zy-wcs.git - Gitblit

			@@ -12,7 +12,7 @@
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.*;
			import com.zy.core.News;
			import com.zy.core.action.ForkLiftAction;
			import com.zy.core.action.LiftAction;
			import com.zy.core.action.ShuttleAction;
			import com.zy.core.cache.SlaveConnection;
			import com.zy.core.dispatcher.ShuttleDispatchUtils;
			@@ -71,11 +71,13 @@
			@Autowired
			private ShuttleAction shuttleAction;
			@Autowired
			private ForkLiftAction forkLiftAction;
			@Autowired
			private NotifyUtils notifyUtils;
			@Autowired
			private BasShuttleChargeService basShuttleChargeService;
			@Autowired
			private BasLiftOptService basLiftOptService;
			@Autowired
			private LiftAction liftAction;

			/**
			* 初始化实时地图
			@@ -430,6 +432,10 @@
			//302.小车移动至站点 ==> 303.小车移动至站点完成
			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT.sts) {
			//304.小车迁入提升机中 ==> 305.小车迁入提升机完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
			//308.小车迁出提升机中 ==> 309.小车迁出提升机完成
			if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			@@ -442,16 +448,39 @@
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVE_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_TRANSPORT_LIFT.sts) {
			//小车移动至站点 ==> 小车移动至站点完成
			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT.sts) {
			//小车迁入提升机中 ==> 小车迁入提升机完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT.sts) {
			//小车迁出提升机中 ==> 小车迁出提升机完成
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE_TRANSPORT_LIFT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE_TRANSPORT_LIFT.sts) {
			//小车放货中 ==> 小车放货完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE_TRANSPORT_LIFT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_TRANSPORT_LIFT_OUT.sts) {
			//小车移动至站点 ==> 小车移动至站点完成
			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT_OUT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT_OUT.sts) {
			//小车迁入提升机中 ==> 小车迁入提升机完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT_OUT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT_OUT.sts) {
			//小车迁出提升机中 ==> 小车放货完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE_TRANSPORT_LIFT_OUT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
			//204.小车充电中 ==> 205.小车充电完成
			wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts) {
			//502.小车搬运中 ==> 509.移库完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_DELIVERY);//触发通知
			} else {
			continue;
			}
			@@ -491,10 +520,20 @@
			public synchronized void shuttleLocMoveExecute() {
			try {
			//查询移库任务
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts));
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts, WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts, WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts));
			for (WrkMast wrkMast : wrkMasts) {
			boolean stepToTarget = this.shuttleLocMoveExecuteToTarget(wrkMast);//移库任务-小车去目标点
			if (!stepToTarget) {
			boolean stepTake = this.shuttleLocMoveExecuteTake(wrkMast);//移库任务-小车取货中
			if (!stepTake) {
			continue;
			}

			boolean stepPut = this.shuttleLocMoveExecutePut(wrkMast);//移库任务-小车取货中
			if (!stepPut) {
			continue;
			}

			boolean stepComplete = this.shuttleLocMoveComplete(wrkMast);//移库任务-任务完成
			if (!stepComplete) {
			continue;
			}

			@@ -505,22 +544,46 @@
			}

			/**
			* 移库任务-小车去目标点
			* 移库任务-小车取货中
			* 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 shuttleLocMoveExecuteToTarget(WrkMast wrkMast) {
			private boolean shuttleLocMoveExecuteTake(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

			//小车移动至站点 501.生成移库任务 ==> 502.小车搬运中
			//小车移动至站点 501.生成移库任务 ==> 502.小车取货中
			if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) {
			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物点进行取货
			News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");

			if (result) {
			wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts);//小车搬运中 501.生成移库任务 ==> 502.小车取货中
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			return false;
			}
			}

			return false;
			}
			}
			return true;
			}

			/**
			* 移库任务-小车放货中
			* 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 shuttleLocMoveExecutePut(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

			//小车移动至站点 502.小车取货中 ==> 503.小车放货中
			if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			@@ -536,44 +599,16 @@
			return false;
			}

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
			assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			assignCommand.setAuto(true);//自动模式
			boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getLocNo(), wrkMast.getShuttleNo(), "TRANSPORT");//调度小车放货
			News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");

			//获取小车到输送站点行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), wrkMast.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
			if (liftCommand == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
			if (liftCommand2 == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			commands.add(0, liftCommand.get(0));
			commands.add(liftCommand2.get(0));
			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts);//小车搬运中 501.生成移库任务 ==> 502.小车搬运中
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
			return false;
			if (result) {
			wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts);//小车搬运中 502.小车取货中 ==> 503.小车放货中
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			return false;
			}
			}
			return false;
			}
			@@ -581,305 +616,428 @@
			}

			/**
			* 货叉提升机任务
			*/
			public synchronized void forkLiftIoExecute() {
			try {
			//搜索是否有待处理的任务
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts));
			if (wrkMasts.isEmpty()) {
			return;
			}

			for (WrkMast wrkMast : wrkMasts) {
			Integer liftNo = wrkMast.getLiftNo();
			if (liftNo == null) {
			//未分配提升机
			Integer staNo = wrkMast.getIoType() == WrkIoType.IN.id ? wrkMast.getSourceStaNo() : wrkMast.getStaNo();
			liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
			if(liftNo == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
			continue;
			}

			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			if (forkLiftThread == null) {
			continue;
			}
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			continue;
			}

			if (!forkLiftThread.isIdle()) {
			News.info("{}号提升机，忙碌中", liftNo);
			continue;
			}

			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			continue;//当前提升机存在未完成任务，等待下一次轮询
			}
			}

			wrkMast.setLiftNo(liftNo);
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);
			continue;
			}

			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			if (forkLiftThread == null) {
			continue;
			}
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			continue;
			}

			if (!forkLiftThread.isIdle()) {
			News.info("{}号提升机，忙碌中", liftNo);
			continue;
			}

			boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
			if (!stepIn) {
			continue;
			}

			boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//提升机出库
			if (!stepOut) {
			continue;
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 提升机入库
			* 移库任务-任务完成
			* 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-----------------------------------------//
			private boolean shuttleLocMoveComplete(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

			//1.生成入库任务 ==> 3.提升机搬运中
			if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
			//获取目标输送站
			ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (liftSta == null) {
			return false;//找不到站点
			}

			if (liftSta.getHasTray()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo());
			return false;
			}

			if (liftSta.getHasCar()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在小车", wrkMast.getWrkNo());
			return false;
			}

			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSta.getLiftNo());
			if (forkLiftThread == null) {
			return false;
			}
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			return false;
			}
			if (!forkLiftThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo());
			return false;
			}

			//判断提升机是否处于入库模式
			if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于入库模式，禁止入库", wrkMast.getWrkNo());
			return false;
			}

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

			//检测楼层是否有可用穿梭车
			boolean checkLevHasShuttle = Utils.checkLevHasShuttle(liftSta.getLev());
			if (!checkLevHasShuttle) {
			if (wrkMast.getShuttleNo() != null) {
			return false;
			}

			//获取小车待机位
			String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
			if (standbyLocNo == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo());
			return false;
			}

			//调度小车去待机位
			boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo);
			if (!dispatchShuttle) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车失败", wrkMast.getWrkNo());
			return false;
			}
			return false;
			}

			//请求上级系统，是否允许入库
			boolean inMission = ForkLiftUtils.queryInMission(wrkMast.getSourceStaNo(), liftSta.getLiftNo(), wrkMast.getWmsWrkNo());
			if (!inMission) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许入库", wrkMast.getWrkNo());
			return false;
			}

