNo = steProtocol.getSteNo().intValue();
			if (!basSteService.updatePakMk(steNo, "Y")) {
			News.error("修改穿梭车作业状态失败！！，穿梭车={}", steNo);
			return;
			}

			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(steNo); // 穿梭车编号
			steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
			SteTaskModeType originByLoc = SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue());
			if (originByLoc.equals(SteTaskModeType.GO_ORIGIN)) {
			originByLoc = SteTaskModeType.BACK_ORIGIN;
			} else if (originByLoc.equals(SteTaskModeType.BACK_ORIGIN)) {
			originByLoc = SteTaskModeType.GO_ORIGIN;
			} else {
			return;
			}
			steCommand.setTaskMode(originByLoc);

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());

			if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
			News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
			} else {
			// 修改工作档状态 35.小车就绪 => 36.小车走行
			wrkCharge.setWrkSts(36L);
			wrkCharge.setModiTime(new Date());
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.error("修改演示任务{}工作档 35.小车就绪 => 36.小车走行失败!", wrkCharge.getWrkNo());
			}
			}
			}
			}

			}
			/**
			* 出入库模式切换
			*/