			//获取提升机命令
			List<ForkLiftCommand> liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev());
			ArrayList<ForkLiftCommand> commands = new ArrayList<>();
			commands.addAll(liftCommands);

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

			wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);//提升机搬运中 1.生成入库任务 ==> 3.提升机搬运中
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			forkLiftAction.assignWork(wrkMast.getLiftNo(), 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-----------------------------------------//
			//103.小车搬运完成 ==> 104.提升机搬运中
			if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) {
			//小车移动至站点 503.小车放货中 ==> 509.移库完成
			if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if(shuttleProtocol == null) {
			if (shuttleProtocol == null) {
			return false;
			}

			//获取源站
			ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			if (liftSta == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，找不到站点，禁止派发", wrkMast.getWrkNo());
			return false;//找不到站点
			}

			if (shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) {
			//小车还在输送站点
			//获取小车待机位
			String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
			if(standbyLocNo == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo());
			return false;
			}
			//调度小车去待机位
			boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo, wrkMast.getShuttleNo());
			if (!dispatchShuttle) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车在输送站点调度小车避让失败", wrkMast.getWrkNo());
			return false;
			}
			}

			if (liftSta.getHasCar()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达放货位置", wrkMast.getWrkNo());
			return false;
			}

			if (!liftSta.getHasTray()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点无托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			if (shuttleProtocol.getHasLift()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车处于顶升状态", wrkMast.getWrkNo());
			return false;
			}

			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSta.getLiftNo());
			if (forkLiftThread == null) {
			return false;
			}
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			return false;
			}
			if (!forkLiftThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo());
			return false;
			}

			//判断提升机是否处于出库模式
			if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo());
			return false;
			}

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

			//请求上级系统，是否允许出库
			boolean outMission = ForkLiftUtils.queryOutMission(wrkMast.getStaNo());
			if (!outMission) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许出库", wrkMast.getWrkNo());
			return false;
			}

			//获取提升机命令
			List<ForkLiftCommand> liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo());
			ArrayList<ForkLiftCommand> commands = new ArrayList<>();
			commands.addAll(liftCommands);

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

			wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);//提升机搬运中 103.生成入库任务 ==> 104.提升机搬运中
			wrkMast.setShuttleNo(null);//释放小车
			wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);//小车搬运中 503.小车放货中 ==> 509.移库完成
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			return false;
			}
			return false;
			}
			return true;
			}

			// /**
			// * 货叉提升机任务
			// */
			// public synchronized void forkLiftIoExecute() {
			// try {
			// //搜索是否有待处理的任务
			// List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			// .in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts));
			// if (wrkMasts.isEmpty()) {
			// return;
			// }
			//
			// for (WrkMast wrkMast : wrkMasts) {
			// Integer liftNo = wrkMast.getLiftNo();
			// if (liftNo == null) {
			// //未分配提升机
			// Integer staNo = wrkMast.getIoType() == WrkIoType.IN.id ? wrkMast.getSourceStaNo() : wrkMast.getStaNo();
			// liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
			// if(liftNo == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
			// continue;
			// }
			//
			// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			// if (forkLiftThread == null) {
			// continue;
			// }
			// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			// if (forkLiftProtocol == null) {
			// continue;
			// }
			//
			// if (!forkLiftThread.isIdle()) {
			// News.info("{}号提升机，忙碌中", liftNo);
			// continue;
			// }
			//
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
			// if (liftWrkMast != null) {
			// if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			// continue;//当前提升机存在未完成任务，等待下一次轮询
			// }
			// }
			//
			// wrkMast.setLiftNo(liftNo);
			// wrkMast.setModiTime(new Date());
			// wrkMastService.updateById(wrkMast);
			// continue;
			// }
			//
			// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			// if (forkLiftThread == null) {
			// continue;
			// }
			// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			// if (forkLiftProtocol == null) {
			// continue;
			// }
			//
			// if (!forkLiftThread.isIdle()) {
			// News.info("{}号提升机，忙碌中", liftNo);
			// continue;
			// }
			//
			// boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
			// if (!stepIn) {
			// continue;
			// }
			//
			// boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//提升机出库
			// if (!stepOut) {
			// continue;
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }

			// /**
			// * 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();
			//
			// //1.生成入库任务 ==> 3.提升机搬运中
			// if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
			// //获取目标输送站
			// ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			// if (liftSta == null) {
			// return false;//找不到站点
			// }
			//
			// if (liftSta.getHasTray()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// if (liftSta.getHasCar()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在小车", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSta.getLiftNo());
			// if (forkLiftThread == null) {
			// return false;
			// }
			// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			// if (forkLiftProtocol == null) {
			// return false;
			// }
			// if (!forkLiftThread.isIdle()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo());
			// return false;
			// }
			//
			// //判断提升机是否处于入库模式
			// if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于入库模式，禁止入库", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
			// if (liftWrkMast != null) {
			// if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			// return false;//当前提升机存在未完成任务，等待下一次轮询
			// }
			// }
			//
			// //检测楼层是否有可用穿梭车
			// boolean checkLevHasShuttle = Utils.checkLevHasShuttle(liftSta.getLev());
			// if (!checkLevHasShuttle) {
			// if (wrkMast.getShuttleNo() != null) {
			// return false;
			// }
			//
			// //获取小车待机位
			// String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
			// if (standbyLocNo == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// //调度小车去待机位
			// boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo);
			// if (!dispatchShuttle) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车失败", wrkMast.getWrkNo());
			// return false;
			// }
			// return false;
			// }
			//
			// //请求上级系统，是否允许入库
			// boolean inMission = ForkLiftUtils.queryInMission(wrkMast.getSourceStaNo(), liftSta.getLiftNo(), wrkMast.getWmsWrkNo());
			// if (!inMission) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许入库", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// //获取提升机命令
			// List<ForkLiftCommand> liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev());
			// ArrayList<ForkLiftCommand> commands = new ArrayList<>();
			// commands.addAll(liftCommands);
			//
			// //提交到线程去工作
			// LiftAssignCommand assignCommand = new LiftAssignCommand();
			// assignCommand.setCommands(commands);
			// assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
			// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			// assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
			//
			// wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);//提升机搬运中 1.生成入库任务 ==> 3.提升机搬运中
			// wrkMast.setSystemMsg("");//清空消息
			// wrkMast.setModiTime(now);
			// if (wrkMastService.updateById(wrkMast)) {
			// //下发任务
			// forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			// }
			// return false;
			// }
			// return true;
			// }

			// /**
			// * 提升机任务
			// */
			// public synchronized void liftIoExecute() {
			// try {
			// //搜索是否有待处理的任务
			// List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			// .in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts));
			// if (wrkMasts.isEmpty()) {
			// return;
			// }
			//
			// for (WrkMast wrkMast : wrkMasts) {
			// Integer liftNo = wrkMast.getLiftNo();
			// if (liftNo == null) {
			// //未分配提升机
			// Integer staNo = wrkMast.getIoType() == WrkIoType.IN.id ? wrkMast.getSourceStaNo() : wrkMast.getStaNo();
			// liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
			// if(liftNo == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
			// continue;
			// }
			//
			// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			// if (forkLiftThread == null) {
			// continue;
			// }
			// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			// if (forkLiftProtocol == null) {
			// continue;
			// }
			//
			// if (!forkLiftThread.isIdle()) {
			// News.info("{}号提升机，忙碌中", liftNo);
			// continue;
			// }
			//
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
			// if (liftWrkMast != null) {
			// if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			// continue;//当前提升机存在未完成任务，等待下一次轮询
			// }
			// }
			//
			// wrkMast.setLiftNo(liftNo);
			// wrkMast.setModiTime(new Date());
			// wrkMastService.updateById(wrkMast);
			// continue;
			// }
			//
			// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			// if (forkLiftThread == null) {
			// continue;
			// }
			// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			// if (forkLiftProtocol == null) {
			// continue;
			// }
			//
			// if (!forkLiftThread.isIdle()) {
			// News.info("{}号提升机，忙碌中", liftNo);
			// continue;
			// }
			//
			// boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
			// if (!stepIn) {
			// continue;
			// }
			//
			// boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//提升机出库
			// if (!stepOut) {
			// continue;
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }

			// /**
			// * 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-----------------------------------------//
			// //103.小车搬运完成 ==> 104.提升机搬运中
			// if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) {
			// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			// if (shuttleThread == null) {
			// return false;
			// }
			// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			// if(shuttleProtocol == null) {
			// return false;
			// }
			//
			// //获取源站
			// ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			// if (liftSta == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，找不到站点，禁止派发", wrkMast.getWrkNo());
			// return false;//找不到站点
			// }
			//
			// if (shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) {
			// //小车还在输送站点
			// //获取小车待机位
			// String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
			// if(standbyLocNo == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo());
			// return false;
			// }
			// //调度小车去待机位
			// boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo, wrkMast.getShuttleNo());
			// if (!dispatchShuttle) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车在输送站点调度小车避让失败", wrkMast.getWrkNo());
			// return false;
			// }
			// }
			//
			// if (liftSta.getHasCar()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			// return false;
			// }
			//
			// if (!liftSta.getHasTray()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点无托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			// return false;
			// }
			//
			// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSta.getLiftNo());
			// if (forkLiftThread == null) {
			// return false;
			// }
			// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			// if (forkLiftProtocol == null) {
			// return false;
			// }
			// if (!forkLiftThread.isIdle()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo());
			// return false;
			// }
			//
			// //判断提升机是否处于出库模式
			// if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
			// if (liftWrkMast != null) {
			// if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			// return false;//当前提升机存在未完成任务，等待下一次轮询
			// }
			// }
			//
			// //请求上级系统，是否允许出库
			// boolean outMission = ForkLiftUtils.queryOutMission(wrkMast.getStaNo());
			// if (!outMission) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许出库", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// //获取提升机命令
			// List<ForkLiftCommand> liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo());
			// ArrayList<ForkLiftCommand> commands = new ArrayList<>();
			// commands.addAll(liftCommands);
			//
			// //提交到线程去工作
			// LiftAssignCommand assignCommand = new LiftAssignCommand();
			// assignCommand.setCommands(commands);
			// assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
			// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			// assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
			//
			// wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);//提升机搬运中 103.生成入库任务 ==> 104.提升机搬运中
			// wrkMast.setShuttleNo(null);//释放小车
			// wrkMast.setSystemMsg("");//清空消息
			// wrkMast.setModiTime(new Date());
			// if (wrkMastService.updateById(wrkMast)) {
			// //下发任务
			// forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			// }
			// return false;
			// }
			// return true;
			// }

			/**
			* 货叉提升机任务完成
			@@ -923,6 +1081,67 @@
			News.info("提升机已确认且任务完成状态。提升机号={}", forkLiftProtocol.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={}", forkLiftProtocol.getLiftNo(), forkLiftProtocol.getWrkNo());
			}
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 提升机任务完成
			*/
			public synchronized void liftFinished() {
			try {
			for (LiftSlave slave : slaveProperties.getLift()) {
			//获取提升机信息
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			continue;
			}

			//提升机为等待确认且空闲
			if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
			&& liftProtocol.getTaskNo() != 0
			) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
			if (wrkMast != null) {
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) {
			//3.提升机搬运中 ==> 4.提升机搬运完成
			wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts);
			wrkMast.setLiftNo(null);//释放提升机
			} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) {
			//104.提升机搬运中 ==> 109.出库完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			wrkMast.setLiftNo(null);//释放提升机
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
			//306.提升机搬运中 ==> 307.提升机搬运完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_TARGET_TRANSPORT_LIFT.sts) {
			//提升机至放货层 ==> 提升机至放货层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_TARGET_COMPLETE_TRANSPORT_LIFT.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT_OUT.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT_OUT.sts);
			}

			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			liftThread.setSyncTaskNo(0);
			liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE);
			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());
			}
			}
			}
			@@ -1021,29 +1240,29 @@
			*/
			private void recLiftErr() {
			Date now = new Date();
			for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
			for (LiftSlave slave : slaveProperties.getLift()) {
			// 获取提升机信息
			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
			if (forkLiftThread == null) {
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
			if (liftThread == null) {
			continue;
			}
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			continue;
			}

			if (forkLiftProtocol.getTaskNo() != 0) {
			if (liftProtocol.getTaskNo() != 0) {
			//有任务
			BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(forkLiftSlave.getId(), forkLiftProtocol.getTaskNo());
			BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(slave.getId(), liftProtocol.getTaskNo());
			// 有异常
			if (latest == null) {
			if (forkLiftProtocol.getErrorCode() != null && forkLiftProtocol.getErrorCode() != 0) {
			WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo());
			if (liftProtocol.getErrorCode() != null && !liftProtocol.getErrorCode().equals("0")) {
			WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}

			BasLiftErr basLiftErr = basLiftErrService.queryByCode(forkLiftProtocol.getErrorCode());
			BasLiftErr basLiftErr = basLiftErrService.queryByCode(Integer.parseInt(liftProtocol.getErrorCode()));
			String errName = basLiftErr==null? "未知异常":basLiftErr.getErrName();

			BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
			@@ -1053,7 +1272,7 @@
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			forkLiftSlave.getId(), // 提升机
			slave.getId(), // 提升机
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			@@ -1068,20 +1287,20 @@
			now, // 修改时间
			null, // 修改人员
			"任务中异常", // 备注
			JSON.toJSONString(forkLiftProtocol) // 系统状态数据
			JSON.toJSONString(liftProtocol) // 系统状态数据
			);
			if (!basLiftErrLogService.insert(basLiftErrLog)) {
			News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", forkLiftSlave.getId(), errName);
			News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", slave.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (forkLiftProtocol.getErrorCode() == null \|\| forkLiftProtocol.getErrorCode() == 0) {
			if (liftProtocol.getErrorCode() == null \|\| liftProtocol.getErrorCode().equals("0")) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basLiftErrLogService.updateById(latest)) {
			News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", forkLiftSlave.getId(), latest.getId());
			News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", slave.getId(), latest.getId());
			}
			}
			}
			@@ -1413,30 +1632,1235 @@
			//查询小车移库任务
			List<WrkMast> wrkMasts = wrkMastService.selectShuttleMoveWrk();
			for (WrkMast wrkMast : wrkMasts) {
			boolean stepMoveSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//小车移动到站点
			if (!stepMoveSta) {
			continue;
			}
			if ("TRANSPORT_LIFT".equals(wrkMast.getMk())) {
			this.shuttleMoveExecuteTransportLift(wrkMast);
			} else if ("TRANSPORT_DEVP".equals(wrkMast.getMk())) {

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

			boolean updateShuttleLocation = this.shuttleMoveExecuteStepUpdateShuttleLocation(wrkMast);//提升机搬运完成更新小车坐标
			if (!updateShuttleLocation) {
			continue;
			}

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

			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			private void shuttleMoveExecuteMove(WrkMast wrkMast) {
			boolean stepMoveSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//小车移动到站点
			if (!stepMoveSta) {
			return;
			}

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

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

			boolean updateShuttleLocation = this.shuttleMoveExecuteStepUpdateShuttleLocation(wrkMast);//提升机搬运完成更新小车坐标
			if (!updateShuttleLocation) {
			return;
			}

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

			private void shuttleMoveExecuteTransportLift(WrkMast wrkMast) {
			LiftThread liftThread = LiftUtils.getRecentLift(wrkMast.getLocNo());
			if (liftThread == null) {
			return;
			}

			String liftLocNo = liftThread.getLiftLocNo(Utils.getLev(wrkMast.getLocNo()));
			if (Utils.getRow(liftLocNo) == Utils.getRow(wrkMast.getSourceLocNo()) && Utils.getBay(liftLocNo) == Utils.getBay(wrkMast.getSourceLocNo())) {
			//取货位置是提升机
			this.shuttleMoveExecuteTransportLiftTake(wrkMast);
			}else {
			//放货位置是提升机
			this.shuttleMoveExecuteTransportLiftPut(wrkMast);
			}
			}

			private void shuttleMoveExecuteTransportLiftTake(WrkMast wrkMast) {
			boolean stepMoveSta = this.shuttleMoveExecuteTransportLiftStepMoveSta(wrkMast);//小车移动到站点
			if (!stepMoveSta) {
			return;
			}

			boolean stepLiftToShuttleLev = this.shuttleMoveExecuteTransportLiftStepLiftToShuttleLev(wrkMast);//提升机到小车层
			if (!stepLiftToShuttleLev) {
			return;
			}

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

			boolean stepLiftToTargetLev = this.shuttleMoveExecuteTransportLiftStepLiftToTargetLev(wrkMast);//提升机到放货层
			if (!stepLiftToTargetLev) {
			return;
			}

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

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

			/**
			* 小车迁移-呼叫小车至取货点
			* 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 shuttleMoveExecuteTransportLiftStepCallShuttle(WrkMast wrkMast) {
			Date now = new Date();
			//小车移动至站点 301.生成小车移库任务 ==> 呼叫小车至取货点
			if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

			//小车处于空闲状态
			if (!shuttleThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			//小车在取货点
			wrkMast.setWrkSts(WrkStsType.CALL_SHUTTLE_TO_TAKE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 呼叫小车至取货点
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			wrkMastService.updateById(wrkMast);
			return false;
			}

			boolean dispatchShuttle = shuttleDispatchUtils.shuttleMoveGenerate(wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo(), null, true);
			if (!dispatchShuttle) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，调度至取货点失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			wrkMast.setWrkSts(WrkStsType.CALL_SHUTTLE_TO_TAKE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 呼叫小车至取货点
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			wrkMastService.updateById(wrkMast);
			return false;
			}
			return true;
			}

			/**
			* 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 shuttleMoveExecuteTransportLiftOutStepMoveSta(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

			//小车移动至站点呼叫小车至取货点 ==> 小车移动至站点中
			if (wrkMast.getWrkSts() == WrkStsType.CALL_SHUTTLE_TO_TAKE.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

			//小车处于空闲状态
			if (!shuttleThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达取货点", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			//获取穿梭车最近且空闲的提升机
			LiftThread liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
			if (liftThread == null) {
			News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
			return false;//没有可用且空闲的提升机
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

			//获取提升机待机位
			String liftStandByLocNo = liftThread.getLiftStandByLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()));

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

			List<ShuttleCommand> commands = new ArrayList<>();
			Integer mapType = NavigationMapType.DFX.id;

			//获取小车到提升机待机位行走命令
			List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, mapType, assignCommand, shuttleThread);
			if (moveCommands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径解锁失败
			}
			commands.addAll(moveCommands);

			List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
			if (liftCommand == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}
			commands.addAll(0, liftCommand);

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_TRANSPORT_LIFT_OUT.sts);//小车移动到提升机中呼叫小车至取货点 ==> 小车移动至站点中
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 小车迁移-提升机到小车层
			* 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 shuttleMoveExecuteTransportLiftOutStepLiftToShuttleLev(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中小车移动至站点完成 ==> 提升机至小车层
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT_OUT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			LiftThread liftThread = null;
			LiftProtocol liftProtocol = null;
			if (wrkMast.getLiftNo() == null) {
			//获取穿梭车最近且空闲的提升机
			liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
			if (liftThread == null) {
			News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
			return false;//没有可用且空闲的提升机
			}

			liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

			//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 = wrkMastService.selectLiftWrkMast(liftProtocol.getLiftNo());
			if (liftWrkMast != null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}

			wrkMast.setModiTime(now);
			wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMastService.updateById(wrkMast);
			return false;
			}else {
			liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}号提升机不存在", wrkMast.getLiftNo());
			return false;
			}

			liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}
			}

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

			if (!liftThread.isIdle()) {
			News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			//判断提升机内是否有小车
			if (liftProtocol.getHasCar()) {
			News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机内无小车
			}

			//判断提升机内是否有托盘
			if (liftProtocol.getHasTray()) {
			News.info("{}任务，{}号提升机，提升机内有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机内无小车
			}

			//判断提升机楼层
			if (liftProtocol.getLev() == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
			//提升机在小车楼层
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT_OUT.sts);//小车移动到提升机中小车移动至站点完成 ==> 提升机至小车层完成
			wrkMast.setModiTime(now);
			wrkMastService.updateById(wrkMast);
			return false;
			}

			//调度提升机
			//获取提升机命令
			List<LiftCommand> liftCommands = liftThread.getMoveCommand(wrkMast.getWrkNo(), liftProtocol.getLev(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), LiftCommandModeType.MOVE);
			LiftCommand liftCommand = liftCommands.get(0);

			int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			liftCommand.setTaskNo(deviceWrk);//更换随机任务号

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

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

			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT_OUT.sts);//小车移动到提升机中小车移动至站点完成 ==> 提升机至小车层
			wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			liftAction.assignWork(wrkMast.getLiftNo(), 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 shuttleMoveExecuteTransportLiftOutStepIntoLift(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中提升机至小车层完成 ==> 小车迁入提升机中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT_OUT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			if (wrkMast.getLiftNo() == null) {
			News.info("{}任务，未绑定提升机，禁止派发", wrkMast.getWrkNo());
			return false;
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}号提升机不存在", wrkMast.getLiftNo());
			return false;
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

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

			if (!liftThread.isIdle()) {
			News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			//小车处于空闲状态
			if (!shuttleThread.isIdle()) {
			News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			//判断提升机内是否有小车
			if (liftProtocol.getHasCar()) {
			News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机内无小车
			}

			//判断提升机内是否有托盘
			if (liftProtocol.getHasTray()) {
			News.info("{}任务，{}号提升机，提升机内有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机内无小车
			}

			//判断提升机楼层
			if (liftProtocol.getLev() != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
			//提升机不在小车楼层
			News.info("{}任务，{}号提升机，提升机与小车不在同一层，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//等待提升机到小车楼层
			}

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

			//获取小车到提升机行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getLiftLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo())), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}
			List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
			if (liftCommand == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}
			commands.addAll(liftCommand);

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT_OUT.sts);//小车移动到提升机中提升机至小车层完成 ==> 小车迁入提升机中
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			return false;
			}
			return false;
			}

			return true;
			}

			/**
			* 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 shuttleMoveExecuteTransportLiftOutStepOutLift(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中小车迁入提升机完成 ==> 小车迁出提升机中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT_OUT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			if (wrkMast.getLiftNo() == null) {
			News.info("{}任务，提升机未绑定，禁止派发", wrkMast.getWrkNo());
			return false;
			}

			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			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, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}任务，{}号提升机，提升机线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}任务，{}号提升机，提升机对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			if (!liftThread.isIdle()) {
			News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			//小车处于空闲状态
			if (!shuttleThread.isIdle()) {
			News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			//判断提升机内是否有小车
			if (!liftProtocol.getHasCar()) {
			News.info("{}任务，{}号提升机，提升机内无小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机内无小车
			}

			//判断提升机内是否有托盘
			if (!liftProtocol.getHasTray()) {
			News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机内无小车
			}

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

			//获取提升机待机位
			String liftStandByLocNo = liftThread.getLiftStandByLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()));

			//获取小车到提升机待机行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, NavigationMapType.DFX.id, assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT_OUT.sts);//小车移动到提升机中提升机至放货层完成 ==> 小车迁出提升机中
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			return false;
			}
			return false;
			}

			return true;
			}

			private void shuttleMoveExecuteTransportLiftPut(WrkMast wrkMast) {
			boolean stepMoveSta = this.shuttleMoveExecuteTransportLiftStepCallShuttle(wrkMast);//呼叫小车至取货点
			if (!stepMoveSta) {
			return;
			}

			boolean stepTransportLiftOutStepMoveSta = this.shuttleMoveExecuteTransportLiftOutStepMoveSta(wrkMast);//小车移动到站点
			if (!stepTransportLiftOutStepMoveSta) {
			return;
			}

			boolean stepLiftToShuttleLev = this.shuttleMoveExecuteTransportLiftOutStepLiftToShuttleLev(wrkMast);//提升机到小车层
			if (!stepLiftToShuttleLev) {
			return;
			}

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

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

			/**
			* 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 shuttleMoveExecuteTransportLiftStepMoveSta(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

			//小车移动至站点 301.生成小车移库任务 ==> 小车移动至站点中
			if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

			//小车处于空闲状态
			if (!shuttleThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			//获取穿梭车最近且空闲的提升机
			LiftThread liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
			if (liftThread == null) {
			News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
			return false;//没有可用且空闲的提升机
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

			//获取提升机待机位
			String liftStandByLocNo = liftThread.getLiftStandByLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()));

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

			List<ShuttleCommand> commands = new ArrayList<>();
			Integer mapType = NavigationMapType.NORMAL.id;

			if (shuttleProtocol.getCurrentLocNo().equals(liftStandByLocNo)) {
			//小车在待机位，直接移动完成
			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT.sts);// 小车移动至站点 ==> 小车移动至站点完成
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			wrkMastService.updateById(wrkMast);
			return false;
			}

			if (!liftStandByLocNo.equals(wrkMast.getSourceLocNo())) {
			//获取小车到提升机待机位行走命令
			List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, mapType, assignCommand, shuttleThread);
			if (moveCommands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径解锁失败
			}
			commands.addAll(moveCommands);
			}

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_TRANSPORT_LIFT.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 322.小车移动至站点
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 小车迁移-提升机到小车层
			* 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 shuttleMoveExecuteTransportLiftStepLiftToShuttleLev(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中小车移动至站点完成 ==> 提升机至小车层
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			LiftThread liftThread = null;
			LiftProtocol liftProtocol = null;
			if (wrkMast.getLiftNo() == null) {
			//获取穿梭车最近且空闲的提升机
			liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
			if (liftThread == null) {
			News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
			return false;//没有可用且空闲的提升机
			}

			liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

			//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 = wrkMastService.selectLiftWrkMast(liftProtocol.getLiftNo());
			if (liftWrkMast != null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}

			wrkMast.setModiTime(now);
			wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMastService.updateById(wrkMast);
			return false;
			}else {
			liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}号提升机不存在", wrkMast.getLiftNo());
			return false;
			}

			liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}
			}

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

			if (!liftThread.isIdle()) {
			News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			//判断提升机内是否有小车
			if (liftProtocol.getHasCar()) {
			News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机内无小车
			}

			//判断提升机内是否有托盘
			if (!liftProtocol.getHasTray()) {
			News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机内无小车
			}

			//判断提升机楼层
			if (liftProtocol.getLev() == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
			//提升机在小车楼层
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT.sts);//小车移动到提升机中小车移动至站点完成 ==> 提升机至小车层完成
			wrkMast.setModiTime(now);
			wrkMastService.updateById(wrkMast);
			return false;
			}

			//调度提升机
			//获取提升机命令
			List<LiftCommand> liftCommands = liftThread.getMoveCommand(wrkMast.getWrkNo(), liftProtocol.getLev(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), LiftCommandModeType.MOVE);
			LiftCommand liftCommand = liftCommands.get(0);

			int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			liftCommand.setTaskNo(deviceWrk);//更换随机任务号

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

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

			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT.sts);//小车移动到提升机中小车移动至站点完成 ==> 提升机至小车层
			wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Lift), liftProtocol.getLiftNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
			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 shuttleMoveExecuteTransportLiftStepIntoLift(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中提升机至小车层完成 ==> 小车迁入提升机中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			if (wrkMast.getLiftNo() == null) {
			News.info("{}任务，未绑定提升机，禁止派发", wrkMast.getWrkNo());
			return false;
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}号提升机不存在", wrkMast.getLiftNo());
			return false;
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

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

			if (!liftThread.isIdle()) {
			News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			//小车处于空闲状态
			if (!shuttleThread.isIdle()) {
			News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			//判断提升机内是否有小车
			if (liftProtocol.getHasCar()) {
			News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机内无小车
			}

			//判断提升机内是否有托盘
			if (!liftProtocol.getHasTray()) {
			News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机内无小车
			}

			//判断提升机楼层
			if (liftProtocol.getLev() != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
			//提升机不在小车楼层
			News.info("{}任务，{}号提升机，提升机与小车不在同一层，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//等待提升机到小车楼层
			}

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

			//获取小车到提升机行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getLiftLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo())), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT.sts);//小车移动到提升机中提升机至小车层完成 ==> 小车迁入提升机中
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
			return false;
			}
			return false;
			}

			return true;
			}

			/**
			* 小车迁移-提升机到放货层
			* 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 shuttleMoveExecuteTransportLiftStepLiftToTargetLev(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中小车迁入提升机完成 ==> 提升机至放货层
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT.sts) {
			if (wrkMast.getLiftNo() == null) {
			News.info("{}任务未绑定提升机", wrkMast.getWrkNo());
			return false;
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}号提升机不存在", wrkMast.getLiftNo());
			return false;
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

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

			if (!liftThread.isIdle()) {
			News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			//判断提升机内是否有小车
			if (!liftProtocol.getHasCar()) {
			News.info("{}任务，{}号提升机，提升机内无小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机内无小车
			}

			//判断提升机内是否有托盘
			if (!liftProtocol.getHasTray()) {
			News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机内无小车
			}

			if (liftProtocol.getLev() == Utils.getLev(wrkMast.getLocNo())) {
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_TARGET_COMPLETE_TRANSPORT_LIFT.sts);// 小车迁入提升机完成 ==> 提升机至放货层完成
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			wrkMastService.updateById(wrkMast);
			return false;
			}

			//调度提升机
			//获取提升机命令
			List<LiftCommand> liftCommands = liftThread.getMoveWithShuttleCommand(wrkMast.getWrkNo(), liftProtocol.getLev(), Utils.getLev(wrkMast.getLocNo()), LiftCommandModeType.MOVE);
			LiftCommand liftCommand = liftCommands.get(0);

			int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			liftCommand.setTaskNo(deviceWrk);//更换随机任务号

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

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

			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_TARGET_TRANSPORT_LIFT.sts);//小车移动到提升机中小车迁入提升机完成 ==> 提升机至放货层
			wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Lift), liftProtocol.getLiftNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
			return false;
			}
			return false;
			}

			return true;
			}

			/**
			* 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 shuttleMoveExecuteTransportLiftStepOutLift(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中提升机至放货层完成 ==> 小车迁出提升机中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_TARGET_COMPLETE_TRANSPORT_LIFT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			if (wrkMast.getLiftNo() == null) {
			News.info("{}任务，提升机未绑定，禁止派发", wrkMast.getWrkNo());
			return false;
			}

			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			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, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}任务，{}号提升机，提升机线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}任务，{}号提升机，提升机对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			if (!liftThread.isIdle()) {
			News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			//小车处于空闲状态
			if (!shuttleThread.isIdle()) {
			News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			//判断提升机内是否有小车
			if (!liftProtocol.getHasCar()) {
			News.info("{}任务，{}号提升机，提升机内无小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机内无小车
			}

			//判断提升机内是否有托盘
			if (!liftProtocol.getHasTray()) {
			News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机内无小车
			}

			//判断提升机楼层
			if (liftProtocol.getLev() != Utils.getLev(wrkMast.getLocNo())) {
			//提升机不在放货层
			News.info("{}任务，{}号提升机，不在放货层，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;
			}

			if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标
			assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			assignCommand.setAuto(true);//自动模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
			assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

			//更新小车坐标
			ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
			ArrayList<ShuttleCommand> commands = new ArrayList<>();
			commands.add(command);

			assignCommand.setCommands(commands);
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			return false;
			}

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

			//获取提升机待机位
			String liftStandByLocNo = liftThread.getLiftStandByLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()));

			//获取小车到提升机待机行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, NavigationMapType.DFX.id, assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
			if (liftCommand == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}
			commands.addAll(0, liftCommand);
			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT.sts);//小车移动到提升机中提升机至放货层完成 ==> 小车迁出提升机中
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
			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 shuttleMoveExecuteTransportLiftStepMoveLoc(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小车迁出提升机完成 ==> 小车放货中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_COMPLETE_TRANSPORT_LIFT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

			//小车处于空闲状态
			if (!shuttleThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

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

			List<ShuttleCommand> commands = new ArrayList<>();
			Integer mapType = NavigationMapType.DFX.id;

			List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), mapType, assignCommand, shuttleThread);
			if (moveCommands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径计算失败
			}
			commands.addAll(moveCommands);

			List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
			if (liftCommand == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}
			commands.addAll(liftCommand);

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE_TRANSPORT_LIFT.sts);//小车移动到目标库位中小车迁出提升机完成 ==> 小车放货中
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			}
			}
			return true;
			}

			/**
			@@ -1477,29 +2901,308 @@
			return false;
			}

			//获取源输送站
			ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			if (liftSta == null) {
			return false;//找不到站点
			//获取穿梭车最近且空闲的提升机
			LiftThread liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
			if (liftThread == null) {
			News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
			return false;//没有可用且空闲的提升机
			}

			if (wrkMast.getLiftNo() == null) {
			//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 = wrkMastService.selectLiftWrkMast(liftSta.getLiftNo());
			if (liftWrkMast != null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftSta.getLiftNo());
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

			//获取提升机待机位
			String liftStandByLocNo = liftThread.getLiftStandByLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()));

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

			List<ShuttleCommand> commands = new ArrayList<>();
			Integer mapType = NavigationMapType.NORMAL.id;

			if (!liftStandByLocNo.equals(wrkMast.getSourceLocNo())) {
			//获取小车到提升机待机位行走命令
			List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, mapType, assignCommand, shuttleThread);
			if (moveCommands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径解锁失败
			}
			commands.addAll(moveCommands);
			}else {
			//小车在待机位，直接移动完成
			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);// 302.小车移动至站点 ==> 303.小车移动至站点完成
			wrkMast.setModiTime(now);
			wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMastService.updateById(wrkMast);
			return false;
			}

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 302.小车移动至站点
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
			return false;
			}
			return false;
			}
			return true;
			}

			// /**
			// * 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 301.生成小车移库任务 ==> 302.小车移动至站点中
			// if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) {
			// //获取四向穿梭车线程
			// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			// if (shuttleThread == null) {
			// return false;
			// }
			// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			// if (shuttleProtocol == null) {
			// return false;
			// }
			//
			// //小车处于空闲状态
			// if (!shuttleThread.isIdle()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// //获取穿梭车最近且空闲的提升机
			// LiftThread liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
			// if (liftThread == null) {
			// News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
			// return false;//没有可用且空闲的提升机
			// }
			//
			// LiftProtocol liftProtocol = liftThread.getStatus();
			// if (liftProtocol == null) {
			// News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			// return false;
			// }
			//
			// //获取提升机位
			// String liftLocNo = liftThread.getLiftLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
			// //获取提升机待机位
			// String liftStandByLocNo = liftThread.getLiftStandByLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
			//
			// if (!liftLocNo.equals(wrkMast.getLocNo()) && !liftLocNo.equals(shuttleProtocol.getCurrentLocNo())) {
			// if (Utils.getLev(wrkMast.getLocNo()) == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
			// //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(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);// 309.小车迁出提升机完成 ==> 310.小车移动中
			// wrkMast.setModiTime(now);
			// if (wrkMastService.updateById(wrkMast)) {
			// //下发任务
			// return true;//直接进入309.小车迁出提升机完成 ==> 310.小车移动中
			// }
			// return false;
			// }
			// }
			//
			// if (liftLocNo.equals(shuttleProtocol.getCurrentLocNo())) {
			// //小车在提升机内
			// wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);// 301.生成小车移库任务 ==> 310.提升机搬运完成
			// wrkMast.setModiTime(now);
			// if (wrkMastService.updateById(wrkMast)) {
			// //下发任务
			// return true;//直接进入309.小车迁出提升机完成 ==> 310.小车移动中
			// }
			// return false;
			// }
			//
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			// assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务
			// assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			// assignCommand.setAuto(true);//自动模式
			//
			// List<ShuttleCommand> commands = new ArrayList<>();
			// Integer mapType = NavigationMapType.NORMAL.id;
			// //搬运货物任务
			// if ("TRANSPORT".equals(wrkMast.getMk())) {
			// mapType = NavigationMapType.DFX.id;
			//
			// List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
			// if (liftCommand == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			// commands.addAll(liftCommand);
			// }
			//
			// if (!liftStandByLocNo.equals(wrkMast.getSourceLocNo())) {
			// //获取小车到提升机待机位行走命令
			// List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, mapType, assignCommand, shuttleThread);
			// if (moveCommands == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;//路径解锁失败
			// }
			// commands.addAll(moveCommands);
			// }else {
			// //小车在待机位，直接移动完成
			// wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);// 302.小车移动至站点 ==> 303.小车移动至站点完成
			// wrkMast.setModiTime(now);
			// wrkMast.setSystemMsg("");//清空消息
			// wrkMastService.updateById(wrkMast);
			// return false;
			// }
			//
			// assignCommand.setCommands(commands);
			//
			// wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 302.小车移动至站点
			// wrkMast.setModiTime(now);
			// wrkMast.setSystemMsg("");//清空消息
			// if (wrkMastService.updateById(wrkMast)) {
			// //下发任务
			// shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
			// 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 303.小车移动至站点完成 ==> 304.小车迁入提升机中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			LiftThread liftThread = null;
			LiftProtocol liftProtocol = null;
			if (wrkMast.getLiftNo() == null) {
			//获取穿梭车最近且空闲的提升机
			liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
			if (liftThread == null) {
			News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
			return false;//没有可用且空闲的提升机
			}

			liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

			//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 = wrkMastService.selectLiftWrkMast(liftProtocol.getLiftNo());
			if (liftWrkMast != null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}

			wrkMast.setModiTime(now);
			wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMastService.updateById(wrkMast);
			return false;
			}else {
			liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}号提升机不存在", wrkMast.getLiftNo());
			return false;
			}

			liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}
			}

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

			if (!liftThread.isIdle()) {
			News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			//小车处于空闲状态
			if (!shuttleThread.isIdle()) {
			News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			//判断提升机内是否有小车
			if (liftProtocol.getHasCar()) {
			News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机内无小车
			}

			//判断提升机楼层
			if (liftProtocol.getLev() != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
			//提升机不在小车楼层
			//调度提升机

			//获取提升机命令
			List<LiftCommand> liftCommands = liftThread.getMoveCommand(wrkMast.getWrkNo(), liftProtocol.getLev(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), LiftCommandModeType.MOVE);
			LiftCommand liftCommand = liftCommands.get(0);

			int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			liftCommand.setTaskNo(deviceWrk);//更换随机任务号

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

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

			//下发任务
			liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			return false;//等待提升机到小车楼层
			}

			//***********尝试锁定目标站路径*************
			List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
			List<NavigateNode> targetNodes = liftThread.getLiftStaNodes(Utils.getLev(wrkMast.getLocNo()));
			if (targetNodes == null) {
			return false;//未获取到节点
			}
			@@ -1522,32 +3225,199 @@
			assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			assignCommand.setAuto(true);//自动模式

			//获取小车到输送站点行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
			//获取小车到提升机行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getLiftLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo())), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());

			//所使用的路径进行锁定禁用
			navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, false);
			return false;//路径解锁失败
			return false;
			}

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 302.小车移动至站点
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT.sts);//小车移动到提升机中 303.小车移动至站点完成 ==> 304.小车迁入提升机中
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
			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 303.小车移动至站点完成 ==> 304.小车迁入提升机中
			// if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE.sts) {
			// //获取四向穿梭车线程
			// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			// if (shuttleThread == null) {
			// News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			// return false;
			// }
			//
			// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			// if (shuttleProtocol == null) {
			// News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			// return false;
			// }
			//
			// LiftThread liftThread = null;
			// LiftProtocol liftProtocol = null;
			// if (wrkMast.getLiftNo() == null) {
			// //获取穿梭车最近且空闲的提升机
			// liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
			// if (liftThread == null) {
			// News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
			// return false;//没有可用且空闲的提升机
			// }
			//
			// liftProtocol = liftThread.getStatus();
			// if (liftProtocol == null) {
			// News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			// return false;
			// }
			//
			// //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 = wrkMastService.selectLiftWrkMast(liftProtocol.getLiftNo());
			// if (liftWrkMast != null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;//当前提升机存在未完成任务，等待下一次轮询
			// }
			//
			// wrkMast.setModiTime(now);
			// wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			// wrkMast.setSystemMsg("");//清空消息
			// wrkMastService.updateById(wrkMast);
			// return false;
			// }else {
			// liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			// if (liftThread == null) {
			// News.info("{}号提升机不存在", wrkMast.getLiftNo());
			// return false;
			// }
			//
			// liftProtocol = liftThread.getStatus();
			// if (liftProtocol == null) {
			// News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			// return false;
			// }
			// }
			//
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
			// if (liftWrkMast != null) {
			// if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			// News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			// return false;//当前提升机存在未完成任务，等待下一次轮询
			// }
			// }
			//
			// if (!liftThread.isIdle()) {
			// News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			// return false;
			// }
			//
			// //小车处于空闲状态
			// if (!shuttleThread.isIdle()) {
			// News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// //判断提升机内是否有小车
			// if (liftProtocol.getHasCar()) {
			// News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;//提升机内无小车
			// }
			//
			// //判断提升机楼层
			// if (liftProtocol.getLev() != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
			// //提升机不在小车楼层
			// //调度提升机
			//
			// //获取提升机命令
			// List<LiftCommand> liftCommands = liftThread.getMoveCommand(wrkMast.getWrkNo(), liftProtocol.getLev(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), LiftCommandModeType.MOVE);
			// LiftCommand liftCommand = liftCommands.get(0);
			//
			// int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			// liftCommand.setTaskNo(deviceWrk);//更换随机任务号
			//
			// ArrayList<LiftCommand> commands = new ArrayList<>();
			// commands.add(liftCommand);
			//
			// //提交到线程去工作
			// LiftAssignCommand assignCommand = new LiftAssignCommand();
			// assignCommand.setCommands(commands);
			// assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
			// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			// assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());
			//
			// //下发任务
			// liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			// return false;//等待提升机到小车楼层
			// }
			//
			// if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			// //跨层锁定路径
			// //***********尝试锁定目标站路径*************
			// List<NavigateNode> targetNodes = liftThread.getLiftStaNodes(Utils.getLev(wrkMast.getLocNo()));
			// if (targetNodes == null) {
			// return false;//未获取到节点
			// }
			// boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
			// if (!checkPathIsAvailable) {
			// News.info("{}任务，{}小车，目标站点路径被占用，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;//检测目标站点路径是否未被占用
			// }
			// //尝试锁定目标站路径
			// boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//所使用的路径进行锁定禁用
			// if (!result2) {
			// News.info("{}任务，{}小车，路径锁定失败，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;//路径锁定失败
			// }
			// //***********尝试锁定目标站路径*************
			// }
			//
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			// assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务
			// assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			// assignCommand.setAuto(true);//自动模式
			//
			// //获取小车到提升机行走命令
			// List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getLiftLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo())), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
			// if (commands == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// assignCommand.setCommands(commands);
			//
			// wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT.sts);//小车移动到提升机中 303.小车移动至站点完成 ==> 304.小车迁入提升机中
			// wrkMast.setModiTime(now);
			// if (wrkMastService.updateById(wrkMast)) {
			// //下发任务
			// shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
			// return false;
			// }
			// return false;
			// }
			//
			// return true;
			// }

			/**
			* 小车迁移-提升机搬运中
			@@ -1558,17 +3428,22 @@
			//--------------------------------------提升机搬运中-----------------------------------------//
			Date now = new Date();

			//提升机搬运中 303.小车移动至站点完成 ==> 306.提升机搬运中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE.sts) {
			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, wrkMast.getLiftNo());
			if (forkLiftThread == null) {
			//提升机搬运中 305.小车迁入提升机完成 ==> 306.提升机搬运中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_COMPLETE.sts) {
			if (wrkMast.getLiftNo() == null) {
			News.info("{}任务，未绑定提升机，数据异常，禁止派发", wrkMast.getWrkNo());
			return false;
			}
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			if (!forkLiftThread.isIdle()) {
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			return false;
			}
			if (!liftThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}
			@@ -1581,38 +3456,50 @@
			}
			}

			//获取源站
			ForkLiftStaProtocol sourceLiftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			//获取目标站
			ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (sourceLiftSta == null \|\| liftSta == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
			return false;//缺少站点信息
			//判断提升机内是否有小车
			if (!liftProtocol.getHasCar()) {
			News.info("{}任务，{}号提升机，提升机内无小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机内无小车
			}

			if (liftSta.getHasTray()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘，禁止派发", wrkMast.getWrkNo());
			return false;//有托盘跳过
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			//获取提升机命令
			List<ForkLiftCommand> liftCommands = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
			ArrayList<ForkLiftCommand> commands = new ArrayList<>();
			commands.addAll(liftCommands);
			List<LiftCommand> liftCommands = liftThread.getMoveCommand(wrkMast.getWrkNo(), Utils.getLev(wrkMast.getSourceLocNo()), Utils.getLev(wrkMast.getLocNo()), LiftCommandModeType.MOVE);
			LiftCommand liftCommand = liftCommands.get(0);

			int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			liftCommand.setTaskNo(deviceWrk);//更换随机任务号

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

			//提交到线程去工作
			LiftAssignCommand assignCommand = new LiftAssignCommand();
			assignCommand.setCommands(commands);
			assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
			assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());

			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//提升机搬运中 303.小车移动至站点完成 ==> 306.提升机搬运中
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//提升机搬运中 305.小车迁入提升机完成 ==> 306.提升机搬运中
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), liftProtocol.getLiftNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.LIFT_MOVE_SHUTTLE);
			}
			}
			return true;
			@@ -1629,6 +3516,20 @@

			//提升机搬运中 307.提升机搬运完成 ==> 308.小车迁出提升机中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts) {
			if (wrkMast.getLiftNo() == null) {
			News.info("{}任务，未绑定提升机，数据异常，禁止派发", wrkMast.getWrkNo());
			return false;
			}

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

			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			@@ -1645,19 +3546,62 @@
			return false;
			}

			if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标
			assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			assignCommand.setAuto(true);//自动模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
			assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

			//更新小车坐标
			ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
			ArrayList<ShuttleCommand> commands = new ArrayList<>();
			commands.add(command);

			assignCommand.setCommands(commands);
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			return false;
			}

			//需要将前两个节点作为白名单节点传入
			List<NavigateNode> targetNodes = liftThread.getLiftStaNodes(Utils.getLev(wrkMast.getLocNo()));

			if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			return false;//小车未到达目标层
			}

			//需要将前两个节点作为白名单节点传入
			if (targetNodes == null) {
			return false;//未获取到节点
			}


			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标
			assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);
			assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			assignCommand.setAuto(true);//自动模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
			assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

			//更新小车坐标
			ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
			ArrayList<ShuttleCommand> commands = new ArrayList<>();
			commands.add(command);
			int targetLev = Utils.getLev(wrkMast.getLocNo());
			//设置计算节点的白名单
			ArrayList<int[]> whiteList = new ArrayList<>();//设置计算节点的白名单
			for (NavigateNode node : targetNodes) {
			whiteList.add(new int[]{node.getX(), node.getY()});
			}

			//获取小车出提升机行走命令
			List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(liftThread.getLiftLocNo(targetLev), liftThread.getLiftStandByLocNo(targetLev), NavigationMapType.NORMAL.id, whiteList, assignCommand, shuttleThread);
			if (moveCommands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			commands.addAll(moveCommands);
			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//小车迁出提升机中
			@@ -1667,6 +3611,8 @@
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), liftProtocol.getLiftNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_OUT_LIFT);
			}
			}
			return true;
			@@ -1683,6 +3629,36 @@

			//小车移动到目标库位中 309.小车迁出提升机完成 ==> 310.小车移动中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts) {

			List<NavigateNode> targetNodes = null;
			if (wrkMast.getLiftNo() != null) {
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			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, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}任务，{}号提升机，提升机线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			//小车目标就是提升机位置，直接认定小车移动任务完成
			if (liftThread.getLiftLocNo(Utils.getLev(wrkMast.getLocNo())).equals(wrkMast.getLocNo())) {
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.小车移动完成
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setModiTime(now);
			wrkMastService.updateById(wrkMast);
			return false;
			}

			// //需要将前两个节点作为白名单节点传入
			// targetNodes = liftThread.getLiftStaNodes(Utils.getLev(wrkMast.getLocNo()));
			}

			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			@@ -1717,34 +3693,17 @@
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
			assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

			List<ShuttleCommand> commands = null;
			//跨楼层移动任务
			if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			return false;//小车未到达目标层
			}
			List<ShuttleCommand> commands = new ArrayList<>();
			List<ShuttleCommand> liftCommand = null;
			Integer mapType = NavigationMapType.NORMAL.id;

			//需要将前两个节点作为白名单节点传入
			List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
			if (targetNodes == null) {
			return false;//未获取到节点
			}

			//设置计算节点的白名单
			ArrayList<int[]> whiteList = new ArrayList<>();//设置计算节点的白名单
			for (NavigateNode node : targetNodes) {
			whiteList.add(new int[]{node.getX(), node.getY()});
			}
			commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, whiteList, assignCommand, shuttleThread);
			}else {
			//获取小车到目标库位命令
			commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
			}

			if (commands == null) {
			List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), mapType, assignCommand, shuttleThread);
			if (moveCommands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径计算失败
			}

			commands.addAll(moveCommands);

			assignCommand.setCommands(commands);

			@@ -1759,65 +3718,6 @@
			}
			}
			return true;
			}

			//自动切换出入库模式
			public void autoSwitchForkLiftIOMode() {
			for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
			Integer liftNo = forkLiftSlave.getId();
			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			if (forkLiftThread == null) {
			continue;
			}
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			continue;
			}

			//获取入库任务
			List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.eq("lift_no", liftNo)
			.in("wrk_sts"
			, WrkStsType.NEW_INBOUND.sts
			, WrkStsType.INBOUND_DEVICE_RUN.sts
			, WrkStsType.INBOUND_LIFT_RUN.sts
			, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
			, WrkStsType.INBOUND_SHUTTLE_RUN.sts
			, WrkStsType.INBOUND_SHUTTLE_RUN_COMPLETE.sts
			));

			//获取出库任务
			List<WrkMast> outWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.eq("lift_no", liftNo)
			.in("wrk_sts"
			, WrkStsType.NEW_OUTBOUND.sts
			, WrkStsType.OUTBOUND_SHUTTLE_RUN.sts
			, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
			, WrkStsType.OUTBOUND_LIFT_RUN.sts
			, WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts
			));

			if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.NONE)) {
			//未知模式
			if (!inWrkMasts.isEmpty()) {
			forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
			} else if (!outWrkMasts.isEmpty()) {
			forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT);
			}else {
			forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
			}
			} else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
			//入库模式
			if (inWrkMasts.isEmpty() && !outWrkMasts.isEmpty()) {
			forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT);
			}
			} else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
			//出库模式
			if (outWrkMasts.isEmpty() && !inWrkMasts.isEmpty()) {
			forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
			}
			}
			}
			}

			}